From 9264609aeb68867ebe8c081f3817a1491692ad74 Mon Sep 17 00:00:00 2001 From: forrest <709335543@qq.com> Date: Mon, 2 May 2022 17:09:51 +0800 Subject: [PATCH] first commit --- .gitignore | 8 + AUTHORS.md | 4 + LICENSE | 203 + README.md | 92 + apollo_common/CMakeLists.txt | 73 + apollo_common/README.md | 77 + apollo_common/data/mkz_config.pb.txt | 18 + .../include/apollo_common/adapters/adapter.h | 396 + .../apollo_common/adapters/adapter_gflags.h | 55 + .../apollo_common/adapters/adapter_manager.h | 218 + .../apollo_common/adapters/message_adapters.h | 82 + .../include/apollo_common/apollo_app.h | 127 + .../apollo_common/configs/config_gflags.h | 40 + .../configs/vehicle_config_helper.h | 101 + apollo_common/include/apollo_common/log.h | 48 + apollo_common/include/apollo_common/macro.h | 59 + .../include/apollo_common/math/aabox2d.h | 246 + .../apollo_common/math/aaboxkdtree2d.h | 487 + .../include/apollo_common/math/angle.h | 295 + .../include/apollo_common/math/box2d.h | 271 + 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apollo_localization/src/main.cc create mode 100644 apollo_localization/src/rtk/rtk_localization.cc create mode 100644 apollo_msgs/CMakeLists.txt create mode 100644 apollo_msgs/README.md create mode 100644 apollo_msgs/include/apollo_msgs/proto/canbus/chassis.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/canbus/chassis.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/canbus/chassis_detail.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/canbus/chassis_detail.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/common/adapter_config.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/common/adapter_config.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/common/config_extrinsics.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/common/config_extrinsics.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/common/error_code.pb.cc create mode 100644 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apollo_msgs/include/apollo_msgs/proto/control/calibration_table.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/control_cmd.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/control_cmd.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/control_conf.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/control_conf.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/lat_controller_conf.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/lat_controller_conf.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/lon_controller_conf.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/lon_controller_conf.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/pad_msg.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/control/pad_msg.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/decision/decision.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/decision/decision.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/camera.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/camera.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/camera_parameter.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/camera_parameter.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/gps.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/gps.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/imu.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/imu.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/localization.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/localization.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/localization_config.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/localization_config.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/pose.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/localization/pose.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/perception/perception_obstacle.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/perception/perception_obstacle.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/perception/traffic_light_detection.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/perception/traffic_light_detection.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/planning/planning.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/planning/planning.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/planning/planning_internal.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/planning/planning_internal.pb.h create mode 100644 apollo_msgs/include/apollo_msgs/proto/prediction/prediction_obstacle.pb.cc create mode 100644 apollo_msgs/include/apollo_msgs/proto/prediction/prediction_obstacle.pb.h create mode 100644 apollo_msgs/package.xml create mode 100644 apollo_msgs/proto/apollo_msgs/proto/canbus/chassis.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/canbus/chassis_detail.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/common/adapter_config.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/common/config_extrinsics.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/common/error_code.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/common/geometry.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/common/gnss_status.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/common/header.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/common/monitor.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/common/vehicle_config.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/control/calibration_table.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/control/control_cmd.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/control/control_conf.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/control/lat_controller_conf.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/control/lon_controller_conf.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/control/pad_msg.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/decision/decision.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/localization/camera.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/localization/camera_parameter.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/localization/gps.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/localization/imu.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/localization/localization.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/localization/localization_config.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/localization/pose.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/perception/perception_obstacle.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/perception/traffic_light_detection.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/planning/planning.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/planning/planning_internal.proto create mode 100644 apollo_msgs/proto/apollo_msgs/proto/prediction/prediction_obstacle.proto create mode 100644 apollo_planning/CMakeLists.txt create mode 100644 apollo_planning/README.md create mode 100644 apollo_planning/conf/adapter.conf create mode 100644 apollo_planning/conf/planning.conf create mode 100644 apollo_planning/data/garage.csv create mode 100644 apollo_planning/include/apollo_planning/common/base_types.h create mode 100644 apollo_planning/include/apollo_planning/common/planning_gflags.h create mode 100644 apollo_planning/include/apollo_planning/planner/planner.h create mode 100644 apollo_planning/include/apollo_planning/planner/rtk_replay_planner.h create mode 100644 apollo_planning/include/apollo_planning/planner_factory.h create mode 100644 apollo_planning/include/apollo_planning/planning.h create mode 100644 apollo_planning/include/apollo_planning/planning_node.h create mode 100644 apollo_planning/launch/planning.launch create mode 100644 apollo_planning/package.xml create mode 100644 apollo_planning/src/common/planning_gflags.cc create mode 100644 apollo_planning/src/main.cc create mode 100644 apollo_planning/src/planner/rtk_replay_planner.cc create mode 100644 apollo_planning/src/planner_factory.cc create mode 100644 apollo_planning/src/planning.cc create mode 100644 apollo_planning/src/planning_node.cc create mode 100644 apollo_simulator/CMakeLists.txt create mode 100644 apollo_simulator/README.md create mode 100644 apollo_simulator/conf/adapter.conf create mode 100644 apollo_simulator/include/apollo_simulator/apollo_simulator.h create mode 100644 apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_constant_acceleration.h create mode 100644 apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_ideal.h create mode 100644 apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_interface.h create mode 100644 apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_time_delay.h create mode 100644 apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_util.h create mode 100644 apollo_simulator/launch/simulation.launch create mode 100644 apollo_simulator/launch/simulator.launch create mode 100644 apollo_simulator/package.xml create mode 100644 apollo_simulator/param/simulator_params.yaml create mode 100644 apollo_simulator/rviz/simulation.rviz create mode 100644 apollo_simulator/src/apollo_simulator.cpp create mode 100644 apollo_simulator/src/main.cpp create mode 100644 apollo_simulator/src/vehicle_sim_model/sim_model_constant_acceleration.cpp create mode 100644 apollo_simulator/src/vehicle_sim_model/sim_model_ideal.cpp create mode 100644 apollo_simulator/src/vehicle_sim_model/sim_model_interface.cpp create mode 100644 apollo_simulator/src/vehicle_sim_model/sim_model_time_delay.cpp create mode 100644 apollo_simulator/src/vehicle_sim_model/sim_model_util.cpp diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..329f8e3 --- /dev/null +++ b/.gitignore @@ -0,0 +1,8 @@ +*.zip +*.tar.gz + +/cmake-build-debug +/cmake-build-release + +/.vscode +/.idea diff --git a/AUTHORS.md b/AUTHORS.md new file mode 100644 index 0000000..0a85dae --- /dev/null +++ b/AUTHORS.md @@ -0,0 +1,4 @@ +| Github account | name | +|---|---| +| Forrest-Z | Zuhong Zhou | + diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..9be1af9 --- /dev/null +++ b/LICENSE @@ -0,0 +1,203 @@ +Copyright (c) 2017 Apollo Authors. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright (c) 2017 Apollo Authors. All Rights Reserve. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md new file mode 100644 index 0000000..31a5294 --- /dev/null +++ b/README.md @@ -0,0 +1,92 @@ +# apollo.ros-1.0.0 + +## 简介 + + 此工程为基于 apollo 1.0.0 的ros1移植版本，移植主要目的如下： + +- 学习apollo框架设计 +- 学习apollo中的控制算法 + +目前只针对apollo中主要模块进行了移植，移植模块有: + +```bash +apollo_ros + ├── apollo_common + ├── apollo_control + ├── apollo_decision + ├── apollo_localization + ├── apollo_msgs + ├── apollo_planning + └── apollo_simulator +``` + +目前移植版本与原有版本改动点如下： + +- 使用原生ros（基于noetic）替代apollo中更改的ros +- 使用ros pkg封装apollo中每个module +- 使用cmake进行编译 +- 将protobuff版本提升到3.6.0 +- 使用ros中的`std_msgs/String`替代apollo的`pd_msgs/xxx`消息 +- 增加pnc仿真工具`apollo_simulator` + +>此移植版本，能很好的将自己的算法增加到框架中，应用于机器人或者无人驾驶中。同时，由于apollo中的模块抽象，每个模块之间和中间件没有耦合，中间件能很容易从ros1移植到ros2、LCM等，具体开发可根据自己的需求进行魔改。 + +## 安装 + +### 依赖 + +- ros1（noetic，安装见ros官网） + +- eigen3 + + ```bash + sudo apt install libeigen3-dev + ``` + +- glog + + ```bash + sudo apt install libgoogle-glog-dev + ``` + +- gflags + + ```bash + sudo apt install libgflags-dev + ``` + +- gtest + + ```bash + sudo apt install libgtest-dev + ``` + +- protobuff 3.6.0 + + ```shell + wget https://github.com/google/protobuf/releases/download/v3.6.0/protobuf-cpp-3.6.0.tar.gz + tar xzf protobuf-cpp-3.6.0.tar.gz + + pushd protobuf-3.6.0 + ./configure --prefix=/usr + make -j8 + make install + popd + ``` + +### 编译 + +- 创建的ros工作空间 +- 使用`catkin_make`或者`catkin build`指令进行代码编译 + +## 测试 + +这里主要使用`apollo_simulator`仿真工具进行规划控制（pnc）进行测试，测试指令如下： + +```shell +roslaunch apollo_simulator simulation.launch +``` + +## 维护者 + +[@周祖鸿](709335543@qq.com) diff --git a/apollo_common/CMakeLists.txt b/apollo_common/CMakeLists.txt new file mode 100644 index 0000000..2cab14c --- /dev/null +++ b/apollo_common/CMakeLists.txt @@ -0,0 +1,73 @@ +cmake_minimum_required(VERSION 3.0.2) +project(apollo_common) + +add_compile_options(-std=c++17) +# set(CMAKE_BUILD_TYPE "Debug") +set(CMAKE_BUILD_TYPE "Release") + +find_package(Eigen3 REQUIRED) + +find_package(catkin REQUIRED COMPONENTS + roscpp + tf2_msgs + tf2_ros + apollo_msgs +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROTO_LIB_NAME} ${PROJECT_NAME} + CATKIN_DEPENDS roscpp tf2_msgs tf2_ros apollo_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} + /usr/include +) + +file(GLOB MATH_SRC_FILES "src/math/*.cc") + +add_library(${PROJECT_NAME} + src/apollo_app.cc + # adapters + src/adapters/adapter_gflags.cc + src/adapters/adapter_manager.cc + # configs + src/configs/config_gflags.cc + src/configs/vehicle_config_helper.cc + # math + ${MATH_SRC_FILES} + # monitor + src/monitor/monitor_buffer.cc + src/monitor/monitor.cc + # util + src/util/file.cc + src/util/string_tokenizer.cc + src/util/util.cc + # vehicle_state + src/vehicle_state/vehicle_state.cc +) +add_dependencies(${PROJECT_NAME} + ${${PROJECT_NAME}_EXPORTED_TARGETS} + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + protobuf + glog + gflags +) + +# install +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) \ No newline at end of file diff --git a/apollo_common/README.md b/apollo_common/README.md new file mode 100644 index 0000000..2bb7946 --- /dev/null +++ b/apollo_common/README.md @@ -0,0 +1,77 @@ +# Common + +``` +Contains code that is not module-specific. +``` + +## apollo_app +``` +The "apollo_app" build target defines the abstract class ApolloApp, +which is implemented by all modules, as well as the macro APOLLO_MAIN, +used to launch each module. +``` + +## log +``` +The "log" build target wraps the Google Log system into project-specific macros, +allowing for more refined control over the levels of logging. +``` + +## macro +``` +The "macro" build target defines a few commonly used class-specific macros. +``` + +## adapters +``` +Adapters are used by the different modules to communicate with one another. +The AdapterManager class hosts all the specific adapters and manages them. +Adapters need to be registered with the macro REGISTER_ADAPTER. +The Adapter class serves as a layer of abstraction between +Apollo modules and I/O mechanisms (e.g. ROS). +``` + + +## configs/data +``` +These specify the vehicle configuration. +``` + +## math +``` +Implements a number of useful mathematical libraries. +``` + +## monitor +``` +Defines a logging system. +``` + +## proto +``` +Defines a number of project-wide protocol buffers. +``` + +## status +``` +Used for determining whether certain functions were performed successfully, +providing helpful error messages otherwise. +``` + +## time +``` +Helper functions related to time. +``` + +## util +``` +Contains an implementation of a factory design pattern with registration, +a few string parsing functions, and some utilities for parsing +protocol buffers from files. +``` + +## vehicle_state +``` +This class specifies the current state of the vehicle (e.g. position, velocity, +heading, etc.). +``` diff --git a/apollo_common/data/mkz_config.pb.txt b/apollo_common/data/mkz_config.pb.txt new file mode 100644 index 0000000..10df861 --- /dev/null +++ b/apollo_common/data/mkz_config.pb.txt @@ -0,0 +1,18 @@ +vehicle_param { + front_edge_to_center: 3.89 + back_edge_to_center: 1.043 + left_edge_to_center: 1.055 + right_edge_to_center: 1.055 + + length: 4.933 + width: 2.11 + height: 1.48 + min_turn_radius: 5.05386147161 + max_acceleration: 2.0 + max_deceleration: -6.0 + max_steer_angle: 8.20304748437 + max_steer_angle_rate: 6.98131700798 + steer_ratio: 16 + wheel_base: 2.8448 + wheel_rolling_radius: 0.335 +} diff --git a/apollo_common/include/apollo_common/adapters/adapter.h b/apollo_common/include/apollo_common/adapters/adapter.h new file mode 100644 index 0000000..853ad9c --- /dev/null +++ b/apollo_common/include/apollo_common/adapters/adapter.h @@ -0,0 +1,396 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_ADAPTERS_ADAPTER_H_ +#define MODULES_ADAPTERS_ADAPTER_H_ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include "apollo_msgs/proto/common/header.pb.h" + +#include "apollo_common/adapters/adapter_gflags.h" +#include "apollo_common/time/time.h" +#include "apollo_common/util/file.h" +#include "apollo_common/util/util.h" + +/** + * @namespace apollo::common::adapter + * @brief apollo::common::adapter + */ +namespace apollo { +namespace common { +namespace adapter { + +/** + * @class Adapter + * @brief this class serves as the interface and a layer of + * abstraction for Apollo modules to interact with various I/O (e.g. + * ROS). The adapter will also store history data, so that other + * Apollo modules can get access to both the current and the past data + * without having to handle communication protocols directly. + * + * \par + * Each \class Adapter instance only works with one single topic and + * its corresponding data type. + * + * \par + * Under the hood, a queue is used to store the current and historical + * messages. In most cases, the underlying data type is a proto, though + * this is not necessary. + * + * \note + * Adapter::Observe() is thread-safe, but calling it from + * multiple threads may introduce unexpected behavior. Adapter is + * thread-safe w.r.t. data access and update. + */ +template +class Adapter { + public: + /// The user can use Adapter::DataType to get the type of the + /// underlying data. + typedef D DataType; + + typedef typename std::list>::const_iterator Iterator; + typedef typename std::function Callback; + + /** + * @brief Construct the \class Adapter object. + * @param adapter_name the name of the adapter. It is used to log + * error messages when something bad happens, to help people get an + * idea which adapter goes wrong. + * @param topic_name the topic that the adapter listens to. + * @param message_num the number of historical messages that the + * adapter stores. Older messages will be removed upon calls to + * Adapter::OnReceive(). + */ + Adapter(const std::string &adapter_name, const std::string &topic_name, + size_t message_num, const std::string &dump_dir = "/tmp") + : topic_name_(topic_name), + message_num_(message_num), + enable_dump_(FLAGS_enable_adapter_dump && HasSequenceNumber()), + dump_path_(enable_dump_ ? dump_dir + "/" + adapter_name : "") { + if (enable_dump_) { + if (!apollo::common::util::EnsureDirectory(dump_path_)) { + AERROR << "Cannot enable dumping for '" << adapter_name + << "' adapter because the path " << dump_path_ + << " cannot be created or is not a directory."; + enable_dump_ = false; + } else if (!apollo::common::util::RemoveAllFiles(dump_path_)) { + AERROR << "Cannot enable dumping for '" << adapter_name + << "' adapter because the path " << dump_path_ + << " contains files that cannot be removed."; + enable_dump_ = false; + } + } + } + + /** + * @brief returns the topic name that this adapter listens to. + */ + const std::string &topic_name() const { return topic_name_; } + + /** + * @brief reads the proto message from the file, and push it into + * the adapter's data queue. + * @param message_file the path to the file that contains a (usually + * proto) message of DataType. + */ + void FeedProtoFile(const std::string &message_file) { + D data; + CHECK(apollo::common::util::GetProtoFromFile(message_file, &data)) + << "Unable to parse input pb file " << message_file; + FeedProto(data); + } + + /** + * @brief push (a copy of) the input data into the data queue of + * the adapter. + * @param data the input data. + */ + void FeedProto(const D &data) { + auto data_ptr = std::make_shared(data); + EnqueueData(data_ptr); + } + + /** + * @brief the callback that will be invoked whenever a new + * message is received. + * @param message the newly received message. + */ + void OnReceive(const std_msgs::String::ConstPtr &message) { + D data; + if (!data.ParseFromString(message->data)) { + AERROR << "Failed to parse proto-message."; + return; + } + auto data_ptr = std::make_shared(data); + EnqueueData(data_ptr); + FireCallback(data); + } + + /** + * @brief copy the data_queue_ into the observing queue to create a + * view of data up to the call time for the user. + */ + void Observe() { + std::lock_guard lock(mutex_); + observed_queue_ = data_queue_; + } + + /** + * @brief returns TRUE if the observing queue is empty. + */ + bool Empty() const { + std::lock_guard lock(mutex_); + return observed_queue_.empty(); + } + + /** + * @brief returns the most recent message in the observing queue. + * + * /note + * Please call Empty() to make sure that there is data in the + * queue before calling GetOldestObserved(). + */ + const D &GetLatestObserved() const { + std::lock_guard lock(mutex_); + DCHECK(!observed_queue_.empty()) + << "The view of data queue is empty. No data is received yet or you " + "forgot to call Observe()" + << ":" << topic_name_; + return *observed_queue_.front(); + } + + /** + * @brief returns the oldest message in the observing queue. + * + * /note + * Please call Empty() to make sure that there is data in the + * queue before calling GetOldestObserved(). + */ + const D &GetOldestObserved() const { + std::lock_guard lock(mutex_); + DCHECK(!observed_queue_.empty()) + << "The view of data queue is empty. No data is received yet or you " + "forgot to call Observe()."; + return *observed_queue_.back(); + } + + /** + * @brief returns an iterator representing the head of the observing + * queue. The caller can use it to iterate over the observed data + * from the head. The API also supports range based for loop. + */ + Iterator begin() const { return observed_queue_.begin(); } + + /** + * @brief returns an iterator representing the tail of the observing + * queue. The caller can use it to iterate over the observed data + * from the head. The API also supports range based for loop. + */ + Iterator end() const { return observed_queue_.end(); } + + /** + * @brief registers the provided callback function to the adapter, + * so that the callback function will be called once right after the + * message hits the adapter. + * @param callback the callback with signature void(const D &). + */ + void SetCallback(Callback callback) { receive_callback_ = callback; } + + /** + * @brief fills the fields module_name, timestamp_sec and + * sequence_num in the header. + */ + void FillHeader(const std::string &module_name, + apollo::common::Header *header) { + double timestamp = + apollo::common::time::ToSecond(apollo::common::time::Clock::Now()); + header->set_module_name(module_name); + header->set_timestamp_sec(timestamp); + header->set_sequence_num(++seq_num_); + } + + private: + // HasSequenceNumber returns false for non-proto-message data types. + template + static bool HasSequenceNumber( + typename std::enable_if< + !std::is_base_of::value, + InputMessageType>::type *message = nullptr) { + return false; + } + + // HasSequenceNumber returns true if the data type is proto and has + // header.sequence_num. + template + static bool HasSequenceNumber( + typename std::enable_if< + std::is_base_of::value, + InputMessageType>::type *message = nullptr) { + using gpf = google::protobuf::FieldDescriptor; + InputMessageType sample; + auto descriptor = sample.GetDescriptor(); + auto header_descriptor = descriptor->FindFieldByName("header"); + if (header_descriptor == nullptr) { + return false; + } + if (header_descriptor->cpp_type() != gpf::CPPTYPE_MESSAGE) { + return false; + } + auto sequence_num_descriptor = + header_descriptor->message_type()->FindFieldByName("sequence_num"); + if (sequence_num_descriptor == nullptr) { + return false; + } + if (sequence_num_descriptor->cpp_type() != gpf::CPPTYPE_UINT32) { + return false; + } + return true; + } + + // DumpMessage does nothing for non proto message data type. + template + bool DumpMessage( + const typename std::enable_if< + !std::is_base_of::value, + InputMessageType>::type &message) { + return true; + } + + // DumpMessage dumps the message to a file to + // /tmp//.pb.txt, where the message is in ASCII + // mode and is the .header().sequence_num() of the message. + template + bool DumpMessage( + const typename std::enable_if< + std::is_base_of::value, + InputMessageType>::type &message) { + using google::protobuf::Message; + auto descriptor = message.GetDescriptor(); + auto header_descriptor = descriptor->FindFieldByName("header"); + if (header_descriptor == nullptr) { + ADEBUG << "Fail to find header field in pb."; + return false; + } + const Message &header = message.GetReflection()->GetMessage( + *static_cast(&message), header_descriptor); + auto seq_num_descriptor = + header.GetDescriptor()->FindFieldByName("sequence_num"); + if (seq_num_descriptor == nullptr) { + ADEBUG << "Fail to find sequence_num field in pb."; + return false; + } + uint32_t sequence_num = + header.GetReflection()->GetUInt32(header, seq_num_descriptor); + return apollo::common::util::SetProtoToASCIIFile( + message, dump_path_ + "/" + std::to_string(sequence_num) + ".pb.txt"); + } + + /** + * @brief proactively invokes the callback with the specified data. + * @param data the specified data. + */ + void FireCallback(const D &data) { + if (receive_callback_ != nullptr) { + receive_callback_(data); + } + } + + /** + * @brief push the shared-pointer-guarded data to the data queue of + * the adapter. + */ + void EnqueueData(std::shared_ptr data_ptr) { + if (enable_dump_) { + DumpMessage(*data_ptr); + } + + // Lock the queue. + std::lock_guard lock(mutex_); + if (data_queue_.size() + 1 > message_num_) { + data_queue_.pop_back(); + } + data_queue_.push_front(data_ptr); + } + + /// The topic name that the adapter listens to. + std::string topic_name_; + + /// The maximum size of data_queue_ and observed_queue_ + size_t message_num_ = 0; + + /// The received data. Its size is no more than message_num_ + std::list> data_queue_; + + /// It is the snapshot of the data queue. The snapshot is taken when + /// Observe() is called. + std::list> observed_queue_; + + /// User defined function when receiving a message + Callback receive_callback_ = nullptr; + + /// The mutex guarding data_queue_ and observed_queue_ + mutable std::mutex mutex_; + + /// Whether dumping is enabled. + bool enable_dump_ = false; + + /// The directory of dumped files. + std::string dump_path_; + + /// The monotonically increasing sequence number of the message to + /// be published. + uint32_t seq_num_ = 0; +}; + +} // namespace adapter +} // namespace common +} // namespace apollo + +#endif // MODULES_ADAPTERS_ADAPTER_H_ diff --git a/apollo_common/include/apollo_common/adapters/adapter_gflags.h b/apollo_common/include/apollo_common/adapters/adapter_gflags.h new file mode 100644 index 0000000..9a03012 --- /dev/null +++ b/apollo_common/include/apollo_common/adapters/adapter_gflags.h @@ -0,0 +1,55 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_COMMON_ADAPTERS_ADAPTER_GFLAGS_H_ +#define MODULES_COMMON_ADAPTERS_ADAPTER_GFLAGS_H_ + +#include + +DECLARE_string(adapter_config_path); +DECLARE_bool(enable_adapter_dump); +DECLARE_string(monitor_topic); +DECLARE_string(gps_topic); +DECLARE_string(imu_topic); +DECLARE_string(chassis_topic); +DECLARE_string(chassis_detail_topic); +DECLARE_string(localization_topic); +DECLARE_string(planning_trajectory_topic); +DECLARE_string(monitor_topic); +DECLARE_string(pad_topic); +DECLARE_string(control_command_topic); +DECLARE_string(prediction_topic); +DECLARE_string(perception_obstacle_topic); +DECLARE_string(traffic_light_detection_topic); +DECLARE_string(decision_topic); + +#endif // MODULES_COMMON_ADAPTERS_ADAPTER_GFLAGS_H_ diff --git a/apollo_common/include/apollo_common/adapters/adapter_manager.h b/apollo_common/include/apollo_common/adapters/adapter_manager.h new file mode 100644 index 0000000..b0c8d81 --- /dev/null +++ b/apollo_common/include/apollo_common/adapters/adapter_manager.h @@ -0,0 +1,218 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_ADAPTERS_ADAPTER_MANAGER_H_ +#define MODULES_ADAPTERS_ADAPTER_MANAGER_H_ + +#include +#include +#include + +#include + +#include "apollo_msgs/proto/common/adapter_config.pb.h" + +#include "apollo_common/adapters/adapter.h" +#include "apollo_common/adapters/message_adapters.h" +#include "apollo_common/log.h" +#include "apollo_common/macro.h" + +/** + * @namespace apollo::common::adapter + * @brief apollo::common::adapter + */ +namespace apollo { +namespace common { +namespace adapter { + +/// Macro to prepare all the necessary adapter functions when adding a +/// new input/output. For example when you want to listen to +/// car_status message for your module, you can do +/// REGISTER_ADAPTER(CarStatus) write an adapter class called +/// CarStatusAdapter, and call EnableCarStatus(`car_status_topic`, +/// true, `callback`(if there's one)) in AdapterManager. +#define REGISTER_ADAPTER(name) \ + public: \ + static void Enable##name(const std::string &topic_name, \ + AdapterConfig::Mode mode, \ + int message_history_limit) { \ + CHECK(message_history_limit > 0) \ + << "Message history limit must be greater than 0"; \ + instance()->InternalEnable##name(topic_name, mode, message_history_limit); \ + } \ + static name##Adapter *Get##name() { \ + return instance()->InternalGet##name(); \ + } \ + static void Feed##name##ProtoFile(const std::string &proto_file) { \ + CHECK(instance()->name##_) \ + << "Initialize adapter before feeding protobuf"; \ + Get##name()->FeedProtoFile(proto_file); \ + } \ + static void Publish##name(const name##Adapter::DataType &data) { \ + instance()->InternalPublish##name(data); \ + } \ + static void Fill##name##Header(const std::string &module_name, \ + apollo::common::Header *header) { \ + instance()->name##_->FillHeader(module_name, header); \ + } \ + static void Set##name##Callback(name##Adapter::Callback callback) { \ + CHECK(instance()->name##_) \ + << "Initialize adapter before setting callback"; \ + instance()->name##_->SetCallback(callback); \ + } \ + template \ + static void Set##name##Callback( \ + void (T::*fp)(const name##Adapter::DataType &data), T *obj) { \ + Set##name##Callback(std::bind(fp, obj, std::placeholders::_1)); \ + } \ + \ + private: \ + std::unique_ptr name##_; \ + ros::Publisher name##publisher_; \ + ros::Subscriber name##subscriber_; \ + \ + void InternalEnable##name(const std::string &topic_name, \ + AdapterConfig::Mode mode, \ + int message_history_limit) { \ + name##_.reset( \ + new name##Adapter(#name, topic_name, message_history_limit)); \ + if (mode != AdapterConfig::PUBLISH_ONLY && node_handle_) { \ + name##subscriber_ = node_handle_->subscribe( \ + topic_name, message_history_limit, \ + &name##Adapter::OnReceive, name##_.get()); \ + } \ + if (mode != AdapterConfig::RECEIVE_ONLY && node_handle_) { \ + name##publisher_ = node_handle_->advertise( \ + topic_name, message_history_limit); \ + } \ + \ + observers_.push_back([this]() { name##_->Observe(); }); \ + } \ + name##Adapter *InternalGet##name() { return name##_.get(); } \ + void InternalPublish##name(const name##Adapter::DataType &data) { \ + std_msgs::String message; \ + message.data = data.SerializeAsString(); \ + name##publisher_.publish(message); \ + } + +/** + * @class AdapterManager + * + * @brief this class hosts all the specific adapters and manages them. + * It provides APIs for the users to initialize, access and interact + * with the adapters that they are interested in. + * + * \par + * Each (potentially) useful adapter needs to be registered here with + * the macro REGISTER_ADAPTER. + * + * \par + * The AdapterManager is a singleton. + */ +class AdapterManager { + public: + /** + * @brief Initialize the /class AdapterManager singleton. + */ + static void Init(); + + /** + * @brief Initialize the /class AdapterManager singleton with the + * provided configuration. The configuration is specified by the + * file path. + * @param adapter_config_filename the path to the proto file that + * contains the adapter manager configuration. + */ + static void Init(const std::string &adapter_config_filename); + + /** + * @brief Initialize the /class AdapterManager singleton with the + * provided configuration. + * @param configs the adapter manager configuration proto. + */ + static void Init(const AdapterManagerConfig &configs); + static void Observe(); + + /** + * @brief create a timer which will call a callback at the specified + * rate. It takes a class member function, and a bare pointer to the + * object to call the method on. + */ + template + static ros::Timer CreateTimer(ros::Duration period, + void (T::*callback)(const ros::TimerEvent &), + T *obj, bool oneshot = false, + bool autostart = true) { + CHECK(instance()->node_handle_) + << "ROS node is only available in ROS mode, " + "check your adapter config file!"; + return instance()->node_handle_->createTimer(period, callback, obj, oneshot, + autostart); + } + + private: + /// The node handler of ROS, owned by the /class AdapterManager + /// singleton. + std::unique_ptr node_handle_; + + /// Observe() callbacks that will be used to to call the Observe() + /// of enabled adapters. + std::vector> observers_; + + /// The following code registered all the adapters of interest. + REGISTER_ADAPTER(Chassis); + REGISTER_ADAPTER(ChassisDetail); + REGISTER_ADAPTER(ControlCommand); + REGISTER_ADAPTER(Decision); + REGISTER_ADAPTER(Gps); + REGISTER_ADAPTER(Imu); + REGISTER_ADAPTER(Camera); + REGISTER_ADAPTER(Localization); + REGISTER_ADAPTER(Monitor); + REGISTER_ADAPTER(Pad); + REGISTER_ADAPTER(PerceptionObstacles); + REGISTER_ADAPTER(PlanningTrajectory); + REGISTER_ADAPTER(Prediction); + REGISTER_ADAPTER(TrafficLightDetection); + + DECLARE_SINGLETON(AdapterManager); +}; + +} // namespace adapter +} // namespace common +} // namespace apollo + +#endif diff --git a/apollo_common/include/apollo_common/adapters/message_adapters.h b/apollo_common/include/apollo_common/adapters/message_adapters.h new file mode 100644 index 0000000..152832d --- /dev/null +++ b/apollo_common/include/apollo_common/adapters/message_adapters.h @@ -0,0 +1,82 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_ADAPTERS_MESSAGE_ADAPTERS_H_ +#define MODULES_ADAPTERS_MESSAGE_ADAPTERS_H_ + +#include "apollo_common/adapters/adapter.h" + +#include "apollo_msgs/proto/common/monitor.pb.h" +#include "apollo_msgs/proto/canbus/chassis.pb.h" +#include "apollo_msgs/proto/canbus/chassis_detail.pb.h" +#include "apollo_msgs/proto/localization/camera.pb.h" +#include "apollo_msgs/proto/localization/gps.pb.h" +#include "apollo_msgs/proto/localization/imu.pb.h" +#include "apollo_msgs/proto/localization/localization.pb.h" +#include "apollo_msgs/proto/perception/perception_obstacle.pb.h" +#include "apollo_msgs/proto/perception/traffic_light_detection.pb.h" +#include "apollo_msgs/proto/prediction/prediction_obstacle.pb.h" +#include "apollo_msgs/proto/decision/decision.pb.h" +#include "apollo_msgs/proto/planning/planning.pb.h" +#include "apollo_msgs/proto/control/control_cmd.pb.h" +#include "apollo_msgs/proto/control/pad_msg.pb.h" + +/** + * @file message_adapters.h + * @namespace apollo::common::adapter + * @brief This is an agglomeration of all the message adapters supported that + * specializes the adapter template. + */ +namespace apollo { +namespace common { +namespace adapter { + +using MonitorAdapter = Adapter; +using ChassisAdapter = Adapter<::apollo::canbus::Chassis>; +using ChassisDetailAdapter = Adapter<::apollo::canbus::ChassisDetail>; +using GpsAdapter = Adapter; +using ImuAdapter = Adapter<::apollo::localization::Imu>; +using CameraAdapter = Adapter<::apollo::localization::Camera>; +using LocalizationAdapter = Adapter; +using PerceptionObstaclesAdapter = Adapter<::apollo::perception::PerceptionObstacles>; +using TrafficLightDetectionAdapter = Adapter<::apollo::perception::TrafficLightDetection>; +using PredictionAdapter = Adapter<::apollo::prediction::PredictionObstacles>; +using PlanningTrajectoryAdapter = Adapter<::apollo::planning::ADCTrajectory>; +using DecisionAdapter = Adapter<::apollo::decision::DecisionResult>; +using ControlCommandAdapter = Adapter<::apollo::control::ControlCommand>; +using PadAdapter = Adapter<::apollo::control::PadMessage>; + +} // namespace adapter +} // namespace common +} // namespace apollo + +#endif // MODULES_ADAPTERS_MESSAGE_ADAPTERS_H_ diff --git a/apollo_common/include/apollo_common/apollo_app.h b/apollo_common/include/apollo_common/apollo_app.h new file mode 100644 index 0000000..a4c3489 --- /dev/null +++ b/apollo_common/include/apollo_common/apollo_app.h @@ -0,0 +1,127 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_APOLLO_APP_H_ +#define MODULES_APOLLO_APP_H_ + +#include +#include + +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/status/status.h" + +/** + * @namespace apollo::common + * @brief apollo::common + */ +namespace apollo { +namespace common { + +/** + * @class ApolloApp + * + * @brief The base module class to define the interface of an Apollo app. + * An Apollo app runs infinitely until being shutdown by SIGINT or ROS. Many + * essential components in Apollo, such as localization and control are examples + * of Apollo apps. The APOLLO_MAIN macro helps developer to setup glog, gflag + * and ROS in one line. + */ +class ApolloApp { + public: + /** + * @brief module name. It is used to uniquely identify the app. + */ + virtual std::string Name() const = 0; + + /** + * @brief this is the entry point of an Apollo App. It initializes the app, + * starts the app, and stop the app when the ros has shutdown. + */ + virtual int Spin(); + + /** + * The default destructor. + */ + virtual ~ApolloApp() = default; + + protected: + /** + * @brief The module initialization function. This is the first function being + * called when the App starts. Usually this function loads the configurations, + * subscribe the data from sensors or other modules. + * @return Status initialization status + */ + virtual apollo::common::Status Init() = 0; + + /** + * @brief The module start function. Apollo app usually triggered to execute + * in two ways: 1. Triggered by upstream messages, or 2. Triggered by timer. + * If an app is triggered by upstream messages, the Start() function usually + * register a call back function that will be called when an upstream message + * is received. If an app is triggered by timer, the Start() function usually + * register a timer callback function. + * @return Status start status + */ + virtual apollo::common::Status Start() = 0; + + /** + * @brief The module stop function. This function will be called when + * after ros::shutdown() has finished. In the default APOLLO_MAIN macro, + * ros::shutdown() is called when SIGINT is received. + */ + virtual void Stop() = 0; +}; + +void apollo_app_sigint_handler(int signal_num); + +} // namespace common +} // namespace apollo + +#define APOLLO_MAIN(APP) \ + int main(int argc, char **argv) { \ + google::InitGoogleLogging(argv[0]); \ + google::ParseCommandLineFlags(&argc, &argv, true); \ + signal(SIGINT, apollo::common::apollo_app_sigint_handler); \ + APP apollo_app_; \ + ros::init(argc, argv, apollo_app_.Name()); \ + apollo_app_.Spin(); \ + return 0; \ + } + +#endif // MODULES_APOLLO_APP_H_ diff --git a/apollo_common/include/apollo_common/configs/config_gflags.h b/apollo_common/include/apollo_common/configs/config_gflags.h new file mode 100644 index 0000000..8c53c97 --- /dev/null +++ b/apollo_common/include/apollo_common/configs/config_gflags.h @@ -0,0 +1,40 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_COMMON_CONFIGS_GFLAGS_H_ +#define MODULES_COMMON_CONFIGS_GFLAGS_H_ + +#include + +DECLARE_string(vehicle_config_path); + +#endif // MODULES_COMMON_CONFIGS_GFLAGS_H_ diff --git a/apollo_common/include/apollo_common/configs/vehicle_config_helper.h b/apollo_common/include/apollo_common/configs/vehicle_config_helper.h new file mode 100644 index 0000000..5470788 --- /dev/null +++ b/apollo_common/include/apollo_common/configs/vehicle_config_helper.h @@ -0,0 +1,101 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_CONFIGS_VEHICLE_CONFIG_H_ +#define MODULES_CONFIGS_VEHICLE_CONFIG_H_ + +#include "apollo_msgs/proto/common/vehicle_config.pb.h" + +#include "apollo_common/macro.h" + +/** + * @namespace apollo::common::config + * @brief apollo::common::config + */ +namespace apollo { +namespace common { +namespace config { + +/** + * @class VehicleConfigHelper + * + * @Brief This is a helper class that can load vehicle configurations. The + * vehicle configurations are + * defined apollo_common/configs/proto/vehicle_config.proto + */ +class VehicleConfigHelper { + public: + /** + * @brief Initialize vehicle configurations with default configuration file + * pointed by gflags FLAGS_vehicle_config_path. The code will crash if + * FLAGS_vehicle_config_path does not exit or it points to a file with invalid + * format. + */ + static void Init(); + + /** + * @brief Initialize vehicle configurations with \p config + * @param config A VehicleConfig class instance. The VehicleConfig class is + * defined by apollo_common/configs/proto/vehicle_config.proto. + */ + static void Init(const VehicleConfig& config); + + /** + * @brief Initialize vehicle configurations with \p config_file. + * The code will crash if \p config_file does not exist or \p config_file has + * invalid format. + * @param config_file The configuration file path. The format of the file is + * defined by protobuf file + * apollo_common/configs/proto/vehicle_config.proto. + */ + static void Init(const std::string& config_file); + + /** + * @brief Get the current vehicle configuration. + * @return the current VehicleConfig instance reference. + */ + static const VehicleConfig& GetConfig(); + + private: + static VehicleConfig vehicle_config_; + DECLARE_SINGLETON(VehicleConfigHelper); +}; + +} // namespace config +} // namespace common +} // namespace apollo + +#endif // MODULES_CONFIGS_VEHICLE_CONFIG_H_ diff --git a/apollo_common/include/apollo_common/log.h b/apollo_common/include/apollo_common/log.h new file mode 100644 index 0000000..3038204 --- /dev/null +++ b/apollo_common/include/apollo_common/log.h @@ -0,0 +1,48 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_COMMON_LOG_H_ +#define MODULES_COMMON_LOG_H_ + +#include + +#define ADEBUG VLOG(4) << "[DEBUG] " +#define AINFO VLOG(3) << "[INFO] " +#define AWARN LOG(WARNING) +#define AERROR LOG(ERROR) +#define AFATAL LOG(FATAL) + +#endif // MODULES_COMMON_LOG_H_ diff --git a/apollo_common/include/apollo_common/macro.h b/apollo_common/include/apollo_common/macro.h new file mode 100644 index 0000000..2ccecfa --- /dev/null +++ b/apollo_common/include/apollo_common/macro.h @@ -0,0 +1,59 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_COMMON_MACRO_H_ +#define MODULES_COMMON_MACRO_H_ + +#define DISALLOW_COPY_AND_ASSIGN(classname) \ + private: \ + classname(const classname&); \ + classname& operator=(const classname&); + +#define DISALLOW_IMPLICIT_CONSTRUCTORS(classname) \ + private: \ + classname(); \ + DISALLOW_COPY_AND_ASSIGN(classname); + +#define DECLARE_SINGLETON(classname) \ + public: \ + static classname* instance() { \ + static classname instance; \ + return &instance; \ + } \ + DISALLOW_IMPLICIT_CONSTRUCTORS(classname) \ + private: + +#endif // MODULES_COMMON_MACRO_H_ diff --git a/apollo_common/include/apollo_common/math/aabox2d.h b/apollo_common/include/apollo_common/math/aabox2d.h new file mode 100644 index 0000000..1c3ad76 --- /dev/null +++ b/apollo_common/include/apollo_common/math/aabox2d.h @@ -0,0 +1,246 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the AABox2d class. + */ + +#ifndef MODULES_COMMON_MATH_AABOX2D_H_ +#define MODULES_COMMON_MATH_AABOX2D_H_ + +#include +#include + +#include "apollo_common/math/vec2d.h" + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @class AABox2d + * @brief Implements a class of (undirected) axes-aligned bounding boxes in 2-D. + * This class is referential-agnostic. + */ +class AABox2d { + public: + /** + * @brief Default constructor. + * Creates an axes-aligned box with zero length and width at the origin. + */ + AABox2d() = default; + /** + * @brief Parametrized constructor. + * Creates an axes-aligned box with given center, length, and width. + * @param center The center of the box + * @param length The size of the box along the x-axis + * @param width The size of the box along the y-axis + */ + AABox2d(const Vec2d& center, const double length, const double width); + /** + * @brief Parametrized constructor. + * Creates an axes-aligned box from two opposite corners. + * @param one_corner One corner of the box + * @param opposite_corner The opposite corner to the first one + */ + AABox2d(const Vec2d& one_corner, const Vec2d& opposite_corner); + /** + * @brief Parametrized constructor. + * Creates an axes-aligned box containing all points in a given vector. + * @param points Vector of points to be included inside the box. + */ + explicit AABox2d(const std::vector& points); + + /** + * @brief Getter of center_ + * @return Center of the box + */ + const Vec2d& center() const { return center_; } + + /** + * @brief Getter of x-component of center_ + * @return x-component of the center of the box + */ + double center_x() const { return center_.x(); } + + /** + * @brief Getter of y-component of center_ + * @return y-component of the center of the box + */ + double center_y() const { return center_.y(); } + + /** + * @brief Getter of length_ + * @return The length of the box + */ + double length() const { return length_; } + + /** + * @brief Getter of width_ + * @return The width of the box + */ + double width() const { return width_; } + + /** + * @brief Getter of half_length_ + * @return Half of the length of the box + */ + double half_length() const { return half_length_; } + + /** + * @brief Getter of half_width_ + * @return Half of the width of the box + */ + double half_width() const { return half_width_; } + + /** + * @brief Getter of length_*width_ + * @return The area of the box + */ + double area() const { return length_ * width_; } + + /** + * @brief Returns the minimum x-coordinate of the box + * + * @return x-coordinate + */ + double min_x() const { return center_.x() - half_length_; } + + /** + * @brief Returns the maximum x-coordinate of the box + * + * @return x-coordinate + */ + double max_x() const { return center_.x() + half_length_; } + + /** + * @brief Returns the minimum y-coordinate of the box + * + * @return y-coordinate + */ + double min_y() const { return center_.y() - half_width_; } + + /** + * @brief Returns the maximum y-coordinate of the box + * + * @return y-coordinate + */ + double max_y() const { return center_.y() + half_width_; } + + /** + * @brief Gets all corners in counter clockwise order. + * + * @param corners Output where the corners are written + */ + void GetAllCorners(std::vector* const corners) const; + + /** + * @brief Determines whether a given point is in the box. + * + * @param point The point we wish to test for containment in the box + */ + bool IsPointIn(const Vec2d& point) const; + + /** + * @brief Determines whether a given point is on the boundary of the box. + * + * @param point The point we wish to test for boundary membership + */ + bool IsPointOnBoundary(const Vec2d& point) const; + + /** + * @brief Determines the distance between a point and the box. + * + * @param point The point whose distance to the box we wish to determine. + */ + double DistanceTo(const Vec2d& point) const; + + /** + * @brief Determines the distance between two boxes. + * + * @param box Another box. + */ + double DistanceTo(const AABox2d& box) const; + + /** + * @brief Determines whether two boxes overlap. + * + * @param box Another box + */ + bool HasOverlap(const AABox2d& box) const; + + /** + * @brief Shift the center of AABox by the input vector. + * + * @param shift_vec The vector by which we wish to shift the box + */ + void Shift(const Vec2d& shift_vec); + + /** + * @brief Changes box to include another given box, as well as the current one. + * + * @param other_box Another box + */ + void MergeFrom(const AABox2d& other_box); + + /** + * @brief Changes box to include a given point, as well as the current box. + * + * @param other_point Another point + */ + void MergeFrom(const Vec2d& other_point); + + /** + * @brief Gets a human-readable debug string + * + * @return A string + */ + std::string DebugString() const; + + private: + Vec2d center_; + double length_ = 0.0; + double width_ = 0.0; + double half_length_ = 0.0; + double half_width_ = 0.0; +}; + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_AABOX2D_H_ */ diff --git a/apollo_common/include/apollo_common/math/aaboxkdtree2d.h b/apollo_common/include/apollo_common/math/aaboxkdtree2d.h new file mode 100644 index 0000000..85c07ec --- /dev/null +++ b/apollo_common/include/apollo_common/math/aaboxkdtree2d.h @@ -0,0 +1,487 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the templated AABoxKDTree2dNode class. + */ + +#ifndef MODULES_COMMON_MATH_AABOXKDTREE2D_H_ +#define MODULES_COMMON_MATH_AABOXKDTREE2D_H_ + +#include +#include +#include +#include + +#include "apollo_common/log.h" + +#include "apollo_common/math/aabox2d.h" +#include "apollo_common/math/math_utils.h" + +/** + * @namespace apollo::common::math + * @brief The math namespace deals with a number of useful mathematical objects. + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @class AABoxKDTreeParams + * @brief Contains parameters of axis-aligned bounding box. + */ +struct AABoxKDTreeParams { + /// The maximum depth of the kdtree. + int max_depth = -1; + /// The maximum number of items in one leaf node. + int max_leaf_size = -1; + /// The maximum dimension size of leaf node. + double max_leaf_dimension = -1.0; +}; + +/** + * @class AABoxKDTree2dNode + * @brief The class of KD-tree node of axis-aligned bounding box. + */ +template +class AABoxKDTree2dNode { + public: + using ObjectPtr = const ObjectType*; + /** + * @brief Constructor which takes a vector of objects, + * parameters and depth of the node. + * @param objects Objects to build the KD-tree node. + * @param params Parameters to build the KD-tree. + * @param depth Depth of the KD-tree node. + */ + AABoxKDTree2dNode(const std::vector& objects, + const AABoxKDTreeParams& params, int depth) + : depth_(depth) { + CHECK(!objects.empty()); + + ComputeBoundary(objects); + ComputePartition(); + + if (SplitToSubNodes(objects, params)) { + std::vector left_subnode_objects; + std::vector right_subnode_objects; + PartitionObjects(objects, &left_subnode_objects, &right_subnode_objects); + + // Split to sub-nodes. + if (!left_subnode_objects.empty()) { + left_subnode_.reset(new AABoxKDTree2dNode( + left_subnode_objects, params, depth + 1)); + } + if (!right_subnode_objects.empty()) { + right_subnode_.reset(new AABoxKDTree2dNode( + right_subnode_objects, params, depth + 1)); + } + } else { + InitObjects(objects); + } + } + + /** + * @brief Get the nearest object to a target point by the KD-tree + * rooted at this node. + * @param point The target point. Search it's nearest object. + * @return The nearest object to the target point. + */ + ObjectPtr GetNearestObject(const Vec2d& point) const { + ObjectPtr nearest_object = nullptr; + double min_distance_sqr = std::numeric_limits::infinity(); + GetNearestObjectInternal(point, &min_distance_sqr, &nearest_object); + return nearest_object; + } + + /** + * @brief Get objects within a distance to a point by the KD-tree + * rooted at this node. + * @param point The center point of the range to search objects. + * @param distance The radius of the range to search objects. + * @return All objects within the specified distance to the specified point. + */ + std::vector GetObjects(const Vec2d& point, + const double distance) const { + std::vector result_objects; + GetObjectsInternal(point, distance, Square(distance), &result_objects); + return result_objects; + } + + /** + * @brief Get the axis-aligned bounding box of the objects. + * @return The axis-aligned bounding box of the objects. + */ + AABox2d GetBoundingBox() const { + return AABox2d({min_x_, min_y_}, {max_x_, max_y_}); + } + + private: + void InitObjects(const std::vector& objects) { + num_objects_ = objects.size(); + objects_sorted_by_min_ = objects; + objects_sorted_by_max_ = objects; + std::sort(objects_sorted_by_min_.begin(), objects_sorted_by_min_.end(), + [&](ObjectPtr obj1, ObjectPtr obj2) { + return partition_ == PARTITION_X + ? obj1->aabox().min_x() < obj2->aabox().min_x() + : obj1->aabox().min_y() < obj2->aabox().min_y(); + }); + std::sort(objects_sorted_by_max_.begin(), objects_sorted_by_max_.end(), + [&](ObjectPtr obj1, ObjectPtr obj2) { + return partition_ == PARTITION_X + ? obj1->aabox().max_x() > obj2->aabox().max_x() + : obj1->aabox().max_y() > obj2->aabox().max_y(); + }); + objects_sorted_by_min_bound_.reserve(num_objects_); + for (ObjectPtr object : objects_sorted_by_min_) { + objects_sorted_by_min_bound_.push_back(partition_ == PARTITION_X + ? object->aabox().min_x() + : object->aabox().min_y()); + } + objects_sorted_by_max_bound_.reserve(num_objects_); + for (ObjectPtr object : objects_sorted_by_max_) { + objects_sorted_by_max_bound_.push_back(partition_ == PARTITION_X + ? object->aabox().max_x() + : object->aabox().max_y()); + } + } + + bool SplitToSubNodes(const std::vector& objects, + const AABoxKDTreeParams& params) { + if (params.max_depth >= 0 && depth_ >= params.max_depth) { + return false; + } + if (static_cast(objects.size()) <= std::max(1, params.max_leaf_size)) { + return false; + } + if (params.max_leaf_dimension >= 0.0 && + std::max(max_x_ - min_x_, max_y_ - min_y_) <= + params.max_leaf_dimension) { + return false; + } + return true; + } + + double LowerDistanceSquareToPoint(const Vec2d& point) const { + double dx = 0.0; + if (point.x() < min_x_) { + dx = min_x_ - point.x(); + } else if (point.x() > max_x_) { + dx = point.x() - max_x_; + } + double dy = 0.0; + if (point.y() < min_y_) { + dy = min_y_ - point.y(); + } else if (point.y() > max_y_) { + dy = point.y() - max_y_; + } + return dx * dx + dy * dy; + } + + double UpperDistanceSquareToPoint(const Vec2d& point) const { + const double dx = + (point.x() > mid_x_ ? (point.x() - min_x_) : (point.x() - max_x_)); + const double dy = + (point.y() > mid_y_ ? (point.y() - min_y_) : (point.y() - max_y_)); + return dx * dx + dy * dy; + } + + void GetAllObjects(std::vector* const result_objects) const { + result_objects->insert(result_objects->end(), + objects_sorted_by_min_.begin(), + objects_sorted_by_min_.end()); + if (left_subnode_ != nullptr) { + left_subnode_->GetAllObjects(result_objects); + } + if (right_subnode_ != nullptr) { + right_subnode_->GetAllObjects(result_objects); + } + } + + void GetObjectsInternal(const Vec2d& point, const double distance, + const double distance_sqr, + std::vector* const result_objects) const { + if (LowerDistanceSquareToPoint(point) > distance_sqr) { + return; + } + if (UpperDistanceSquareToPoint(point) <= distance_sqr) { + GetAllObjects(result_objects); + return; + } + const double pvalue = (partition_ == PARTITION_X ? point.x() : point.y()); + if (pvalue < partition_position_) { + const double limit = pvalue + distance; + for (int i = 0; i < num_objects_; ++i) { + if (objects_sorted_by_min_bound_[i] > limit) { + break; + } + ObjectPtr object = objects_sorted_by_min_[i]; + if (object->DistanceSquareTo(point) <= distance_sqr) { + result_objects->push_back(object); + } + } + } else { + const double limit = pvalue - distance; + for (int i = 0; i < num_objects_; ++i) { + if (objects_sorted_by_max_bound_[i] < limit) { + break; + } + ObjectPtr object = objects_sorted_by_max_[i]; + if (object->DistanceSquareTo(point) <= distance_sqr) { + result_objects->push_back(object); + } + } + } + if (left_subnode_ != nullptr) { + left_subnode_->GetObjectsInternal(point, distance, distance_sqr, + result_objects); + } + if (right_subnode_ != nullptr) { + right_subnode_->GetObjectsInternal(point, distance, distance_sqr, + result_objects); + } + } + + void GetNearestObjectInternal(const Vec2d& point, + double* const min_distance_sqr, + ObjectPtr* const nearest_object) const { + if (LowerDistanceSquareToPoint(point) >= *min_distance_sqr - kMathEpsilon) { + return; + } + const double pvalue = (partition_ == PARTITION_X ? point.x() : point.y()); + const bool search_left_first = (pvalue < partition_position_); + if (search_left_first) { + if (left_subnode_ != nullptr) { + left_subnode_->GetNearestObjectInternal(point, min_distance_sqr, + nearest_object); + } + } else { + if (right_subnode_ != nullptr) { + right_subnode_->GetNearestObjectInternal(point, min_distance_sqr, + nearest_object); + } + } + if (*min_distance_sqr <= kMathEpsilon) { + return; + } + + if (search_left_first) { + for (int i = 0; i < num_objects_; ++i) { + const double bound = objects_sorted_by_min_bound_[i]; + if (bound > pvalue && Square(bound - pvalue) > *min_distance_sqr) { + break; + } + ObjectPtr object = objects_sorted_by_min_[i]; + const double distance_sqr = object->DistanceSquareTo(point); + if (distance_sqr < *min_distance_sqr) { + *min_distance_sqr = distance_sqr; + *nearest_object = object; + } + } + } else { + for (int i = 0; i < num_objects_; ++i) { + const double bound = objects_sorted_by_max_bound_[i]; + if (bound < pvalue && Square(bound - pvalue) > *min_distance_sqr) { + break; + } + ObjectPtr object = objects_sorted_by_max_[i]; + const double distance_sqr = object->DistanceSquareTo(point); + if (distance_sqr < *min_distance_sqr) { + *min_distance_sqr = distance_sqr; + *nearest_object = object; + } + } + } + if (*min_distance_sqr <= kMathEpsilon) { + return; + } + if (search_left_first) { + if (right_subnode_ != nullptr) { + right_subnode_->GetNearestObjectInternal(point, min_distance_sqr, + nearest_object); + } + } else { + if (left_subnode_ != nullptr) { + left_subnode_->GetNearestObjectInternal(point, min_distance_sqr, + nearest_object); + } + } + } + + void ComputeBoundary(const std::vector& objects) { + min_x_ = std::numeric_limits::infinity(); + min_y_ = std::numeric_limits::infinity(); + max_x_ = -std::numeric_limits::infinity(); + max_y_ = -std::numeric_limits::infinity(); + for (ObjectPtr object : objects) { + min_x_ = std::min(min_x_, object->aabox().min_x()); + max_x_ = std::max(max_x_, object->aabox().max_x()); + min_y_ = std::min(min_y_, object->aabox().min_y()); + max_y_ = std::max(max_y_, object->aabox().max_y()); + } + mid_x_ = (min_x_ + max_x_) / 2.0; + mid_y_ = (min_y_ + max_y_) / 2.0; + } + + void ComputePartition() { + if (max_x_ - min_x_ >= max_y_ - min_y_) { + partition_ = PARTITION_X; + partition_position_ = (min_x_ + max_x_) / 2.0; + } else { + partition_ = PARTITION_Y; + partition_position_ = (min_y_ + max_y_) / 2.0; + } + } + + void PartitionObjects(const std::vector& objects, + std::vector* const left_subnode_objects, + std::vector* const right_subnode_objects) { + left_subnode_objects->clear(); + right_subnode_objects->clear(); + std::vector other_objects; + if (partition_ == PARTITION_X) { + for (ObjectPtr object : objects) { + if (object->aabox().max_x() <= partition_position_) { + left_subnode_objects->push_back(object); + } else if (object->aabox().min_x() >= partition_position_) { + right_subnode_objects->push_back(object); + } else { + other_objects.push_back(object); + } + } + } else { + for (ObjectPtr object : objects) { + if (object->aabox().max_y() <= partition_position_) { + left_subnode_objects->push_back(object); + } else if (object->aabox().min_y() >= partition_position_) { + right_subnode_objects->push_back(object); + } else { + other_objects.push_back(object); + } + } + } + InitObjects(other_objects); + } + + private: + int num_objects_ = 0; + std::vector objects_sorted_by_min_; + std::vector objects_sorted_by_max_; + std::vector objects_sorted_by_min_bound_; + std::vector objects_sorted_by_max_bound_; + int depth_ = 0; + + // Boundary + double min_x_ = 0.0; + double max_x_ = 0.0; + double min_y_ = 0.0; + double max_y_ = 0.0; + double mid_x_ = 0.0; + double mid_y_ = 0.0; + + enum Partition { + PARTITION_X = 1, + PARTITION_Y = 2, + }; + Partition partition_ = PARTITION_X; + double partition_position_ = 0.0; + + std::unique_ptr> left_subnode_ = nullptr; + std::unique_ptr> right_subnode_ = nullptr; +}; + +/** + * @class AABoxKDTree2d + * @brief The class of KD-tree of Aligned Axis Bounding Box(AABox). + */ +template +class AABoxKDTree2d { + public: + using ObjectPtr = const ObjectType*; + + /** + * @brief Contructor which takes a vector of objects and parameters. + * @param params Parameters to build the KD-tree. + */ + AABoxKDTree2d(const std::vector& objects, + const AABoxKDTreeParams& params) { + if (!objects.empty()) { + std::vector object_ptrs; + for (const auto& object : objects) { + object_ptrs.push_back(&object); + } + root_.reset(new AABoxKDTree2dNode(object_ptrs, params, 0)); + } + } + + /** + * @brief Get the nearest object to a target point. + * @param point The target point. Search it's nearest object. + * @return The nearest object to the target point. + */ + ObjectPtr GetNearestObject(const Vec2d& point) const { + return root_ == nullptr ? nullptr : root_->GetNearestObject(point); + } + + /** + * @brief Get objects within a distance to a point. + * @param point The center point of the range to search objects. + * @param distance The radius of the range to search objects. + * @return All objects within the specified distance to the specified point. + */ + std::vector GetObjects(const Vec2d& point, + const double distance) const { + if (root_ == nullptr) { + return {}; + } + return root_->GetObjects(point, distance); + } + + /** + * @brief Get the axis-aligned bounding box of the objects. + * @return The axis-aligned bounding box of the objects. + */ + AABox2d GetBoundingBox() const { + return root_ == nullptr ? AABox2d() : root_->GetBoundingBox(); + } + + private: + std::unique_ptr> root_ = nullptr; +}; + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_AABOXKDTREE2D_H_ */ diff --git a/apollo_common/include/apollo_common/math/angle.h b/apollo_common/include/apollo_common/math/angle.h new file mode 100644 index 0000000..47ad214 --- /dev/null +++ b/apollo_common/include/apollo_common/math/angle.h @@ -0,0 +1,295 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the templated Angle class. + */ + +#ifndef MODULES_COMMON_MATH_ANGLE_H_ +#define MODULES_COMMON_MATH_ANGLE_H_ + +#include +#include +#include + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @class Angle + * @brief The Angle class uses an integer to represent an angle, and supports + * commonly-used operations such as addition and subtraction, + * as well as the use of trigonometric functions. + * + * Having a specialized Angle class prevents code repetition, namely for tasks + * such as computing angle differences or finding equivalent angles in some + * specified interval, typically [-pi, pi). + * Representing angles by integers has the following advantages: + * 1) Finer level of precision control (< means "less precise than"): + * Angle8 < Angle16 < float < Angle32 < double < Angle64. + * 2) Angle8 and Angle16 allow super fast trigonometric functions + * via a 64-KiB lookup table. + * 3) Higher precision with the same representation size. + * The use of the Angle class is encouraged. + * In particular, Angle32 should be used for latitude/longitude (<1cm error). + * Angle16 is precise enough for localization/object detection. + + * @param T signed integer type +*/ +template +class Angle { + public: + static_assert(std::numeric_limits::is_integer && + std::numeric_limits::is_signed, + "T must be a signed integer type"); + + /** + * @brief Constructs an Angle object from an angle in degrees (factory). + * @param value Angle in degrees + * @return Angle object + */ + static Angle from_deg(double value) { + Angle a(std::lround(value * DEG_TO_RAW)); + return a; + } + + /** + * @brief Constructs an Angle object from an angle in radians (factory). + * @param value Angle in radians + * @return Angle object + */ + static Angle from_rad(double value) { + Angle a(std::lround(value * RAD_TO_RAW)); + return a; + } + + /** + * @brief Constructs an Angle object from raw internal value. + * @param value Angle in degrees + * @return Angle object + */ + explicit Angle(T value = 0) : value_(value) {} + /// Internal representation of pi + static constexpr T RAW_PI = std::numeric_limits::min(); + /// Internal representation of pi/2 + static constexpr T RAW_PI_2 = -(std::numeric_limits::min() >> 1); + /// Used for converting angle units + static constexpr double DEG_TO_RAW = RAW_PI / -180.0; + /// Used for converting angle units + static constexpr double RAD_TO_RAW = RAW_PI * -M_1_PI; + /// Used for converting angle units + static constexpr double RAW_TO_DEG = -180.0 / RAW_PI; + /// Used for converting angle units + static constexpr double RAW_TO_RAD = -M_PI / RAW_PI; + + /** + * @brief Getter of value_. + * @return Internal unsigned integer representation of angle + */ + T raw() const { return value_; } + + /** + * @brief Converts the internal representation to degrees. + * @return angle in degrees + */ + double to_deg() const { return value_ * RAW_TO_DEG; } + + /** + * @brief Converts the internal representation to radians. + * @return angle in radians + */ + double to_rad() const { return value_ * RAW_TO_RAD; } + + /** + * @brief Sums another angle to the current one. + * @param other Another Angle object + * @return Result of sum + */ + Angle operator+=(Angle other) { + value_ += other.value_; + return *this; + } + + /** + * @brief Subtracts another angle from the current one. + * @param other Another Angle object + * @return Result of subtraction + */ + Angle operator-=(Angle other) { + value_ -= other.value_; + return *this; + } + + /** + * @brief Multiplies angle by scalar + * @param s A scalar + * @return Result of multiplication + */ + template + Angle operator*=(Scalar s) { + value_ = std::lround(value_ * s); + return *this; + } + + /** + * @brief Divides angle by scalar + * @param s A scalar + * @return Result of division + */ + template + Angle operator/=(Scalar s) { + value_ = std::lround(value_ / s); + return *this; + } + + private: + T value_; +}; + +using Angle8 = Angle; +using Angle16 = Angle; +using Angle32 = Angle; +using Angle64 = Angle; + +/** + * @brief Sums two angles + * @param lhs An Angle object + * @param rhs An Angle object + * @return Result of addition + */ +template +Angle operator+(Angle lhs, Angle rhs) { + lhs += rhs; + return lhs; +} + +/** + * @brief Subtracts two angles + * @param lhs An Angle object + * @param rhs An Angle object + * @return Result of subtraction + */ +template +Angle operator-(Angle lhs, Angle rhs) { + lhs -= rhs; + return lhs; +} + +/** + * @brief Multiplies an Angle by a scalar + * @param lhs An Angle object + * @param rhs A scalar + * @return Result of multiplication + */ +template +Angle operator*(Angle lhs, Scalar rhs) { + lhs *= rhs; + return lhs; +} + +/** + * @brief Multiplies an Angle by a scalar + * @param lhs An Angle object + * @param rhs A scalar + * @return Result of multiplication + */ +template +Angle operator*(Scalar lhs, Angle rhs) { + rhs *= lhs; + return rhs; +} + +/** + * @brief Divides an Angle by a scalar + * @param lhs An Angle object + * @param rhs A scalar + * @return Result of division + */ +template +Angle operator/(Angle lhs, Scalar rhs) { + lhs /= rhs; + return lhs; +} + +/** + * @brief Divides an Angle by a scalar + * @param lhs An Angle object + * @param rhs A scalar + * @return Result of division + */ +template +double operator/(Angle lhs, Angle rhs) { + return static_cast(lhs.raw()) / rhs.raw(); +} + +/** + * @brief Tests two Angle objects for equality + * @param lhs An Angle object + * @param rhs An Angle object + * @return lhs == rhs + */ +template +bool operator==(Angle lhs, Angle rhs) { + return lhs.raw() == rhs.raw(); +} + +/** + * @brief Tests two Angle objects for inequality + * @param lhs An Angle object + * @param rhs An Angle object + * @return lhs != rhs + */ +template +bool operator!=(Angle lhs, Angle rhs) { + return !(lhs == rhs); +} + +// Fast trigonometric functions. Single precision is sufficient for Angle16 and +// Angle8. +float sin(Angle16 a); +float cos(Angle16 a); +float tan(Angle16 a); +float sin(Angle8 a); +float cos(Angle8 a); +float tan(Angle8 a); + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_AABOX2D_H_ */ diff --git a/apollo_common/include/apollo_common/math/box2d.h b/apollo_common/include/apollo_common/math/box2d.h new file mode 100644 index 0000000..4d7b112 --- /dev/null +++ b/apollo_common/include/apollo_common/math/box2d.h @@ -0,0 +1,271 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief The class of Box2d. Here, the x/y axes are respectively Forward/Left, + * as opposed to what happens in euler_angles_zxy.h (Right/Forward). + */ + +#ifndef MODULES_COMMON_MATH_BOX2D_H_ +#define MODULES_COMMON_MATH_BOX2D_H_ + +#include +#include + +#include "apollo_common/math/aabox2d.h" +#include "apollo_common/math/line_segment2d.h" +#include "apollo_common/math/vec2d.h" + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @class Box2d + * @brief Rectangular (undirected) bounding box in 2-D. + * + * This class is referential-agnostic, although our convention on the use of + * the word "heading" in this project (permanently set to be 0 at East) + * forces us to assume that the X/Y frame here is East/North. + * For disambiguation, we call the axis of the rectangle parellel to the + * heading direction the "heading-axis". The size of the heading-axis is + * called "length", and the size of the axis perpenticular to it "width". + */ +class Box2d { + public: + /** + * @brief Constructor which takes the center, heading, length and width. + * @param center The center of the rectangular bounding box. + * @param heading The angle between the x-axis and the heading-axis, + * measured counter-clockwise. + * @param length The size of the heading-axis. + * @param width The size of the axis perpendicular to the heading-axis. + */ + Box2d(const Vec2d& center, const double heading, const double length, + const double width); + + /** + * @brief Constructor which takes the heading-axis and the width of the box + * @param axis The heading-axis + * @param width The width of the box, which is taken perpendicularly + * to the heading direction. + */ + Box2d(const LineSegment2d& axis, const double width); + + /** + * @brief Constructor which takes an AABox2d (axes-aligned box). + * @param aabox The input AABox2d. + */ + explicit Box2d(const AABox2d& aabox); + + /** + * @brief Creates an axes-aligned Box2d from two opposite corners + * @param one_corner One of the corners + * @param opposite_corner The opposite corner to the first one + * @return An axes-aligned Box2d + */ + static Box2d CreateAABox(const Vec2d& one_corner, + const Vec2d& opposite_corner); + + /** + * @brief Getter of the center of the box + * @return The center of the box + */ + const Vec2d& center() const { return center_; } + + /** + * @brief Getter of the x-coordinate of the center of the box + * @return The x-coordinate of the center of the box + */ + double center_x() const { return center_.x(); } + + /** + * @brief Getter of the y-coordinate of the center of the box + * @return The y-coordinate of the center of the box + */ + double center_y() const { return center_.y(); } + + /** + * @brief Getter of the length + * @return The length of the heading-axis + */ + double length() const { return length_; } + + /** + * @brief Getter of the width + * @return The width of the box taken perpendicularly to the heading + */ + double width() const { return width_; } + + /** + * @brief Getter of half the length + * @return Half the length of the heading-axis + */ + double half_length() const { return half_length_; } + + /** + * @brief Getter of half the width + * @return Half the width of the box taken perpendicularly to the heading + */ + double half_width() const { return half_width_; } + + /** + * @brief Getter of the heading + * @return The counter-clockwise angle between the x-axis and the heading-axis + */ + double heading() const { return heading_; } + + /** + * @brief Getter of the co-sine of the heading + * @return The co-sine of the heading + */ + double cos_heading() const { return cos_heading_; } + + /** + * @brief Getter of the sine of the heading + * @return The sine of the heading + */ + double sin_heading() const { return sin_heading_; } + + /** + * @brief Getter of the area of the box + * @return The product of its length and width + */ + double area() const { return length_ * width_; } + + /** + * @brief Getter of the size of the diagonal of the box + * @return The diagonal size of the box + */ + double diagonal() const { return std::hypot(length_, width_); } + + /** + * @brief Getter of the corners of the box + * @param corners The vector where the corners are listed + */ + void GetAllCorners(std::vector* const corners) const; + + /** + * @brief Tests points for membership in the box + * @param point A point that we wish to test for membership in the box + * @return True iff the point is contained in the box + */ + bool IsPointIn(const Vec2d& point) const; + + /** + * @brief Tests points for membership in the boundary of the box + * @param point A point that we wish to test for membership in the boundary + * @return Truee iff the point is a boundary point of the box + */ + bool IsPointOnBoundary(const Vec2d& point) const; + + /** + * @brief Determines the distance between the box and a given point + * @param point The point whose distance to the box we wish to compute + * @return A distance + */ + double DistanceTo(const Vec2d& point) const; + + /** + * @brief Determines the distance between the box and a given line segment + * @param line_segment The line segment whose distance to the box we compute + * @return A distance + */ + double DistanceTo(const LineSegment2d& line_segment) const; + + /** + * @brief Determines the distance between two boxes + * @param box The box whose distance to this box we want to compute + * @return A distance + */ + double DistanceTo(const Box2d& box) const; + + /** + * @brief Determines whether this box overlaps a given line segment + * @param line_segment The line-segment + * @return True if they overlap + */ + bool HasOverlap(const LineSegment2d& line_segment) const; + + /** + * @brief Determines whether these two boxes overlap + * @param line_segment The other box + * @return True if they overlap + */ + bool HasOverlap(const Box2d& box) const; + + /** + * @brief Gets the smallest axes-aligned box containing the current one + * @return An axes-aligned box + */ + AABox2d GetAABox() const; + + /** + * @brief ... + * @param ... + * @return ... + */ + void RotateFromCenter(const double rotate_angle); + + /** + * @brief Shifts this box by a given vector + * @param shift_vec The vector determining the shift + */ + void Shift(const Vec2d& shift_vec); + + /** + * @brief Gets a human-readable description of the box + * @return A debug-string + */ + std::string DebugString() const; + + private: + Vec2d center_; + double length_ = 0.0; + double width_ = 0.0; + double half_length_ = 0.0; + double half_width_ = 0.0; + double heading_ = 0.0; + double cos_heading_ = 1.0; + double sin_heading_ = 0.0; +}; + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_BOX2D_H_ */ diff --git a/apollo_common/include/apollo_common/math/euler_angles_zxy.h b/apollo_common/include/apollo_common/math/euler_angles_zxy.h new file mode 100644 index 0000000..af0c737 --- /dev/null +++ b/apollo_common/include/apollo_common/math/euler_angles_zxy.h @@ -0,0 +1,205 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the EulerAnglesZXY class. + */ + +#ifndef MODULES_COMMON_MATH_EULER_ANGLES_ZXY_H_ +#define MODULES_COMMON_MATH_EULER_ANGLES_ZXY_H_ + +// TODO(all): should use Angle class internally. + +#include + +#include + +#include "apollo_common/math/math_utils.h" + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @class EulerAnglesZXY + * + * Any orientation of a rigid body on a 3-D space can be achieved by + * composing three rotations about the axes of an orthogonal coordinate system. + * These rotations are said to be extrinsic if the axes are assumed to be + * motionless, and intrinsic otherwise. Here, we use an intrinsic referential, + * which is relative to the car's orientation. + * Our vehicle reference frame follows NovAtel's convention: + * Right/Forward/Up (RFU) respectively for the axes x/y/z. + * In particular, we describe the orientation of the car by three angles: + * 1) the pitch, in (-pi/2, pi/2), corresponds to a rotation around the x-axis; + * 2) the roll, in [-pi, pi), corresponds to a rotation around the y-axis; + * 3) the yaw, in [-pi, pi), corresponds to a rotation around the z-axis. + * The pitch is zero when the car is level and positive when the nose is up. + * The roll is zero when the car is level and positive when the left part is up. + * The yaw is zero when the car is facing North, and positive when facing West. + * In turn, in the world frame, the x/y/z axes point to East/North/Up (ENU). + * These angles represent the rotation from the world to the vehicle frames. + * + * @brief Implements a class of Euler angles (actually, Tait-Bryan angles), + * with intrinsic sequence ZXY. + * + * @param T Number type: double or float + */ +template +class EulerAnglesZXY { + public: + /** + * @brief Constructs an identity rotation. + */ + EulerAnglesZXY() : roll_(0), pitch_(0), yaw_(0) {} + + /** + * @brief Constructs a rotation using only yaw (i.e., around the z-axis). + * + * @param yaw The yaw of the car + * @param pitch The pitch of the car + * @param roll The roll of the car + */ + explicit EulerAnglesZXY(T yaw) : roll_(0), pitch_(0), yaw_(yaw) {} + + /** + * @brief Constructs a rotation using arbitrary roll, pitch, and yaw. + * + * @param roll The roll of the car + * @param pitch The pitch of the car + * @param yaw The yaw of the car + */ + EulerAnglesZXY(T roll, T pitch, T yaw) + : roll_(roll), pitch_(pitch), yaw_(yaw) {} + + /** + * @brief Constructs a rotation using components of a quaternion. + * + * @param qw Quaternion w-coordinate + * @param qx Quaternion x-coordinate + * @param qy Quaternion y-coordinate + * @param qzQuaternion z-coordinate + */ + EulerAnglesZXY(T qw, T qx, T qy, T qz) + : roll_(std::atan2(2.0 * (qw * qy - qx * qz), + 2.0 * (Square(qw) + Square(qz)) - 1.0)), + pitch_(std::asin(2.0 * (qw * qx + qy * qz))), + yaw_(std::atan2(2.0 * (qw * qz - qx * qy), + 2.0 * (Square(qw) + Square(qy)) - 1.0)) {} + + /** + * @brief Constructs a rotation from quaternion. + * @param q Quaternion + */ + explicit EulerAnglesZXY(const Eigen::Quaternion& q) + : EulerAnglesZXY(q.w(), q.x(), q.y(), q.z()) {} + + /** + * @brief Getter for roll_ + * @return The roll of the car + */ + T roll() const { return roll_; } + + /** + * @brief Getter for pitch_ + * @return The pitch of the car + */ + T pitch() const { return pitch_; } + + /** + * @brief Getter for yaw_ + * @return The yaw of the car + */ + T yaw() const { return yaw_; } + + /** + * @brief Normalizes roll_, pitch_, and yaw_ to [-PI, PI). + */ + void Normalize() { + roll_ = NormalizeAngle(roll_); + pitch_ = NormalizeAngle(pitch_); + yaw_ = NormalizeAngle(yaw_); + } + + /** + * @brief Verifies the validity of the specified rotation. + * @return True iff -PI/2 < pitch < PI/2 + */ + bool IsValid() { + Normalize(); + return pitch_ < M_PI_2 && pitch_ > -M_PI_2; + } + + /** + * @brief Converts to a quaternion with a non-negative scalar part + * @return Quaternion encoding this rotation. + */ + Eigen::Quaternion ToQuaternion() const { + T r = roll_ * 0.5; + T p = pitch_ * 0.5; + T y = yaw_ * 0.5; + + T sr = std::sin(r); + T sp = std::sin(p); + T sy = std::sin(y); + + T cr = std::cos(r); + T cp = std::cos(p); + T cy = std::cos(y); + + T qw = cr * cp * cy - sr * sp * sy; + T qx = cr * sp * cy - sr * cp * sy; + T qy = cr * sp * sy + sr * cp * cy; + T qz = cr * cp * sy + sr * sp * cy; + if (qw < 0.0) return {-qw, -qx, -qy, -qz}; + return {qw, qx, qy, qz}; + } + + private: + T roll_; + T pitch_; + T yaw_; +}; + +using EulerAnglesZXYf = EulerAnglesZXY; +using EulerAnglesZXYd = EulerAnglesZXY; + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_EULER_ANGLES_ZXY_H_ */ diff --git a/apollo_common/include/apollo_common/math/integral.h b/apollo_common/include/apollo_common/math/integral.h new file mode 100644 index 0000000..8e88642 --- /dev/null +++ b/apollo_common/include/apollo_common/math/integral.h @@ -0,0 +1,78 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Functions to compute integral. + */ + +#ifndef MODULES_COMMON_MATH_INTEGRATION_H_ +#define MODULES_COMMON_MATH_INTEGRATION_H_ + +#include + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +// Given a target function and integral lower and upper bound, +// compute the integral approximation using 5th order Gauss-Legendre +// integration. +// The target function must be a smooth function. +// Example: +// target function: auto func = [](const double& x) {return x * x;}; +// double integral = gauss_legendre(func, -2, 3); +// This gives you the approximated integral of function x^2 in bound [-2, 3] + +// reference: https://en.wikipedia.org/wiki/Gaussian_quadrature +// http://www.mymathlib.com/quadrature/gauss_legendre.html + +/** + * @brief Compute the integral of a target single-variable function + * from a lower bound to an upper bound, by 5-th Gauss-Legendre method + * @param func The target single-variable function + * @param lower_bound The lower bound of the integral + * @param upper_bound The upper bound of the integral + * @return The integral result + */ +double GaussLegendre(const std::function& func, + const double lower_bound, const double upper_bound); + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_INTEGRATION_H_ */ diff --git a/apollo_common/include/apollo_common/math/kalman_filter.h b/apollo_common/include/apollo_common/math/kalman_filter.h new file mode 100644 index 0000000..c4c93d5 --- /dev/null +++ b/apollo_common/include/apollo_common/math/kalman_filter.h @@ -0,0 +1,258 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the templated KalmanFilter class. + */ + +#ifndef MODULES_COMMON_MATH_KALMAN_FILTER_H_ +#define MODULES_COMMON_MATH_KALMAN_FILTER_H_ + +#include +#include + +#include + +#include "apollo_common/log.h" +#include "apollo_common/math/matrix_operations.h" + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @class KalmanFilter + * + * @brief Implements a discrete-time Kalman filter. + * + * @param XN dimension of state + * @param ZN dimension of observations + * @param UN dimension of controls + */ +template +class KalmanFilter { + public: + /** + * @brief Constructor which defers initialization until the initial state + * distribution parameters are set (with SetStateEstimate), + * typically on the first observation + */ + KalmanFilter() { + F_.setIdentity(); + Q_.setZero(); + H_.setIdentity(); + R_.setZero(); + B_.setZero(); + } + + /** + * @brief Sets the initial state belief distribution. + * + * @param x Mean of the state belief distribution + * @param P Covariance of the state belief distribution + */ + void SetStateEstimate(const Eigen::Matrix& x, + const Eigen::Matrix& P) { + x_ = x; + P_ = P; + is_initialized_ = true; + } + + /** + * @brief Constructor which fully initializes the Kalman filter + * @param x Mean of the state belief distribution + * @param P Covariance of the state belief distribution + */ + KalmanFilter(const Eigen::Matrix& x, + const Eigen::Matrix& P) + : KalmanFilter() { + SetStateEstimate(x, P); + } + + /** + * @brief Destructor + */ + virtual ~KalmanFilter() {} + + /** + * @brief Changes the system transition function under zero control. + * + * @param F New transition matrix + */ + void SetTransitionMatrix(const Eigen::Matrix& F) { F_ = F; } + + /** + * @brief Changes the covariance matrix of the transition noise. + * + * @param Q New covariance matrix + */ + void SetTransitionNoise(const Eigen::Matrix& Q) { Q_ = Q; } + + /** + * @brief Changes the observation matrix, which maps states to observations. + * + * @param H New observation matrix + */ + void SetObservationMatrix(const Eigen::Matrix& H) { H_ = H; } + + /** + * @brief Changes the covariance matrix of the observation noise. + * + * @param R New covariance matrix + */ + void SetObservationNoise(const Eigen::Matrix& R) { R_ = R; } + + /** + * @brief Changes the control matrix in the state transition rule. + * + * @param B New control matrix + */ + void SetControlMatrix(const Eigen::Matrix& B) { B_ = B; } + + /** + * @brief Updates the state belief distribution given the control input u. + * + * @param u Control input (by default, zero) + */ + void Predict( + const Eigen::Matrix& u = Eigen::Matrix::Zero()); + + /** + * @brief Updates the state belief distribution given an observation z. + * + * @param z Observation + */ + void Correct(const Eigen::Matrix& z); + + /** + * @brief Gets mean of our current state belief distribution + * + * @return State vector + */ + Eigen::Matrix GetStateEstimate() const { return x_; } + + /** + * @brief Gets covariance of our current state belief distribution + * + * @return Covariance matrix + */ + Eigen::Matrix GetStateCovariance() const { return P_; } + + /** + * @brief Gets debug string containing detailed information about the filter. + * + * @return Debug string + */ + std::string DebugString() const; + + private: + // Mean of current state belief distribution + Eigen::Matrix x_; + + // Covariance of current state belief dist + Eigen::Matrix P_; + + // State transition matrix under zero control + Eigen::Matrix F_; + + // Covariance of the state transition noise + Eigen::Matrix Q_; + + // Observation matrix + Eigen::Matrix H_; + + // Covariance of observation noise + Eigen::Matrix R_; + + // Control matrix in state transition rule + Eigen::Matrix B_; + + // Innovation; marked as member to prevent memory re-allocation. + Eigen::Matrix y_; + + // Innovation covariance; marked as member to prevent memory re-allocation. + Eigen::Matrix S_; + + // Kalman gain; marked as member to prevent memory re-allocation. + Eigen::Matrix K_; + + // true iff SetStateEstimate has been called. + bool is_initialized_ = false; +}; + +template +inline void KalmanFilter::Predict( + const Eigen::Matrix& u) { + CHECK(is_initialized_); + x_ = F_ * x_ + B_ * u; + P_ = F_ * P_ * F_.transpose() + Q_; +} + +template +inline void KalmanFilter::Correct( + const Eigen::Matrix& z) { + CHECK(is_initialized_); + y_ = z - H_ * x_; + + S_ = H_ * P_ * H_.transpose() + R_; + + K_ = P_ * H_.transpose() * PseudoInverse(S_); + + x_ = x_ + K_ * y_; + + P_ = (Eigen::Matrix::Identity() - K_ * H_) * P_; +} + +template +inline std::string KalmanFilter::DebugString() const { + Eigen::IOFormat clean_fmt(4, 0, ", ", " ", "[", "]"); + std::ostringstream strs; + strs << "F = " << F_.format(clean_fmt) << "\n"; + strs << "B = " << B_.format(clean_fmt) << "\n"; + strs << "H = " << H_.format(clean_fmt) << "\n"; + strs << "Q = " << Q_.format(clean_fmt) << "\n"; + strs << "R = " << R_.format(clean_fmt) << "\n"; + strs << "x = " << x_.format(clean_fmt) << "\n"; + strs << "P = " << P_.format(clean_fmt) << "\n"; + return strs.str(); +} + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_KALMAN_FILTER_H_ */ diff --git a/apollo_common/include/apollo_common/math/line_segment2d.h b/apollo_common/include/apollo_common/math/line_segment2d.h new file mode 100644 index 0000000..c5eb41f --- /dev/null +++ b/apollo_common/include/apollo_common/math/line_segment2d.h @@ -0,0 +1,240 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Define the LineSegment2d class. + */ + +#ifndef MODULES_COMMON_MATH_LINE_SEGEMENT2D_H_ +#define MODULES_COMMON_MATH_LINE_SEGEMENT2D_H_ + +#include + +#include "apollo_common/math/vec2d.h" + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @class LineSegment2d + * @brief Line segment in 2-D. + */ +class LineSegment2d { + public: + /** + * @brief Empty constructor. + */ + LineSegment2d(); + + /** + * @brief Constructor with start point and end point. + * @param start The start point of the line segment. + * @param end The end point of the line segment. + */ + LineSegment2d(const Vec2d& start, const Vec2d& end); + + /** + * @brief Get the start point. + * @return The start point of the line segment. + */ + const Vec2d& start() const { return start_; } + + /** + * @brief Get the end point. + * @return The end point of the line segment. + */ + const Vec2d& end() const { return end_; } + + /** + * @brief Get the unit direction from the start point to the end point. + * @return The start point of the line segment. + */ + const Vec2d& unit_direction() const { return unit_direction_; } + + /** + * @brief Get the center of the line segment. + * @return The center of the line segment. + */ + Vec2d center() const { return (start_ + end_) / 2.0; } + + /** + * @brief Get the heading of the line segment. + * @return The heading, which is the angle between unit direction and x-axis. + */ + double heading() const { return heading_; } + + /** + * @brief Get the cosine of the heading. + * @return The cosine of the heading. + */ + double cos_heading() const { return unit_direction_.x(); } + + /** + * @brief Get the sine of the heading. + * @return The sine of the heading. + */ + double sin_heading() const { return unit_direction_.y(); } + + /** + * @brief Get the length of the line segment. + * @return The length of the line segment. + */ + double length() const; + + /** + * @brief Get the square of length of the line segment. + * @return The square of length of the line segment. + */ + double length_sqr() const; + + /** + * @brief Compute the shortest distance from a point on the line segment + * to a point in 2-D. + * @param point The point to compute the distance to. + * @return The shortest ditance from points on the line segment to point. + */ + double DistanceTo(const Vec2d& point) const; + + /** + * @brief Compute the shortest distance from a point on the line segment + * to a point in 2-D, and get the nearest point on the line segment. + * @param point The point to compute the distance to. + * @param nearest_pt The nearest point on the line segment + * to the input point. + * @return The shortest ditance from points on the line segment + * to the input point. + */ + double DistanceTo(const Vec2d& point, Vec2d* const nearest_pt) const; + + /** + * @brief Compute the square of the shortest distance from a point + * on the line segment to a point in 2-D. + * @param point The point to compute the squared of the distance to. + * @return The square of the shortest ditance from points + * on the line segment to the input point. + */ + double DistanceSquareTo(const Vec2d& point) const; + + /** + * @brief Compute the square of the shortest distance from a point + * on the line segment to a point in 2-D, + * and get the nearest point on the line segment. + * @param point The point to compute the squared of the distance to. + * @param nearest_pt The nearest point on the line segment + * to the input point. + * @return The shortest ditance from points on the line segment + * to the input point. + */ + double DistanceSquareTo(const Vec2d& point, Vec2d* const nearest_pt) const; + + /** + * @brief Check if a point is within the line segment. + * @param point The point to ckeck if it is within the line segment. + * @return Whether the input point is within the line segment or not. + */ + bool IsPointIn(const Vec2d& point) const; + + /** + * @brief Check if the line segment has an intersect + * with another line segment in 2-D. + * @param other_segment The line segment to check if it has an intersect. + * @return Whether the line segment has an intersect + * with the input other_segment. + */ + bool HasIntersect(const LineSegment2d& other_segment) const; + + /** + * @brief Compute the intersect with another line segment in 2-D if any. + * @param other_segment The line segment to compute the intersect. + * @param point the computed intersect between the line segment and + * the input other_segment. + * @return Whether the line segment has an intersect + * with the input other_segment. + */ + bool GetIntersect(const LineSegment2d& other_segment, + Vec2d* const point) const; + + /** + * @brief Compute the projection of a vector onto the line segment. + * @param point The end of the vector (starting from the start point of the + * line segment) to compute the projection onto the line segment. + * @return The projection of the vector, which is from the start point of + * the line segment to the input point, onto the unit direction. + */ + double ProjectOntoUnit(const Vec2d& point) const; + + /** + * @brief Compute the cross product of a vector onto the line segment. + * @param point The end of the vector (starting from the start point of the + * line segment) to compute the cross product onto the line segment. + * @return The cross product of the unit direction and + * the vector, which is from the start point of + * the line segment to the input point. + */ + double ProductOntoUnit(const Vec2d& point) const; + + /** + * @brief Compute perpendicular foot of a point in 2-D on the straight line + * expanded from the line segment. + * @param point The point to compute the perpendicular foot from. + * @param foot_point The computed perpendicular foot from the input point to + * the straight line expanded from the line segment. + * @return The distance from the input point to the perpendicular foot. + */ + double GetPerpendicularFoot(const Vec2d& point, + Vec2d* const foot_point) const; + + /** + * @brief Get the debug string including the essential information. + * @return Information of the line segment for debugging. + */ + std::string DebugString() const; + + private: + Vec2d start_; + Vec2d end_; + Vec2d unit_direction_; + double heading_ = 0.0; + double length_ = 0.0; +}; + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_LINE_SEGEMENT2D_H_ */ diff --git a/apollo_common/include/apollo_common/math/linear_interpolation.h b/apollo_common/include/apollo_common/math/linear_interpolation.h new file mode 100644 index 0000000..eee5c58 --- /dev/null +++ b/apollo_common/include/apollo_common/math/linear_interpolation.h @@ -0,0 +1,96 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Linear interpolation functions. + */ + +#ifndef MODULES_COMMON_MATH_LINEAR_INTERPOLATION_H_ +#define MODULES_COMMON_MATH_LINEAR_INTERPOLATION_H_ + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @brief Linear interpolation between two 1-D points. + * @param x0 The coordinate of the first 1-D point. + * @param t0 The interpolation parameter of the first 1-D point. + * @param x1 The coordinate of the second 1-D point. + * @param t1 The interpolation parameter of the second 1-D point. + * @param t The interpolation parameter for interpolation. + * @param x The coordinate of the interpolated 1-D point. + * @return Interpolated 1-D point. + */ +double lerp(const double x0, const double t0, const double x1, const double t1, + const double t); + +/** + * @brief Linear interpolation between two 2-D points. + * @param x0 The x coordinate of the first 2-D point. + * @param y0 The y coordinate of the first 2-D point. + * @param t0 The interpolation parameter of the first 2-D point. + * @param x1 The x coordinate of the second 2-D point. + * @param y1 The y coordinate of the second 2-D point. + * @param t1 The interpolation parameter of the second 2-D point. + * @param t The interpolation parameter for interpolation. + * @param x The x coordinate of the interpolated 2-D point. + * @param y The y coordinate of the interpolated 2-D point. + */ +void lerp(const double x0, const double y0, const double t0, const double x1, + const double y1, const double t1, const double t, double* x, + double* y); + +/** + * @brief Spherical linear interpolation between two angles. + * The two angles are within range [-M_PI, M_PI). + * @param a0 The value of the first angle. + * @param t0 The interpolation parameter of the first angle. + * @param a1 The value of the second angle. + * @param t1 The interpolation parameter of the second angle. + * @param t The interpolation parameter for interpolation. + * @param a The value of the spherically interpolated angle. + * @return Interpolated angle. + */ +double slerp(const double a0, const double t0, const double a1, const double t1, + const double t); + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_LINEAR_INTERPOLATION_H_ */ diff --git a/apollo_common/include/apollo_common/math/linear_quadratic_regulator.h b/apollo_common/include/apollo_common/math/linear_quadratic_regulator.h new file mode 100644 index 0000000..aa6079a --- /dev/null +++ b/apollo_common/include/apollo_common/math/linear_quadratic_regulator.h @@ -0,0 +1,71 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Solver for discrete-time linear quadratic problem. + */ + +#ifndef MODULES_COMMON_MATH_LINEAR_QUADRATIC_REGULATOR_H_ +#define MODULES_COMMON_MATH_LINEAR_QUADRATIC_REGULATOR_H_ + +#include + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @brief Solver for discrete-time linear quadratic problem. + * @param A The system dynamic matrix + * @param B The control matrix + * @param Q The cost matrix for system state + * @param R The cost matrix for control output + * @param tolerance The numerical tolerance for solving + * Algebraic Riccati equation (ARE) + * @param max_num_iteration The maximum iterations for solving ARE + * @param ptr_K The feedback control matrix (pointer) + */ +void SolveLQRProblem(const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, + const Eigen::MatrixXd &Q, const Eigen::MatrixXd &R, + const double tolerance, const uint max_num_iteration, + Eigen::MatrixXd *ptr_K); + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_LINEAR_QUADRATIC_REGULATOR_H_ */ diff --git a/apollo_common/include/apollo_common/math/math_utils.h b/apollo_common/include/apollo_common/math/math_utils.h new file mode 100644 index 0000000..b2b94d4 --- /dev/null +++ b/apollo_common/include/apollo_common/math/math_utils.h @@ -0,0 +1,178 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Math-related util functions. + */ + +#ifndef MODULES_COMMON_MATH_MATH_UTILS_H_ +#define MODULES_COMMON_MATH_MATH_UTILS_H_ + +#include + +#include "apollo_common/math/vec2d.h" + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @brief Cross product between two 2-D vectors from the common start point, + * and end at two other points. + * @param start_point The common start point of two vectors in 2-D. + * @param end_point_1 The end point of the first vector. + * @param end_point_2 The end point of the second vector. + * + * @return The cross product result. + */ +double CrossProd(const Vec2d& start_point, const Vec2d& end_point_1, + const Vec2d& end_point_2); + +/** + * @brief Inner product between two 2-D vectors from the common start point, + * and end at two other points. + * @param start_point The common start point of two vectors in 2-D. + * @param end_point_1 The end point of the first vector. + * @param end_point_2 The end point of the second vector. + * + * @return The inner product result. + */ +double InnerProd(const Vec2d& start_point, const Vec2d& end_point_1, + const Vec2d& end_point_2); + +/** + * @brief Cross product between two vectors. + * One vector is formed by 1st and 2nd parameters of the function. + * The other vector is formed by 3rd and 4th parameters of the function. + * @param x0 The x coordinate of the first vector. + * @param y0 The y coordinate of the first vector. + * @param x1 The x coordinate of the second vector. + * @param y1 The y coordinate of the second vector. + * + * @return The cross product result. + */ +double CrossProd(const double x0, const double y0, const double x1, + const double y1); + +/** + * @brief Inner product between two vectors. + * One vector is formed by 1st and 2nd parameters of the function. + * The other vector is formed by 3rd and 4th parameters of the function. + * @param x0 The x coordinate of the first vector. + * @param y0 The y coordinate of the first vector. + * @param x1 The x coordinate of the second vector. + * @param y1 The y coordinate of the second vector. + * + * @return The inner product result. + */ +double InnerProd(const double x0, const double y0, const double x1, + const double y1); + +/** + * @brief Wrap angle to [0, 2 * PI). + * @param angle the original value of the angle. + * @return The wrapped value of the angle. + */ +double WrapAngle(const double angle); + +/** + * @brief Normalize angle to [-PI, PI). + * @param angle the original value of the angle. + * @return The normalized value of the angle. + */ +double NormalizeAngle(const double angle); + +/** + * @brief Get a random integer between two integer values by a random seed. + * @param s The lower bound of the random integer. + * @param t The upper bound of the random integer. + * @param random_seed The random seed. + * @return A random integer between s and t based on the input random_seed. + */ +int RandomInt(const int s, const int t, unsigned int rand_seed = 1); + +/** + * @brief Get a random double between two integer values by a random seed. + * @param s The lower bound of the random double. + * @param t The upper bound of the random double. + * @param random_seed The random seed. + * @return A random double between s and t based on the input random_seed. + */ +double RandomDouble(const double s, const double t, unsigned int rand_seed = 1); + +/** + * @brief Compute squared value. + * @param value The target value to get its squared value. + * @return Squared value of the input value. + */ +template +inline T Square(const T value) { + return value * value; +} + +/** + * @brief Clamp a value between two bounds. + * If the value goes beyond the bounds, return one of the bounds, + * otherwise, return the original value. + * @param value The original value to be clamped. + * @param bound1 One bound to clamp the value. + * @param bound2 The other bound to clamp the value. + * @return The clamped value. + */ +template +T Clamp(const T value, T bound1, T bound2) { + if (bound1 > bound2) { + std::swap(bound1, bound2); + } + + if (value < bound1) { + return bound1; + } else if (value > bound2) { + return bound2; + } + return value; +} + +int double_compare( + const double d1, const double d2, + const double epsilon = std::numeric_limits::epsilon()); + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_UTILS_H_ */ diff --git a/apollo_common/include/apollo_common/math/matrix_operations.h b/apollo_common/include/apollo_common/math/matrix_operations.h new file mode 100644 index 0000000..d8bfa8a --- /dev/null +++ b/apollo_common/include/apollo_common/math/matrix_operations.h @@ -0,0 +1,99 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines some useful matrix operations. + */ + +#ifndef MODULES_COMMON_MATH_MATRIX_OPERATIONS_H_ +#define MODULES_COMMON_MATH_MATRIX_OPERATIONS_H_ + +#include + +#include +#include + +/** + * @namespace apollo::common::math + * @brief The math namespace deals with a number of useful mathematical objects. + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @brief Computes the Moore-Penrose pseudo-inverse of a given square matrix, + * rounding all eigenvalues with absolute value bounded by epsilon to zero. + * + * @param m The square matrix to be pseudo-inverted + * @param epsilon A small positive real number (optional; default is 1.0e-6). + * + * @return Moore-Penrose pseudo-inverse of the given matrix. + */ +template +Eigen::Matrix PseudoInverse(const Eigen::Matrix& m, + const double epsilon = 1.0e-6) { + Eigen::JacobiSVD> svd( + m, Eigen::ComputeFullU | Eigen::ComputeFullV); + return svd.matrixV() * + (svd.singularValues().array().abs() > epsilon) + .select(svd.singularValues().array().inverse(), 0) + .matrix() + .asDiagonal() * + svd.matrixU().adjoint(); +} + +/** + * @brief Implements Tustin's method for converting transfer functions from + * continuous to discrete time domains. + * https://en.wikipedia.org/wiki/Bilinear_transform + * + * @param m_c Matrix + * @param ts Time interval + * + * @return Matrix + */ +template +Eigen::Matrix ContinuousToDiscrete(const Eigen::Matrix& m_c, + const double ts) { + Eigen::Matrix m_identity = Eigen::Matrix::Identity(); + Eigen::Matrix m_d = (m_identity + ts * 0.5 * m_c) * + PseudoInverse(m_identity - ts * 0.5 * m_c); + return m_d; +} + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_MATRIX_OPERATIONS_H_ */ diff --git a/apollo_common/include/apollo_common/math/polygon2d.h b/apollo_common/include/apollo_common/math/polygon2d.h new file mode 100644 index 0000000..812de8c --- /dev/null +++ b/apollo_common/include/apollo_common/math/polygon2d.h @@ -0,0 +1,332 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Define the Polygon2d class. + */ + +#ifndef MODULES_COMMON_MATH_POLYGON2D_H_ +#define MODULES_COMMON_MATH_POLYGON2D_H_ + +#include +#include + +#include "apollo_common/math/box2d.h" +#include "apollo_common/math/line_segment2d.h" +#include "apollo_common/math/vec2d.h" + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @class Polygon2d + * @brief The class of polygon in 2-D. + */ +class Polygon2d { + public: + /** + * @brief Empty constructor. + */ + Polygon2d() = default; + + /** + * @brief Constructor which takes a box. + * @param box The box to construct the polygon. + */ + explicit Polygon2d(const Box2d& box); + + /** + * @brief Constructor which takes a vector of points as its vertices. + * @param points The points to construct the polygon. + */ + explicit Polygon2d(std::vector points); + + /** + * @brief Get the vertices of the polygon. + * @return The vertices of the polygon. + */ + const std::vector& points() const { return points_; } + + /** + * @brief Get the edges of the polygon. + * @return The edges of the polygon. + */ + const std::vector& line_segments() const { + return line_segments_; + } + + /** + * @brief Get the number of vertices of the polygon. + * @return The number of vertices of the polygon. + */ + int num_points() const { return num_points_; } + + /** + * @brief Check if the polygon is convex. + * @return Whether the polygon is convex or not. + */ + bool is_convex() const { return is_convex_; } + + /** + * @brief Get the area of the polygon. + * @return The area of the polygon. + */ + double area() const { return area_; } + + /** + * @brief Compute the distance from a point to the boundary of the polygon. + * This distance is equal to the minimal distance from the point + * to the edges of the polygon. + * @param point The point to compute whose distance to the polygon. + * @return The distance from the point to the polygon's boundary. + */ + double DistanceToBoundary(const Vec2d& point) const; + + /** + * @brief Compute the distance from a point to the polygon. If the point is + * within the polygon, return 0. Otherwise, this distance is + * the minimal distance from the point to the edges of the polygon. + * @param point The point to compute whose distance to the polygon. + * @return The distance from the point to the polygon. + */ + double DistanceTo(const Vec2d& point) const; + + /** + * @brief Compute the distance from a line segment to the polygon. + * If the line segment is within the polygon, or it has intersect with + * the polygon, return 0. Otherwise, this distance is + * the minimal distance between the distances from the two ends + * of the line segment to the polygon. + * @param line_segment The line segment to compute whose distance to + * the polygon. + * @return The distance from the line segment to the polygon. + */ + double DistanceTo(const LineSegment2d& line_segment) const; + + /** + * @brief Compute the distance from a box to the polygon. + * If the box is within the polygon, or it has overlap with + * the polygon, return 0. Otherwise, this distance is + * the minimal distance among the distances from the edges + * of the box to the polygon. + * @param box The box to compute whose distance to the polygon. + * @return The distance from the box to the polygon. + */ + double DistanceTo(const Box2d& box) const; + + /** + * @brief Compute the distance from another polygon to the polygon. + * If the other polygon is within this polygon, or it has overlap with + * this polygon, return 0. Otherwise, this distance is + * the minimal distance among the distances from the edges + * of the other polygon to this polygon. + * @param polygon The polygon to compute whose distance to this polygon. + * @return The distance from the other polygon to this polygon. + */ + double DistanceTo(const Polygon2d& polygon) const; + + /** + * @brief Compute the square of distance from a point to the polygon. + * If the point is within the polygon, return 0. Otherwise, + * this square of distance is the minimal square of distance from + * the point to the edges of the polygon. + * @param point The point to compute whose square of distance to the polygon. + * @return The square of distance from the point to the polygon. + */ + double DistanceSquareTo(const Vec2d& point) const; + + /** + * @brief Check if a point is within the polygon. + * @param point The target point. To check if it is within the polygon. + * @return Whether a point is within the polygon or not. + */ + bool IsPointIn(const Vec2d& point) const; + + /** + * @brief Check if a point is on the boundary of the polygon. + * @param point The target point. To check if it is on the boundary + * of the polygon. + * @return Whether a point is on the boundary of the polygon or not. + */ + bool IsPointOnBoundary(const Vec2d& point) const; + + /** + * @brief Check if the polygon contains a line segment. + * @param line_segment The target line segment. To check if the polygon + * contains it. + * @return Whether the polygon contains the line segment or not. + */ + bool IsContain(const LineSegment2d& line_segment) const; + + /** + * @brief Check if the polygon contains another polygon. + * @param polygon The target polygon. To check if this polygon contains it. + * @return Whether this polygon contains another polygon or not. + */ + bool IsContain(const Polygon2d& polygon) const; + + /** + * @brief Compute the convex hull of a group of points. + * @param points The target points. To compute the convex hull of them. + * @param polygon The convex hull of the points. + * @return If successfully compute the convex hull. + */ + static bool ComputeConvexHull(const std::vector& points, + Polygon2d* const polygon); + + /** + * @brief Check if a line segment has overlap with this polygon. + * @param line_segment The target line segment. To check if it has + * overlap with this polygon. + * @return Whether the target line segment has overlap with this + * polygon or not. + */ + bool HasOverlap(const LineSegment2d& line_segment) const; + + /** + * @brief Get the overlap of a line segment and this polygon. If they have + * overlap, output the two ends of the overlapped line segment. + * @param line_segment The target line segment. To get its overlap with + * this polygon. + * @param first First end of the overlapped line segment. + * @param second Second end of the overlapped line segment. + * @return If the target line segment has overlap with this polygon. + */ + bool GetOverlap(const LineSegment2d& line_segment, Vec2d* const first, + Vec2d* const last) const; + + /** + * @brief Get all overlapped line segments of a line segment and this polygon. + * There are possibly multiple overlapped line segments if this + * polygon is not convex. + * @param line_segment The target line segment. To get its all overlapped + * line segments with this polygon. + * @return A group of overlapped line segments. + */ + std::vector GetAllOverlaps( + const LineSegment2d& line_segment) const; + + /** + * @brief Check if this polygon has overlap with another polygon. + * @param polygon The target polygon. To check if it has overlap + * with this polygon. + * @return If this polygon has overlap with another polygon. + */ + bool HasOverlap(const Polygon2d& polygon) const; + + // Only compute overlaps between two convex polygons. + /** + * @brief Compute the overlap of this polygon and the other polygon if any. + * Note: this function only works for computing overlap between + * two convex polygons. + * @param other_polygon The target polygon. To compute its overlap with + * this polygon. + * @param overlap_polygon The overlapped polygon. + * @param If there is a overlapped polygon. + */ + bool ComputeOverlap(const Polygon2d& other_polygon, + Polygon2d* const overlap_polygon) const; + + /** + * @brief Get the axis-aligned bound box of the polygon. + * @return The axis-aligned bound box of the polygon. + */ + AABox2d AABoundingBox() const; + + /** + * @brief Get the bound box according to a heading. + * @param heading The specified heading of the bounding box. + * @return The bound box according to the specified heading. + */ + Box2d BoundingBoxWithHeading(const double heading) const; + + /** + * @brief Get the bounding box with the minimal area. + * @return The bounding box with the minimal area. + */ + Box2d MinAreaBoundingBox() const; + + /** + * @brief Get the extreme points along a heading direction. + * @param heading The specified heading. + * @param first The point on the boundary of this polygon with the minimal + * projection onto the heading direction. + * @param last The point on the boundary of this polygon with the maximal + * projection onto the heading direction. + */ + void ExtremePoints(const double heading, Vec2d* const first, + Vec2d* const last) const; + + /** + * @brief Expand this polygon by a distance. + * @param distance The specified distance. To expand this polygon by it. + * @return The polygon after expansion. + */ + Polygon2d ExpandByDistance(const double distance) const; + + /** + * @brief Get a string containing essential informaiton about the polygon + * for debugging purpose. + * @return Essential informaiton about the polygon for debugging purpose. + */ + std::string DebugString() const; + + private: + void BuildFromPoints(); + int Next(int at) const; + int Prev(int at) const; + + static bool ClipConvexHull(const LineSegment2d& line_segment, + std::vector* const points); + + std::vector points_; + int num_points_ = 0; + std::vector line_segments_; + bool is_convex_ = false; + double area_ = 0.0; + double min_x_ = 0.0; + double max_x_ = 0.0; + double min_y_ = 0.0; + double max_y_ = 0.0; +}; + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_POLYGON2D_H_ */ diff --git a/apollo_common/include/apollo_common/math/quaternion.h b/apollo_common/include/apollo_common/math/quaternion.h new file mode 100644 index 0000000..7d672b1 --- /dev/null +++ b/apollo_common/include/apollo_common/math/quaternion.h @@ -0,0 +1,132 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Contains a number of helper functions related to quaternions. + * The reader should refer to euler_angles_zxy.h for clarifications. + * However, although the vehicle frame defined therein might change, + * the definition of the heading of the car, used below, is permanently fixed: + * 0 at East, pi/2 at North, -pi/2 at South. + */ + +#ifndef MODULES_COMMON_MATH_QUATERNION_H_ +#define MODULES_COMMON_MATH_QUATERNION_H_ + +#include + +#include +#include + +#include "apollo_msgs/proto/common/geometry.pb.h" + +#include "apollo_common/math/euler_angles_zxy.h" +#include "apollo_common/math/math_utils.h" + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/* + * @brief Returns heading (in radians) in [-PI, PI), with 0 being East. + * Note that x/y/z is East/North/Up. + * + * @param qw Quaternion w-coordinate + * @param qx Quaternion x-coordinate + * @param qy Quaternion y-coordinate + * @param qz Quaternion z-coordinate + * + * @return Heading encoded by given quaternion + */ +inline double QuaternionToHeading(const double qw, const double qx, + const double qy, const double qz) { + EulerAnglesZXYd euler_angles(qw, qx, qy, qz); + // euler_angles.yaw() is zero when the car is pointing North, but + // the heading is zero when the car is pointing East. + return NormalizeAngle(euler_angles.yaw() + M_PI_2); +} + +/* + * @brief Returns heading (in radians) in [-PI, PI), with 0 being East. + * Note that x/y/z is East/North/Up. + * + * @param q Eigen::Quaternion + * + * @return Heading encoded by given quaternion + */ +template +inline double QuaternionToHeading(const Eigen::Quaternion &q) { + return QuaternionToHeading(q.w(), q.x(), q.y(), q.z()); +} + +/* + * @brief Returns a quaternion encoding a rotation with zero roll, zero pitch, + * and the specified heading/yaw. + * Note that heading is zero at East and yaw is zero at North. + * Satisfies QuaternionToHeading(HeadingToQuaternion(h)) = h. + * + * @param heading The heading to encode in the rotation + * + * @return Quaternion encoding rotation by given heading + */ +template +inline Eigen::Quaternion HeadingToQuaternion(const double heading) { + // Note that heading is zero at East and yaw is zero at North. + EulerAnglesZXY euler_angles(heading - M_PI_2); + return euler_angles.ToQuaternion(); +} + +/* + * @brief Applies the rotation defined by a quaternion to a given vector. + * Note that x/y/z is East/North/Up. + * + * @param orientation Quaternion + * @param original Vector (in East-North-Up frame) + * + * @return Rotated vector + */ +inline Eigen::Vector3d QuaternionRotate(const Quaternion &orientation, + const Eigen::Vector3d &original) { + Eigen::Quaternion quaternion(orientation.qw(), orientation.qx(), + orientation.qy(), orientation.qz()); + return quaternion.toRotationMatrix() * original; +} + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_QUATERNION_H_ */ diff --git a/apollo_common/include/apollo_common/math/search.h b/apollo_common/include/apollo_common/math/search.h new file mode 100644 index 0000000..7aebdc8 --- /dev/null +++ b/apollo_common/include/apollo_common/math/search.h @@ -0,0 +1,69 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Search-related functions. + */ + +#ifndef MODULES_COMMON_MATH_SEARCH_H_ +#define MODULES_COMMON_MATH_SEARCH_H_ + +#include + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +/** + * @brief Given a unimodal function defined on the interval, + * find a value on the interval to minimize the function. + * Reference: https://en.wikipedia.org/wiki/Golden-section_search + * @param func The target single-variable function to minimize. + * @param lower_bound The lower bound of the interval. + * @param upper_bound The upper bound of the interval. + * @param tol The tolerance of error. + * @return The value that minimize the function fun. + */ +double GoldenSectionSearch(const std::function& func, + const double lower_bound, const double upper_bound, + const double tol = 1e-6); + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_SEARCH_H_ */ diff --git a/apollo_common/include/apollo_common/math/sin_table.h b/apollo_common/include/apollo_common/math/sin_table.h new file mode 100644 index 0000000..3bb60a3 --- /dev/null +++ b/apollo_common/include/apollo_common/math/sin_table.h @@ -0,0 +1,57 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Exports the SIN_TABLE, used by the Angle class. + */ + +#ifndef MODULES_COMMON_MATH_SIN_TABLE_H_ +#define MODULES_COMMON_MATH_SIN_TABLE_H_ + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +//! Used by Angle class to speed-up computation of trigonometric functions. +#define SIN_TABLE_SIZE 16385 +extern const float SIN_TABLE[SIN_TABLE_SIZE]; + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_SIN_TABLE_H_ */ diff --git a/apollo_common/include/apollo_common/math/vec2d.h b/apollo_common/include/apollo_common/math/vec2d.h new file mode 100644 index 0000000..ceee113 --- /dev/null +++ b/apollo_common/include/apollo_common/math/vec2d.h @@ -0,0 +1,149 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the Vec2d class. + */ + +#ifndef MODULES_COMMON_MATH_VEC2D_H_ +#define MODULES_COMMON_MATH_VEC2D_H_ + +#include +#include + +/** + * @namespace apollo::common::math + * @brief apollo::common::math + */ +namespace apollo { +namespace common { +namespace math { + +constexpr double kMathEpsilon = 1e-10; + +/** + * @class Vec2d + * + * @brief Implements a class of 2-dimensional vectors, + * similar to Eigen::Vector2d. + */ +class Vec2d { + public: + //! Constructor which takes x- and y-coordinates. + constexpr Vec2d(const double x, const double y) noexcept : x_(x), y_(y) {} + + //! Constructor returning the zero vector. + constexpr Vec2d() noexcept : Vec2d(0, 0) {} + + //! Creates a unit-vector with a given angle to the positive x semi-axis + static Vec2d CreateUnitVec2d(const double angle); + + //! Getter for x component + double x() const { return x_; } + + //! Getter for y component + double y() const { return y_; } + + //! Setter for x component + void set_x(const double x) { x_ = x; } + + //! Setter for y component + void set_y(const double y) { y_ = y; } + + //! Gets the length of the vector + double Length() const; + + //! Gets the squared length of the vector + double LengthSquare() const; + + //! Gets the angle between the vector and the positive x semi-axis + double Angle() const; + + //! Returns the unit vector that is co-linear with this vector + void Normalize(); + + //! Returns the distance to the given vector + double DistanceTo(const Vec2d& other) const; + + //! Returns the squared distance to the given vector + double DistanceSquareTo(const Vec2d& other) const; + + //! Returns the "cross" product between these two Vec2d (non-standard). + double CrossProd(const Vec2d& other) const; + + //! Returns the inner product between these two Vec2d. + double InnerProd(const Vec2d& other) const; + + //! Sums two Vec2d + Vec2d operator+(const Vec2d& other) const; + + //! Subtracts two Vec2d + Vec2d operator-(const Vec2d& other) const; + + //! Multiplies Vec2d by a scalar + Vec2d operator*(const double ratio) const; + + //! Divides Vec2d by a scalar + Vec2d operator/(const double ratio) const; + + //! Sums another Vec2d to the current one + Vec2d& operator+=(const Vec2d& other); + + //! Subtracts another Vec2d to the current one + Vec2d& operator-=(const Vec2d& other); + + //! Multiplies this Vec2d by a scalar + Vec2d& operator*=(const double ratio); + + //! Divides this Vec2d by a scalar + Vec2d& operator/=(const double ratio); + + //! Compares two Vec2d + bool operator==(const Vec2d& other) const; + + //! Returns a human-readable string representing this object + std::string DebugString() const; + + protected: + double x_ = 0.0; + double y_ = 0.0; +}; + +//! Multiplies the given Vec2d by a given scalar +Vec2d operator*(const double ratio, const Vec2d& vec); + +} // namespace math +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_MATH_VEC2D_H_ */ diff --git a/apollo_common/include/apollo_common/monitor/monitor.h b/apollo_common/include/apollo_common/monitor/monitor.h new file mode 100644 index 0000000..4c6b290 --- /dev/null +++ b/apollo_common/include/apollo_common/monitor/monitor.h @@ -0,0 +1,94 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file monitor.h + * @brief The class of Monitor + */ + +#ifndef MODULES_MONITOR_MONITOR_H_ +#define MODULES_MONITOR_MONITOR_H_ + +#include +#include +#include +#include + +#include + +#include "apollo_msgs/proto/common/monitor.pb.h" + +#include "apollo_common/monitor/monitor_buffer.h" + +/** + * @namespace apollo::common::monitor + * @brief apollo::common::monitor + */ +namespace apollo { +namespace common { +namespace monitor { + +/** + * class Monitor + * + * @brief This class help collect and publish MonitorMessage pb to monitor + * topic. A module who wants to publish message can use macro + * `MONITOR(log_level, log_msg)` to record messages, and call + * Publish to broadcast the message to other modules. + */ +class Monitor { + public: + /** + * @brief Construct the monitor with the source of the monitor messages. The + * source is usually the module name who publish the monitor messages. + * @param source the source of the monitor messages. + */ + explicit Monitor(const MonitorMessageItem::MessageSource& source) + : source_(source) {} + + /** + * @brief Publish the messages. + * @param messages a list of messages for + */ + virtual void Publish(const std::vector& messages) const; + + private: + virtual void DoPublish(MonitorMessage* message) const; + + MonitorMessageItem::MessageSource source_; +}; + +} // namespace monitor +} // namespace common +} // namespace apollo + +#endif // MODULES_MONITOR_MONITOR_H_ diff --git a/apollo_common/include/apollo_common/monitor/monitor_buffer.h b/apollo_common/include/apollo_common/monitor/monitor_buffer.h new file mode 100644 index 0000000..273afde --- /dev/null +++ b/apollo_common/include/apollo_common/monitor/monitor_buffer.h @@ -0,0 +1,166 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file monitor_buffer.h + * @brief The class of MonitorBuffer + */ + +#ifndef MODULES_MONITOR_MONITOR_BUFFER_H_ +#define MODULES_MONITOR_MONITOR_BUFFER_H_ + +#include +#include +#include +#include + +#include +#include + +#include "apollo_msgs/proto/common/monitor.pb.h" + +/** + * @namespace apollo::common::monitor + * @brief apollo::common::monitor + */ +namespace apollo { +namespace common { +namespace monitor { + +using MessageItem = std::pair; + +class Monitor; + +#define REG_MSG_TYPE(TYPE) \ + MonitorBuffer& TYPE(const std::string& msg) { \ + AddMonitorMsgItem(MonitorMessageItem::TYPE, msg); \ + return *this; \ + } \ + MonitorBuffer& TYPE() { \ + level_ = MonitorMessageItem::TYPE; \ + return *this; \ + } + +/** + * class MonitorBuffer + * + * @brief This class help collect MonitorMessage pb to monitor topic. + * The messages can be published automatically when the MonitorBuffer object's + * destructor is called, or can be published by calling function Publish(). + */ +class MonitorBuffer { + public: + /** + * @brief The constructor of MonitorBuffer. + * @param a Monitor instance pointer; + */ + explicit MonitorBuffer(Monitor* monitor); + + virtual ~MonitorBuffer(); + + /** + * @brief print a log trace for the last recorded message. + */ + void PrintLog(); + + /** + * @brief record an INFO type message + */ + REG_MSG_TYPE(INFO); + + /** + * @brief record a WARN type message + */ + REG_MSG_TYPE(WARN); + + /** + * @brief record an ERROR type message + */ + REG_MSG_TYPE(ERROR); + + /** + * @brief record a FATAL type message + */ + REG_MSG_TYPE(FATAL); + + /** + * @brief Add monitor message with MonitorMessageItem::LogLevel + * @param log_level defined in modules/common/monitor/proto/monitor.proto + * @param msg the string to send to monitor + */ + void AddMonitorMsgItem(const MonitorMessageItem::LogLevel log_level, + const std::string& msg); + + /** + * @brief overload operator << to help join messages + */ + template + MonitorBuffer& operator<<(const T& msg) { + if (monitor_msg_items_.empty() || + monitor_msg_items_.back().first != level_) { + AddMonitorMsgItem(level_, std::to_string(msg)); + } else { + monitor_msg_items_.back().second += std::to_string(msg); + } + return *this; + } + + /** + * @brief overload operator << to help join string messages + */ + MonitorBuffer& operator<<(const std::string& msg); + + /** + * @brief overload operator << to help join char messages + */ + MonitorBuffer& operator<<(const char* msg); + + /** + * @brief publish the monitor messages + */ + void Publish(); + + private: + Monitor* monitor_ = nullptr; + MonitorMessageItem::LogLevel level_ = MonitorMessageItem::INFO; + std::vector monitor_msg_items_; + + FRIEND_TEST(MonitorBufferTest, RegisterMacro); + FRIEND_TEST(MonitorBufferTest, AddMonitorMsgItem); + FRIEND_TEST(MonitorBufferTest, Operator); +}; + +} // namespace monitor +} // namespace common +} // namespace apollo + +#endif // MODULES_MONITOR_MONITOR_BUFFER_H_ diff --git a/apollo_common/include/apollo_common/status/status.h b/apollo_common/include/apollo_common/status/status.h new file mode 100644 index 0000000..30c6c23 --- /dev/null +++ b/apollo_common/include/apollo_common/status/status.h @@ -0,0 +1,153 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_COMMON_STATUS_STATUS_H_ +#define MODULES_COMMON_STATUS_STATUS_H_ + +#include + +#include + +#include "apollo_msgs/proto/common/error_code.pb.h" + +/** + * @namespace apollo::common + * @brief apollo::common + */ +namespace apollo { +namespace common { + +/** + * @class Status + * + * @brief A general class to denote the return status of an API call. It + * can either be an OK status for success, or a failure status with error + * message and error code enum. +*/ +class Status { + public: + /** + * @brief Create a success status. + */ + Status() : code_(ErrorCode::OK), msg_() {} + ~Status() = default; + + /** + * @brief Create a status with the specified error code and msg as a + * human-readable string containing more detailed information. + * @param code the error code. + * @param msg the message associated with the error. + */ + Status(ErrorCode code, const std::string& msg) : code_(code), msg_(msg) {} + + /** + * @brief generate a success status. + * @returns a success status + */ + static Status OK() { return Status(); } + + /** + * @brief check whether the return status is OK. + * @returns true if the code is ErrorCode::OK + * false otherwise + */ + bool ok() const { return code_ == ErrorCode::OK; } + + /** + * @brief get the error code + * @returns the error code + */ + ErrorCode code() const { return code_; } + + /** + * @brief defines the logic of testing if two Status are equal + */ + bool operator==(const Status& rh) const { + return (this->code_ == rh.code_) && (this->msg_ == rh.msg_); + } + + /** + * @brief defines the logic of testing if two Status are unequal + */ + bool operator!=(const Status& rh) const { return !(*this == rh); } + + /** + * @brief returns the error message of the status, empty if the status is + * OK. + * @returns the error message + */ + const std::string& error_message() const { return msg_; } + + /** + * @brief returns a string representation in a readable format. + * @returns the string "OK" if success. + * the internal error message otherwise. + */ + std::string ToString() const { + if (ok()) { + return "OK"; + } + return ErrorCode_Name(code_) + ": " + msg_; + } + + /** + * @brief save the error_code and error message to protobuf + * @param the Status protobuf that will store the message. + */ + void Save(StatusPb* status_pb) { + if (!status_pb) { + return; + } + status_pb->set_error_code(code_); + if (!msg_.empty()) { + status_pb->set_msg(msg_); + } + } + + private: + ErrorCode code_; + std::string msg_; +}; + +inline std::ostream& operator<<(std::ostream& os, const Status& s) { + os << s.ToString(); + return os; +} + +} // namespace common +} // namespace apollo + +#endif // MODULES_COMMON_STATUS_STATUS_H_ diff --git a/apollo_common/include/apollo_common/time/time.h b/apollo_common/include/apollo_common/time/time.h new file mode 100644 index 0000000..8fd8c0a --- /dev/null +++ b/apollo_common/include/apollo_common/time/time.h @@ -0,0 +1,243 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * + * @brief This library provides the utilities to deal with timestamps. + * currently our assumption is that every timestamp will be of a + * precision at 1us. + */ +#ifndef MODULES_COMMON_TIME_TIME_H_ +#define MODULES_COMMON_TIME_TIME_H_ + +#include +#include +#include +#include + +#include "apollo_common/macro.h" + +/** + * @namespace apollo::common::time + * @brief apollo::common::time + */ +namespace apollo { +namespace common { +namespace time { + +/** + * @class Duration + * @brief the default Duration is of precision nanoseconds (1e-9 + * seconds). + */ +using Duration = std::chrono::nanoseconds; + +/** + * @class Timestamp + * @brief the default timestamp uses std::chrono::system_clock. The + * system_clock is a system-wide realtime clock. + */ +using Timestamp = std::chrono::time_point; + +static_assert(std::is_same::value, + "The underlying type of the microseconds should be int64."); + +using nanos = std::chrono::nanoseconds; +using micros = std::chrono::microseconds; +using millis = std::chrono::milliseconds; +using seconds = std::chrono::seconds; +using minutes = std::chrono::minutes; +using hours = std::chrono::hours; + +/** + * @brief converts the input duration (nanos) to a 64 bit integer, with + * the unit specified by PrecisionDuration. + * @param duration the input duration that needs to be converted to + * integer. + * @return an integer representing the duration in the specified unit. + */ +template +int64_t AsInt64(const Duration &duration) { + return std::chrono::duration_cast(duration).count(); +} + +/** + * @brief converts the input timestamp (nanos) to a 64 bit integer, with + * the unit specified by PrecisionDuration. + * @param timestamp the input timestamp that needs to be converted to + * integer. + * @return an integer representing the timestamp in the specified unit. + */ +template +int64_t AsInt64(const Timestamp ×tamp) { + return AsInt64(timestamp.time_since_epoch()); +} + +/** + * @brief converts the input duration (nanos) to a double in seconds. + * The original precision will be preserved. + * @param duration the input duration that needs to be converted. + * @return a doule in seconds. + */ +inline double ToSecond(const Duration &duration) { + return static_cast(AsInt64(duration)) * 1e-9; +} + +/** + * @brief converts the input timestamp (nanos) to a double in seconds. + * The original precision will be preserved. + * @param timestamp the input timestamp that needs to be converted. + * @return a doule representing the same timestamp in seconds. + */ +inline double ToSecond(const Timestamp ×tamp) { + return static_cast(AsInt64(timestamp.time_since_epoch())) * + 1e-9; +} + +/** + * @brief converts the integer-represented timestamp to \class + * Timestamp. + * @return a Timestamp object. + */ +template +inline Timestamp FromInt64(int64_t timestamp_value) { + return Timestamp( + std::chrono::duration_cast(PrecisionDuration(timestamp_value))); +} + +/** + * @brief converts the double to \class Timestamp. The input double has + * a unit of seconds. + * @return a Timestamp object. +*/ + +inline Timestamp From(double timestamp_value) { + int64_t nanos_value = static_cast(timestamp_value * 1e9); + return FromInt64(nanos_value); +} + +/** + * @class Clock + * @brief a singleton clock that can be used to get the current current + * timestamp. The source can be either system clock or a mock clock. + * Mock clock is for testing purpose mainly. The mock clock related + * methods are not thread-safe. + */ +class Clock { + public: + static constexpr int64_t PRECISION = + std::chrono::system_clock::duration::period::den / + std::chrono::system_clock::duration::period::num; + + /// PRECISION >= 1000000 means the precision is at least 1us. + static_assert(PRECISION >= 1000000, + "The precision of the system clock should be at least 1 " + "microsecond."); + + /** + * @brief gets the current timestamp. + * @return a Timestamp object representing the current time. + */ + static Timestamp Now() { + return Clock::instance()->is_system_clock_ ? SystemNow() + : Clock::instance()->mock_now_; + } + + /** + * @brief Set the behavior of the \class Clock. + * @param is_system_clock if provided with value TRUE, further call + * to Now() will return timestamp based on the system clock. If + * provided with FALSE, it will use the mock clock instead. + */ + static void UseSystemClock(bool is_system_clock) { + Clock::instance()->is_system_clock_ = is_system_clock; + } + + /** + * @brief Check whether the \class Clock instance is using system clock. + * @return TRUE if it is using system clock, and FALSE otherwise. + */ + static bool IsSystemClock() { return Clock::instance()->is_system_clock_; } + + /** + * @brief This is for mock clock mode only. It will set the timestamp + * for the mock clock. + */ + static void SetNow(const Duration &duration) { + Clock *clock = Clock::instance(); + if (clock->is_system_clock_) { + throw std::runtime_error("Cannot set now when using system clock!"); + } + clock->mock_now_ = Timestamp(duration); + } + + private: + /** + * @brief constructs the \class Clock instance + * @param is_system_clock See UseSystemClock. + */ + Clock(bool is_system_clock) + : is_system_clock_(is_system_clock), mock_now_(Timestamp()) {} + + /** + * @brief Returns the current timestamp based on the system clock. + * @return the current timestamp based on the system clock. + */ + static Timestamp SystemNow() { + return std::chrono::time_point_cast( + std::chrono::system_clock::now()); + } + + /// NOTE: Unless is_system_clock_ and mock_now_ are guarded by a + /// lock or become atomic, having multiple threads calling mock + /// clock related functions are STRICTLY PROHIBITED. + + /// Indicates whether it is in the system clock mode or the mock + /// clock mode. + bool is_system_clock_; + + /// Stores the currently set timestamp, which serves mock clock + /// queries. + Timestamp mock_now_; + + /// Explicitly disable default and move/copy constructors. + DECLARE_SINGLETON(Clock); +}; + +inline Clock::Clock() : Clock(true) {} + +} // namespace time +} // namespace common +} // namespace apollo + +#endif // MODULES_COMMON_TIME_TIME_H_ diff --git a/apollo_common/include/apollo_common/util/factory.h b/apollo_common/include/apollo_common/util/factory.h new file mode 100644 index 0000000..b9f7452 --- /dev/null +++ b/apollo_common/include/apollo_common/util/factory.h @@ -0,0 +1,120 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the Factory class. + */ + +#ifndef MODULES_COMMON_UTIL_FACTORY_H_ +#define MODULES_COMMON_UTIL_FACTORY_H_ + +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/macro.h" + +/** + * @namespace apollo::common::util + * @brief apollo::common::util + */ +namespace apollo { +namespace common { +namespace util { + +/** + * @class Factory + * @brief Implements a Factory design pattern with Register and Create methods + * + * The objects created by this factory all implement the same interface + * (namely, AbstractProduct). This design pattern is useful in settings where + * multiple implementations of an interface are available, and one wishes to + * defer the choice of the implementation in use. + * + * @param IdentifierType Type used for identifying the registered classes, + * typically std::string. + * @param AbstractProduct The interface implemented by the registered classes + * @param ProductCreator Function returning a pointer to an instance of + * the registered class + * @param MapContainer Internal implementation of the function mapping + * IdentifierType to ProductCreator, by default std::unordered_map + */ +template > +class Factory { + public: + /** + * @brief Registers the class given by the creator function, linking it to id. + * Registration must happen prior to calling CreateObject. + * @param id Identifier of the class being registered + * @param creator Function returning a pointer to an instance of + * the registered class + * @return True iff the key id is still available + */ + bool Register(const IdentifierType& id, ProductCreator creator) { + return producers_.insert(std::make_pair(id, creator)).second; + } + + /** + * @brief Unregisters the class with the given identifier + * @param id The identifier of the class to be unregistered + */ + bool Unregister(const IdentifierType& id) { + return producers_.erase(id) == 1; + } + + /** + * @brief Creates and transfers membership of an object of type matching id. + * Need to register id before CreateObject is called. + * @param id The identifier of the class we which to instantiate + */ + std::unique_ptr CreateObject(const IdentifierType& id) { + auto id_iter = producers_.find(id); + if (id_iter == producers_.end()) { + AERROR << "Factory could not create Object of type : " << id; + return nullptr; + } else { + return std::unique_ptr((id_iter->second)()); + } + } + + private: + MapContainer producers_; +}; + +} // namespace util +} // namespace common +} // namespace apollo + +#endif // MODULES_COMMON_UTIL_FACTORY_H_ diff --git a/apollo_common/include/apollo_common/util/file.h b/apollo_common/include/apollo_common/util/file.h new file mode 100644 index 0000000..7052e3a --- /dev/null +++ b/apollo_common/include/apollo_common/util/file.h @@ -0,0 +1,180 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_COMMON_UTIL_FILE_H_ +#define MODULES_COMMON_UTIL_FILE_H_ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/util/util.h" + +/** + * @namespace apollo::common::util + * @brief apollo::common::util + */ +namespace apollo { +namespace common { +namespace util { + +/** + * @brief Sets the content of the file specified by the file_name to be the + * ascii representation of the input protobuf. + * @param message The proto to output to the specified file. + * @param file_name The name of the target file to set the content. + * @return If the action is successful. + */ +template +bool SetProtoToASCIIFile(const MessageType &message, + const std::string &file_name) { + using google::protobuf::io::ZeroCopyOutputStream; + using google::protobuf::io::FileOutputStream; + using google::protobuf::TextFormat; + int file_descriptor = open(file_name.c_str(), O_WRONLY | O_CREAT, S_IRWXU); + if (file_descriptor < 0) { + // Failed to open; + return false; + } + ZeroCopyOutputStream *output = new FileOutputStream(file_descriptor); + bool success = TextFormat::Print(message, output); + delete output; + close(file_descriptor); + return success; +} + +/** + * @brief Parses the content of the file specified by the file_name as ascii + * representation of protobufs, and merges the parsed content to the + * proto. + * @param file_name The name of the file to parse whose content. + * @param message The proto to carry the parsed content in the specified file. + * @return If the action is successful. + */ +template +bool GetProtoFromASCIIFile(const std::string &file_name, MessageType *message) { + using google::protobuf::io::ZeroCopyInputStream; + using google::protobuf::io::FileInputStream; + using google::protobuf::TextFormat; + int file_descriptor = open(file_name.c_str(), O_RDONLY); + if (file_descriptor < 0) { + // Failed to open; + return false; + } + + ZeroCopyInputStream *input = new FileInputStream(file_descriptor); + bool success = TextFormat::Parse(input, message); + delete input; + close(file_descriptor); + return success; +} + +/** + * @brief Parses the content of the file specified by the file_name as binary + * representation of protobufs, and merges the parsed content to the + * proto. + * @param file_name The name of the file to parse whose content. + * @param message The proto to carry the parsed content in the specified file. + * @return If the action is successful. + */ +template +bool GetProtoFromBinaryFile(const std::string &file_name, + MessageType *message) { + std::fstream input(file_name, std::ios::in | std::ios::binary); + return message->ParseFromIstream(&input); +} + +/** + * @brief Parses the content of the file specified by the file_name as a + * representation of protobufs, and merges the parsed content to the + * proto. + * @param file_name The name of the file to parse whose content. + * @param message The proto to carry the parsed content in the specified file. + * @return If the action is successful. + */ +template +bool GetProtoFromFile(const std::string &file_name, MessageType *message) { + if (EndWith(file_name, ".bin")) { + if (!GetProtoFromBinaryFile(file_name, message) && + !GetProtoFromASCIIFile(file_name, message)) { + return false; + } + } else { + if (!GetProtoFromASCIIFile(file_name, message) && + !GetProtoFromBinaryFile(file_name, message)) { + return false; + } + } + return true; +} +/** + * @brief Check if the directory specified by directory_path exists + * and is indeed a directory. + * @param directory_path Directory path. + * @return If the directory specified by directory_path exists + * and is indeed a directory. + */ +bool DirectoryExists(const std::string &directory_path); + +/** + * @brief Check if a specified directory specified by directory_path exists. + * If not, recursively create the directory (and its parents). + * @param directory_path Directory path. + * @return If the directory does exist or its creation is successful. + */ +bool EnsureDirectory(const std::string &directory_path); + +/** + * @brief Remove all the files under a specified directory. Note that + * sub-directories are NOT affected. + * @param directory_path Directory path. + * @return If the action is successful. + */ +bool RemoveAllFiles(const std::string &directory_path); + +} // namespace util +} // namespace common +} // namespace apollo + +#endif // MODULES_COMMON_UTIL_FILE_H_ diff --git a/apollo_common/include/apollo_common/util/string_tokenizer.h b/apollo_common/include/apollo_common/util/string_tokenizer.h new file mode 100644 index 0000000..eb2bc7e --- /dev/null +++ b/apollo_common/include/apollo_common/util/string_tokenizer.h @@ -0,0 +1,103 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the StringTokenizer class + */ + +#ifndef MODULES_COMMON_UTIL_STRING_TOKENIZER_H_ +#define MODULES_COMMON_UTIL_STRING_TOKENIZER_H_ + +#include +#include + +/** + * @namespace apollo::common::util + * @brief apollo::common::util + */ +namespace apollo { +namespace common { +namespace util { + +/** + * @class StringTokenizer + * @brief Used for splitting strings with respect to given delimiters. + */ +class StringTokenizer { + public: + /** + * @brief Constructor + * @param s String to be split + * @param delims Delimiters where the string should be split + */ + StringTokenizer(const std::string& s, const std::string& delims = " "); + + /** + * Destructor + */ + virtual ~StringTokenizer() = default; + + /** + * @brief Static method; creates a vector with the non-empty tokens obtained + * from splitting. + * @param str String to be split + * @param delims Delimiters where the string should be split + * @return A vector of tokens, each a substring of str + * surrounded by delimiters. + */ + static std::vector Split(const std::string& str, + const std::string& delims); + + /** + * @brief The i-th time Next() is called, it returns the i-th token obtained + * from splitting the string fed to the initializer at the given delimiters; + * once the end is reached, will always return "". + * @return A token, which is a substring of the string fed to the initializer + */ + std::string Next(); + + private: + std::string s_; + + std::string delims_; + + size_t index_; + + size_t last_index_; +}; + +} // namespace util +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_UTIL_STRING_TOKENIZER_H_ */ diff --git a/apollo_common/include/apollo_common/util/util.h b/apollo_common/include/apollo_common/util/util.h new file mode 100644 index 0000000..11b01c8 --- /dev/null +++ b/apollo_common/include/apollo_common/util/util.h @@ -0,0 +1,65 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Some util functions. + */ + +#ifndef MODULES_COMMON_UTIL_H_ +#define MODULES_COMMON_UTIL_H_ + +#include + +/** + * @namespace apollo::common::util + * @brief apollo::common::util + */ +namespace apollo { +namespace common { +namespace util { + +/** + * @brief Check if a string ends with a pattern. + * @param original The original string. To see if it ends with some + * specified pattern. + * @param pattern The target pattern. To see if the original string ends + * with it. + * @return Whether the original string ends with the specified pattern. + */ +bool EndWith(const std::string& original, const std::string& pattern); + +} // namespace util +} // namespace common +} // namespace apollo + +#endif // MODULES_COMMON_UTIL_H_ diff --git a/apollo_common/include/apollo_common/vehicle_state/vehicle_state.h b/apollo_common/include/apollo_common/vehicle_state/vehicle_state.h new file mode 100644 index 0000000..bfcf0a8 --- /dev/null +++ b/apollo_common/include/apollo_common/vehicle_state/vehicle_state.h @@ -0,0 +1,209 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ +/** + * @file vehicle_state.h + * + * @brief Declaration of the class VehicleState. + */ +#ifndef MODULES_COMMON_VEHICLE_STATE_VEHICLE_STATE_H_ +#define MODULES_COMMON_VEHICLE_STATE_VEHICLE_STATE_H_ + +#include "apollo_msgs/proto/canbus/chassis.pb.h" +#include "apollo_msgs/proto/localization/localization.pb.h" + +#include + +/** + * @namespace apollo::common::vehicle_state + * @brief apollo::common::vehicle_state + */ +namespace apollo { +namespace common { +namespace vehicle_state { + +/** + * @class VehicleState + * @brief The class of vehicle state. + * It includes basic information and computation + * about the state of the vehicle. + */ +class VehicleState { + public: + /** + * @brief Empty constructor. + */ + VehicleState() = default; + + /** + * @brief Constructor only by information of localization. + * @param localization Localization information of the vehicle. + */ + explicit VehicleState(const localization::LocalizationEstimate &localization); + + /** + * @brief Constructor by information of localization and chassis. + * @param localization Localization information of the vehicle. + * @param chassis Chassis information of the vehicle. + */ + VehicleState(const localization::LocalizationEstimate *localization, + const canbus::Chassis *chassis); + + /** + * @brief Default destructor. + */ + virtual ~VehicleState() = default; + + /** + * @brief Get the x-coordinate of vehicle position. + * @return The x-coordinate of vehicle position. + */ + double x() const; + + /** + * @brief Get the y-coordinate of vehicle position. + * @return The y-coordinate of vehicle position. + */ + double y() const; + + /** + * @brief Get the z coordinate of vehicle position. + * @return The z coordinate of vehicle position. + */ + double z() const; + + /** + * @brief Get the heading of vehicle position, which is the angle + * between the vehicle's heading direction and the x-axis. + * @return The angle between the vehicle's heading direction + * and the x-axis. + */ + double heading() const; + + /** + * @brief Get the vehicle's linear velocity. + * @return The vehicle's linear velocity. + */ + double linear_velocity() const; + + /** + * @brief Get the vehicle's angular velocity. + * @return The vehicle's angular velocity. + */ + double angular_velocity() const; + + /** + * @brief Get the vehicle's linear acceleration. + * @return The vehicle's linear acceleration. + */ + double linear_acceleration() const; + + /** + * @brief Set the x-coordinate of vehicle position. + * @param x The x-coordinate of vehicle position. + */ + void set_x(const double x); + + /** + * @brief Set the y-coordinate of vehicle position. + * @param y The y-coordinate of vehicle position. + */ + void set_y(const double y); + + /** + * @brief Set the z coordinate of vehicle position. + * @param z The z coordinate of vehicle position. + */ + void set_z(const double z); + + /** + * @brief Set the heading of vehicle position, which is the angle + * between the vehicle's heading direction and the x-axis. + * @param heading The angle between the vehicle's heading direction + * and the x-axis. + */ + void set_heading(const double heading); + + /** + * @brief Set the vehicle's linear velocity. + * @param linear_velocity The value to set the vehicle's linear velocity. + */ + void set_linear_velocity(const double linear_velocity); + + /** + * @brief Set the vehicle's angular velocity. + * @param angular_velocity The vehicle's angular velocity. + */ + void set_angular_velocity(const double angular_velocity); + /** + * @brief Estimate future position from current position and heading, + * along a period of time, by constant linear velocity, + * linear acceleration, angular velocity. + * @param t The length of time period. + * @return The estimated future position in time t. + */ + Eigen::Vector2d EstimateFuturePosition(const double t) const; + + /** + * @brief Compute the position of center of mass(COM) of the vehicle, + * given the distance from rear wheels to the center of mass. + * @param rear_to_com_distance Distance from rear wheels to + * the vehicle's center of mass. + * @return The position of the vehicle's center of mass. + */ + Eigen::Vector2d ComputeCOMPosition(const double rear_to_com_distance) const; + + private: + void ConstructExceptLinearVelocity( + const localization::LocalizationEstimate *localization); + + double x_ = 0.0; + + double y_ = 0.0; + + double z_ = 0.0; + + double heading_ = 0.0; + + double linear_v_ = 0.0; + + double angular_v_ = 0.0; + + double linear_a_ = 0.0; + + const localization::LocalizationEstimate *localization_ptr_ = nullptr; +}; + +} // namespace vehicle_state +} // namespace common +} // namespace apollo + +#endif /* MODULES_COMMON_VEHICLE_STATE_VEHICLE_STATE_H_ */ diff --git a/apollo_common/package.xml b/apollo_common/package.xml new file mode 100644 index 0000000..7e00e75 --- /dev/null +++ b/apollo_common/package.xml @@ -0,0 +1,33 @@ + + + apollo_common + 0.0.0 + The apollo_common package + + forrest + TODO + + catkin + + roscpp + roscpp + roscpp + + tf2_msgs + tf2_msgs + tf2_msgs + + tf2_ros + tf2_ros + tf2_ros + + apollo_msgs + apollo_msgs + apollo_msgs + + + + + + + diff --git a/apollo_common/src/adapters/adapter_gflags.cc b/apollo_common/src/adapters/adapter_gflags.cc new file mode 100644 index 0000000..9acc4bb --- /dev/null +++ b/apollo_common/src/adapters/adapter_gflags.cc @@ -0,0 +1,61 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/adapters/adapter_gflags.h" + +DEFINE_string(adapter_config_path, "", "the file path of adapter config file"); + +DEFINE_bool(enable_adapter_dump, false, + "Whether enable dumping the messages to " + "/tmp/adapters//.txt for debugging " + "purposes."); +DEFINE_string(gps_topic, "/apollo/sensor/gnss/odometry", "GPS topic name"); +DEFINE_string(imu_topic, "/apollo/sensor/gnss/corrected_imu", "IMU topic name"); +DEFINE_string(chassis_topic, "/apollo/canbus/chassis", + "chassis topic name"); +DEFINE_string(chassis_detail_topic, "/apollo/canbus/chassis_detail", + "chassis detail topic name"); +DEFINE_string(localization_topic, "/apollo/localization/pose", + "localization topic name"); +DEFINE_string(planning_trajectory_topic, "/apollo/planning", + "planning trajectory topic name"); +DEFINE_string(monitor_topic, "/apollo/monitor", "ROS topic for monitor"); +DEFINE_string(pad_topic, "/apollo/control/pad", "control pad message topic name"); +DEFINE_string(control_command_topic, "/apollo/control", + "control command topic name"); +DEFINE_string(prediction_topic, "/apollo/prediction", "prediction topic name"); +DEFINE_string(perception_obstacle_topic, "/apollo/perception/obstacles", + "perception obstacle topic name"); +DEFINE_string(traffic_light_detection_topic, + "/apollo/perception/traffic_light", + "traffic light detection topic name"); +DEFINE_string(decision_topic, "/apollo/decision", "decision topic name"); diff --git a/apollo_common/src/adapters/adapter_manager.cc b/apollo_common/src/adapters/adapter_manager.cc new file mode 100644 index 0000000..1dc55bf --- /dev/null +++ b/apollo_common/src/adapters/adapter_manager.cc @@ -0,0 +1,131 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/adapters/adapter_manager.h" + +#include "apollo_common/adapters/adapter_gflags.h" +#include "apollo_common/util/util.h" + +namespace apollo { +namespace common { +namespace adapter { + +AdapterManager::AdapterManager() {} + +void AdapterManager::Observe() { + for (const auto observe : instance()->observers_) { + observe(); + } +} + +void AdapterManager::Init() { Init(FLAGS_adapter_config_path); } + +void AdapterManager::Init(const std::string& adapter_config_filename) { + // Parse config file + AdapterManagerConfig configs; + CHECK( + apollo::common::util::GetProtoFromFile(adapter_config_filename, &configs)) + << "Unable to parse adapter config file " << adapter_config_filename; + AINFO << "Init AdapterManger config:" << configs.DebugString(); + Init(configs); +} + +void AdapterManager::Init(const AdapterManagerConfig& configs) { + if (configs.is_ros()) { + instance()->node_handle_.reset(new ros::NodeHandle()); + } + + for (const auto& config : configs.config()) { + switch (config.type()) { + case AdapterConfig::GPS: + EnableGps(FLAGS_gps_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::IMU: + EnableImu(FLAGS_imu_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::CHASSIS: + EnableChassis(FLAGS_chassis_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::LOCALIZATION: + EnableLocalization(FLAGS_localization_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::PERCEPTION_OBSTACLES: + EnablePerceptionObstacles(FLAGS_perception_obstacle_topic, + config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::TRAFFIC_LIGHT_DETECTION: + EnableTrafficLightDetection(FLAGS_traffic_light_detection_topic, + config.mode(), + config.message_history_limit()); + case AdapterConfig::PAD: + EnablePad(FLAGS_pad_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::CONTROL_COMMAND: + EnableControlCommand(FLAGS_control_command_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::PLANNING_TRAJECTORY: + EnablePlanningTrajectory(FLAGS_planning_trajectory_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::PREDICTION: + EnablePrediction(FLAGS_prediction_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::MONITOR: + EnableMonitor(FLAGS_monitor_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::CHASSIS_DETAIL: + EnableChassisDetail(FLAGS_chassis_detail_topic, config.mode(), + config.message_history_limit()); + break; + case AdapterConfig::DECISION: + EnableDecision(FLAGS_decision_topic, config.mode(), + config.message_history_limit()); + break; + default: + AERROR << "Unknown adapter config type!"; + break; + } + } +} + +} // namespace adapter +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/apollo_app.cc b/apollo_common/src/apollo_app.cc new file mode 100644 index 0000000..0c5f9b6 --- /dev/null +++ b/apollo_common/src/apollo_app.cc @@ -0,0 +1,82 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/apollo_app.h" + +#include +#include + +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/status/status.h" + +// #include "modules/hmi/utils/hmi_status_helper.h" + +namespace apollo { +namespace common { + +int ApolloApp::Spin() { + ros::AsyncSpinner spinner(1); + auto status = Init(); + if (!status.ok()) { + AERROR << Name() << " Init failed: " << status; + return -1; + } + status = Start(); + if (!status.ok()) { + AERROR << Name() << " Start failed: " << status; + return -2; + } + spinner.start(); + ros::waitForShutdown(); + Stop(); + AINFO << Name() << " exited."; + return 0; +} + +void apollo_app_sigint_handler(int signal_num) { + AINFO << "Received signal: " << signal_num; + if (signal_num != SIGINT) { + return; + } + bool static is_stopping = false; + if (is_stopping) { + return; + } + is_stopping = true; + ros::shutdown(); +} + +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/configs/config_gflags.cc b/apollo_common/src/configs/config_gflags.cc new file mode 100644 index 0000000..8f9610b --- /dev/null +++ b/apollo_common/src/configs/config_gflags.cc @@ -0,0 +1,36 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/configs/config_gflags.h" + +DEFINE_string(vehicle_config_path, "apollo_common/data/mkz_config.pb.txt", + "the file path of vehicle config file"); diff --git a/apollo_common/src/configs/vehicle_config_helper.cc b/apollo_common/src/configs/vehicle_config_helper.cc new file mode 100644 index 0000000..7b65bd5 --- /dev/null +++ b/apollo_common/src/configs/vehicle_config_helper.cc @@ -0,0 +1,64 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/configs/config_gflags.h" +#include "apollo_common/configs/vehicle_config_helper.h" +#include "apollo_common/util/file.h" + +namespace apollo { +namespace common { +namespace config { + +VehicleConfig VehicleConfigHelper::vehicle_config_; + +VehicleConfigHelper::VehicleConfigHelper() {} + +void VehicleConfigHelper::Init() { Init(FLAGS_vehicle_config_path); } + +void VehicleConfigHelper::Init(const std::string& config_file) { + VehicleConfig params; + CHECK(apollo::common::util::GetProtoFromFile(config_file, ¶ms)) + << "Unable to parse adapter config file " << config_file; + Init(params); +} + +void VehicleConfigHelper::Init(const VehicleConfig& vehicle_params) { + vehicle_config_ = vehicle_params; +} + +const VehicleConfig& VehicleConfigHelper::GetConfig() { + return vehicle_config_; +} + +} // namespace config +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/aabox2d.cc b/apollo_common/src/math/aabox2d.cc new file mode 100644 index 0000000..7032681 --- /dev/null +++ b/apollo_common/src/math/aabox2d.cc @@ -0,0 +1,173 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/aabox2d.h" + +#include +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/math/math_utils.h" + +namespace apollo { +namespace common { +namespace math { + +AABox2d::AABox2d(const Vec2d& center, const double length, const double width) + : center_(center), + length_(length), + width_(width), + half_length_(length / 2.0), + half_width_(width / 2.0) { + CHECK_GT(length_, -kMathEpsilon); + CHECK_GT(width_, -kMathEpsilon); +} + +AABox2d::AABox2d(const Vec2d& one_corner, const Vec2d& opposite_corner) + : AABox2d((one_corner + opposite_corner) / 2.0, + std::abs(one_corner.x() - opposite_corner.x()), + std::abs(one_corner.y() - opposite_corner.y())) {} + +AABox2d::AABox2d(const std::vector& points) { + CHECK(!points.empty()); + double min_x = points[0].x(); + double max_x = points[0].x(); + double min_y = points[0].y(); + double max_y = points[0].y(); + for (const auto& point : points) { + min_x = std::min(min_x, point.x()); + max_x = std::max(max_x, point.x()); + min_y = std::min(min_y, point.y()); + max_y = std::max(max_y, point.y()); + } + + center_ = {(min_x + max_x) / 2.0, (min_y + max_y) / 2.0}; + length_ = max_x - min_x; + width_ = max_y - min_y; + half_length_ = length_ / 2.0; + half_width_ = width_ / 2.0; +} + +void AABox2d::GetAllCorners(std::vector* const corners) const { + CHECK_NOTNULL(corners)->clear(); + corners->reserve(4); + corners->emplace_back(center_.x() + half_length_, center_.y() - half_width_); + corners->emplace_back(center_.x() + half_length_, center_.y() + half_width_); + corners->emplace_back(center_.x() - half_length_, center_.y() + half_width_); + corners->emplace_back(center_.x() - half_length_, center_.y() - half_width_); +} + +bool AABox2d::IsPointIn(const Vec2d& point) const { + return std::abs(point.x() - center_.x()) <= half_length_ + kMathEpsilon && + std::abs(point.y() - center_.y()) <= half_width_ + kMathEpsilon; +} + +bool AABox2d::IsPointOnBoundary(const Vec2d& point) const { + const double dx = std::abs(point.x() - center_.x()); + const double dy = std::abs(point.y() - center_.y()); + return (std::abs(dx - half_length_) <= kMathEpsilon && + dy <= half_width_ + kMathEpsilon) || + (std::abs(dy - half_width_) <= kMathEpsilon && + dx <= half_length_ + kMathEpsilon); +} + +double AABox2d::DistanceTo(const Vec2d& point) const { + const double dx = std::abs(point.x() - center_.x()) - half_length_; + const double dy = std::abs(point.y() - center_.y()) - half_width_; + if (dx <= 0.0) { + return std::max(0.0, dy); + } + if (dy <= 0.0) { + return dx; + } + return hypot(dx, dy); +} + +double AABox2d::DistanceTo(const AABox2d& box) const { + const double dx = + std::abs(box.center_x() - center_.x()) - box.half_length() - half_length_; + const double dy = + std::abs(box.center_y() - center_.y()) - box.half_width() - half_width_; + if (dx <= 0.0) { + return std::max(0.0, dy); + } + if (dy <= 0.0) { + return dx; + } + return hypot(dx, dy); +} + +bool AABox2d::HasOverlap(const AABox2d& box) const { + return std::abs(box.center_x() - center_.x()) <= + box.half_length() + half_length_ && + std::abs(box.center_y() - center_.y()) <= + box.half_width() + half_width_; +} + +void AABox2d::Shift(const Vec2d& shift_vec) { center_ += shift_vec; } + +void AABox2d::MergeFrom(const AABox2d& other_box) { + const double x1 = std::min(min_x(), other_box.min_x()); + const double x2 = std::max(max_x(), other_box.max_x()); + const double y1 = std::min(min_y(), other_box.min_y()); + const double y2 = std::max(max_y(), other_box.max_y()); + center_ = Vec2d((x1 + x2) / 2.0, (y1 + y2) / 2.0); + length_ = x2 - x1; + width_ = y2 - y1; + half_length_ = length_ / 2.0; + half_width_ = width_ / 2.0; +} + +void AABox2d::MergeFrom(const Vec2d& other_point) { + const double x1 = std::min(min_x(), other_point.x()); + const double x2 = std::max(max_x(), other_point.x()); + const double y1 = std::min(min_y(), other_point.y()); + const double y2 = std::max(max_y(), other_point.y()); + center_ = Vec2d((x1 + x2) / 2.0, (y1 + y2) / 2.0); + length_ = x2 - x1; + width_ = y2 - y1; + half_length_ = length_ / 2.0; + half_width_ = width_ / 2.0; +} + +std::string AABox2d::DebugString() const { + std::ostringstream sout; + sout << "aabox2d ( center = " << center_.DebugString() + << " length = " << length_ << " width = " << width_ << " )"; + sout.flush(); + return sout.str(); +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/angle.cc b/apollo_common/src/math/angle.cc new file mode 100644 index 0000000..a40aa21 --- /dev/null +++ b/apollo_common/src/math/angle.cc @@ -0,0 +1,81 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/angle.h" + +#include "apollo_common/math/sin_table.h" + +namespace apollo { +namespace common { +namespace math { + +float sin(Angle16 a) { + auto idx = a.raw(); + if (idx < -Angle16::RAW_PI_2) { + idx += Angle16::RAW_PI; + return -SIN_TABLE[idx % SIN_TABLE_SIZE]; + } + if (idx < 0) { + return -SIN_TABLE[(-idx) % SIN_TABLE_SIZE]; + } + if (idx < Angle16::RAW_PI_2) { + return SIN_TABLE[idx % SIN_TABLE_SIZE]; + } + idx = Angle16::RAW_PI - idx; + return SIN_TABLE[idx % SIN_TABLE_SIZE]; +} + +float cos(Angle16 a) { + Angle16 b(Angle16::RAW_PI_2 - a.raw()); + return sin(b); +} + +float tan(Angle16 a) { return sin(a) / cos(a); } + +float sin(Angle8 a) { + Angle16 b(a.raw() << 8); + return sin(b); +} + +float cos(Angle8 a) { + Angle16 b(a.raw() << 8); + return cos(b); +} + +float tan(Angle8 a) { + Angle16 b(a.raw() << 8); + return tan(b); +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/box2d.cc b/apollo_common/src/math/box2d.cc new file mode 100644 index 0000000..986a095 --- /dev/null +++ b/apollo_common/src/math/box2d.cc @@ -0,0 +1,331 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/box2d.h" + +#include +#include +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/math/math_utils.h" +#include "apollo_common/math/polygon2d.h" + +namespace apollo { +namespace common { +namespace math { +namespace { + +double PtSegDistance(double query_x, double query_y, double start_x, + double start_y, double end_x, double end_y, + double length) { + const double x0 = query_x - start_x; + const double y0 = query_y - start_y; + const double dx = end_x - start_x; + const double dy = end_y - start_y; + const double proj = x0 * dx + y0 * dy; + if (proj <= 0.0) { + return hypot(x0, y0); + } + if (proj >= length * length) { + return hypot(x0 - dx, y0 - dy); + } + return std::abs(x0 * dy - y0 * dx) / length; +} + +} // namespace + +Box2d::Box2d(const Vec2d& center, const double heading, const double length, + const double width) + : center_(center), + length_(length), + width_(width), + half_length_(length / 2.0), + half_width_(width / 2.0), + heading_(heading), + cos_heading_(cos(heading)), + sin_heading_(sin(heading)) { + CHECK_GT(length_, -kMathEpsilon); + CHECK_GT(width_, -kMathEpsilon); +} + +Box2d::Box2d(const LineSegment2d& axis, const double width) + : center_(axis.center()), + length_(axis.length()), + width_(width), + half_length_(axis.length() / 2.0), + half_width_(width / 2.0), + heading_(axis.heading()), + cos_heading_(axis.cos_heading()), + sin_heading_(axis.sin_heading()) { + CHECK_GT(length_, -kMathEpsilon); + CHECK_GT(width_, -kMathEpsilon); +} + +Box2d::Box2d(const AABox2d& aabox) + : center_(aabox.center()), + length_(aabox.length()), + width_(aabox.width()), + half_length_(aabox.half_length()), + half_width_(aabox.half_width()), + heading_(0.0), + cos_heading_(1.0), + sin_heading_(0.0) { + CHECK_GT(length_, -kMathEpsilon); + CHECK_GT(width_, -kMathEpsilon); +} + +Box2d Box2d::CreateAABox(const Vec2d& one_corner, + const Vec2d& opposite_corner) { + const double x1 = std::min(one_corner.x(), opposite_corner.x()); + const double x2 = std::max(one_corner.x(), opposite_corner.x()); + const double y1 = std::min(one_corner.y(), opposite_corner.y()); + const double y2 = std::max(one_corner.y(), opposite_corner.y()); + return Box2d({(x1 + x2) / 2.0, (y1 + y2) / 2.0}, 0.0, x2 - x1, y2 - y1); +} + +void Box2d::GetAllCorners(std::vector* const corners) const { + if (corners == nullptr) { + return; + } + const double dx1 = cos_heading_ * half_length_; + const double dy1 = sin_heading_ * half_length_; + const double dx2 = sin_heading_ * half_width_; + const double dy2 = -cos_heading_ * half_width_; + corners->clear(); + corners->reserve(4); + corners->emplace_back(center_.x() + dx1 + dx2, center_.y() + dy1 + dy2); + corners->emplace_back(center_.x() + dx1 - dx2, center_.y() + dy1 - dy2); + corners->emplace_back(center_.x() - dx1 - dx2, center_.y() - dy1 - dy2); + corners->emplace_back(center_.x() - dx1 + dx2, center_.y() - dy1 + dy2); +} + +bool Box2d::IsPointIn(const Vec2d& point) const { + const double x0 = point.x() - center_.x(); + const double y0 = point.y() - center_.y(); + const double dx = std::abs(x0 * cos_heading_ + y0 * sin_heading_); + const double dy = std::abs(-x0 * sin_heading_ + y0 * cos_heading_); + return dx <= half_length_ + kMathEpsilon && dy <= half_width_ + kMathEpsilon; +} + +bool Box2d::IsPointOnBoundary(const Vec2d& point) const { + const double x0 = point.x() - center_.x(); + const double y0 = point.y() - center_.y(); + const double dx = std::abs(x0 * cos_heading_ + y0 * sin_heading_); + const double dy = std::abs(x0 * sin_heading_ - y0 * cos_heading_); + return (std::abs(dx - half_length_) <= kMathEpsilon && + dy <= half_width_ + kMathEpsilon) || + (std::abs(dy - half_width_) <= kMathEpsilon && + dx <= half_length_ + kMathEpsilon); +} + +double Box2d::DistanceTo(const Vec2d& point) const { + const double x0 = point.x() - center_.x(); + const double y0 = point.y() - center_.y(); + const double dx = + std::abs(x0 * cos_heading_ + y0 * sin_heading_) - half_length_; + const double dy = + std::abs(x0 * sin_heading_ - y0 * cos_heading_) - half_width_; + if (dx <= 0.0) { + return std::max(0.0, dy); + } + if (dy <= 0.0) { + return dx; + } + return hypot(dx, dy); +} + +bool Box2d::HasOverlap(const LineSegment2d& line_segment) const { + if (line_segment.length() <= kMathEpsilon) { + return IsPointIn(line_segment.start()); + } + return DistanceTo(line_segment) <= kMathEpsilon; +} + +double Box2d::DistanceTo(const LineSegment2d& line_segment) const { + if (line_segment.length() <= kMathEpsilon) { + return DistanceTo(line_segment.start()); + } + const double ref_x1 = line_segment.start().x() - center_.x(); + const double ref_y1 = line_segment.start().y() - center_.y(); + double x1 = ref_x1 * cos_heading_ + ref_y1 * sin_heading_; + double y1 = ref_x1 * sin_heading_ - ref_y1 * cos_heading_; + double box_x = half_length_; + double box_y = half_width_; + int gx1 = (x1 >= box_x ? 1 : (x1 <= -box_x ? -1 : 0)); + int gy1 = (y1 >= box_y ? 1 : (y1 <= -box_y ? -1 : 0)); + if (gx1 == 0 && gy1 == 0) { + return 0.0; + } + const double ref_x2 = line_segment.end().x() - center_.x(); + const double ref_y2 = line_segment.end().y() - center_.y(); + double x2 = ref_x2 * cos_heading_ + ref_y2 * sin_heading_; + double y2 = ref_x2 * sin_heading_ - ref_y2 * cos_heading_; + int gx2 = (x2 >= box_x ? 1 : (x2 <= -box_x ? -1 : 0)); + int gy2 = (y2 >= box_y ? 1 : (y2 <= -box_y ? -1 : 0)); + if (gx2 == 0 && gy2 == 0) { + return 0.0; + } + if (gx1 < 0 || (gx1 == 0 && gx2 < 0)) { + x1 = -x1; + gx1 = -gx1; + x2 = -x2; + gx2 = -gx2; + } + if (gy1 < 0 || (gy1 == 0 && gy2 < 0)) { + y1 = -y1; + gy1 = -gy1; + y2 = -y2; + gy2 = -gy2; + } + if (gx1 < gy1 || (gx1 == gy1 && gx2 < gy2)) { + std::swap(x1, y1); + std::swap(gx1, gy1); + std::swap(x2, y2); + std::swap(gx2, gy2); + std::swap(box_x, box_y); + } + if (gx1 == 1 && gy1 == 1) { + switch (gx2 * 3 + gy2) { + case 4: + return PtSegDistance(box_x, box_y, x1, y1, x2, y2, + line_segment.length()); + case 3: + return (x1 > x2) ? (x2 - box_x) + : PtSegDistance(box_x, box_y, x1, y1, x2, y2, + line_segment.length()); + case 2: + return (x1 > x2) ? PtSegDistance(box_x, -box_y, x1, y1, x2, y2, + line_segment.length()) + : PtSegDistance(box_x, box_y, x1, y1, x2, y2, + line_segment.length()); + case -1: + return CrossProd({x1, y1}, {x2, y2}, {box_x, -box_y}) >= 0.0 + ? 0.0 + : PtSegDistance(box_x, -box_y, x1, y1, x2, y2, + line_segment.length()); + case -4: + return CrossProd({x1, y1}, {x2, y2}, {box_x, -box_y}) <= 0.0 + ? PtSegDistance(box_x, -box_y, x1, y1, x2, y2, + line_segment.length()) + : (CrossProd({x1, y1}, {x2, y2}, {-box_x, box_y}) <= 0.0 + ? 0.0 + : PtSegDistance(-box_x, box_y, x1, y1, x2, y2, + line_segment.length())); + } + } else { + switch (gx2 * 3 + gy2) { + case 4: + return (x1 < x2) ? (x1 - box_x) + : PtSegDistance(box_x, box_y, x1, y1, x2, y2, + line_segment.length()); + case 3: + return std::min(x1, x2) - box_x; + case 1: + case -2: + return CrossProd({x1, y1}, {x2, y2}, {box_x, box_y}) <= 0.0 + ? 0.0 + : PtSegDistance(box_x, box_y, x1, y1, x2, y2, + line_segment.length()); + case -3: + return 0.0; + } + } + CHECK(0) << "unimplemented state: " << gx1 << " " << gy1 << " " << gx2 << " " + << gy2; + return 0.0; +} + +double Box2d::DistanceTo(const Box2d& box) const { + return Polygon2d(box).DistanceTo(*this); +} + +bool Box2d::HasOverlap(const Box2d& box) const { + const double shift_x = box.center_x() - center_.x(); + const double shift_y = box.center_y() - center_.y(); + + const double dx1 = cos_heading_ * half_length_; + const double dy1 = sin_heading_ * half_length_; + const double dx2 = sin_heading_ * half_width_; + const double dy2 = -cos_heading_ * half_width_; + const double dx3 = box.cos_heading() * box.half_length(); + const double dy3 = box.sin_heading() * box.half_length(); + const double dx4 = box.sin_heading() * box.half_width(); + const double dy4 = -box.cos_heading() * box.half_width(); + + return std::abs(shift_x * cos_heading_ + shift_y * sin_heading_) <= + std::abs(dx3 * cos_heading_ + dy3 * sin_heading_) + + std::abs(dx4 * cos_heading_ + dy4 * sin_heading_) + + half_length_ && + std::abs(shift_x * sin_heading_ - shift_y * cos_heading_) <= + std::abs(dx3 * sin_heading_ - dy3 * cos_heading_) + + std::abs(dx4 * sin_heading_ - dy4 * cos_heading_) + + half_width_ && + std::abs(shift_x * box.cos_heading() + shift_y * box.sin_heading()) <= + std::abs(dx1 * box.cos_heading() + dy1 * box.sin_heading()) + + std::abs(dx2 * box.cos_heading() + dy2 * box.sin_heading()) + + box.half_length() && + std::abs(shift_x * box.sin_heading() - shift_y * box.cos_heading()) <= + std::abs(dx1 * box.sin_heading() - dy1 * box.cos_heading()) + + std::abs(dx2 * box.sin_heading() - dy2 * box.cos_heading()) + + box.half_width(); +} + +AABox2d Box2d::GetAABox() const { + const double dx1 = std::abs(cos_heading_ * half_length_); + const double dy1 = std::abs(sin_heading_ * half_length_); + const double dx2 = std::abs(sin_heading_ * half_width_); + const double dy2 = std::abs(cos_heading_ * half_width_); + return AABox2d(center_, (dx1 + dx2) * 2.0, (dy1 + dy2) * 2.0); +} + +void Box2d::RotateFromCenter(const double rotate_angle) { + heading_ = NormalizeAngle(heading_ + rotate_angle); + cos_heading_ = std::cos(heading_); + sin_heading_ = std::sin(heading_); +} + +void Box2d::Shift(const Vec2d& shift_vec) { center_ += shift_vec; } + +std::string Box2d::DebugString() const { + std::ostringstream sout; + sout << "box2d ( center = " << center_.DebugString() + << " heading = " << heading_ << " length = " << length_ + << " width = " << width_ << " )"; + sout.flush(); + return sout.str(); +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/integral.cc b/apollo_common/src/math/integral.cc new file mode 100644 index 0000000..e45e7d9 --- /dev/null +++ b/apollo_common/src/math/integral.cc @@ -0,0 +1,69 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/integral.h" + +namespace apollo { +namespace common { +namespace math { + +double GaussLegendre(const std::function& func, + const double lower_bound, + const double upper_bound) { + double t = (upper_bound - lower_bound) * 0.5; + double m = (upper_bound + lower_bound) * 0.5; + + std::array w; + w[0] = 0.5688888889; + w[1] = 0.4786286705; + w[2] = 0.4786286705; + w[3] = 0.2369268851; + w[4] = 0.2369268851; + + std::array x; + x[0] = 0.0; + x[1] = 0.5384693101; + x[2] = -0.5384693101; + x[3] = 0.9061798459; + x[4] = -0.9061798459; + + double integral = 0.0; + for (size_t i = 0; i < 5; ++i) { + integral += w[i] * func(t * x[i] + m); + } + + return integral * t; +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/line_segment2d.cc b/apollo_common/src/math/line_segment2d.cc new file mode 100644 index 0000000..e2cb6db --- /dev/null +++ b/apollo_common/src/math/line_segment2d.cc @@ -0,0 +1,241 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/line_segment2d.h" + +#include +#include +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/math/math_utils.h" + +namespace apollo { +namespace common { +namespace math { +namespace { + +bool IsWithin(double val, double bound1, double bound2) { + if (bound1 > bound2) { + std::swap(bound1, bound2); + } + return val >= bound1 - kMathEpsilon && val <= bound2 + kMathEpsilon; +} + +} // namespace + +LineSegment2d::LineSegment2d() { unit_direction_ = Vec2d(1, 0); } + +LineSegment2d::LineSegment2d(const Vec2d& start, const Vec2d& end) + : start_(start), end_(end) { + const double dx = end_.x() - start_.x(); + const double dy = end_.y() - start_.y(); + length_ = hypot(dx, dy); + unit_direction_ = + (length_ <= kMathEpsilon ? Vec2d(0, 0) + : Vec2d(dx / length_, dy / length_)); + heading_ = unit_direction_.Angle(); +} + +double LineSegment2d::length() const { return length_; } + +double LineSegment2d::length_sqr() const { return length_ * length_; } + +double LineSegment2d::DistanceTo(const Vec2d& point) const { + if (length_ <= kMathEpsilon) { + return point.DistanceTo(start_); + } + const double x0 = point.x() - start_.x(); + const double y0 = point.y() - start_.y(); + const double proj = x0 * unit_direction_.x() + y0 * unit_direction_.y(); + if (proj <= 0.0) { + return hypot(x0, y0); + } + if (proj >= length_) { + return point.DistanceTo(end_); + } + return std::abs(x0 * unit_direction_.y() - y0 * unit_direction_.x()); +} + +double LineSegment2d::DistanceTo(const Vec2d& point, + Vec2d* const nearest_pt) const { + CHECK_NOTNULL(nearest_pt); + if (length_ <= kMathEpsilon) { + *nearest_pt = start_; + return point.DistanceTo(start_); + } + const double x0 = point.x() - start_.x(); + const double y0 = point.y() - start_.y(); + const double proj = x0 * unit_direction_.x() + y0 * unit_direction_.y(); + if (proj < 0.0) { + *nearest_pt = start_; + return hypot(x0, y0); + } + if (proj > length_) { + *nearest_pt = end_; + return point.DistanceTo(end_); + } + *nearest_pt = start_ + unit_direction_ * proj; + return std::abs(x0 * unit_direction_.y() - y0 * unit_direction_.x()); +} + +double LineSegment2d::DistanceSquareTo(const Vec2d& point) const { + if (length_ <= kMathEpsilon) { + return point.DistanceSquareTo(start_); + } + const double x0 = point.x() - start_.x(); + const double y0 = point.y() - start_.y(); + const double proj = x0 * unit_direction_.x() + y0 * unit_direction_.y(); + if (proj <= 0.0) { + return Square(x0) + Square(y0); + } + if (proj >= length_) { + return point.DistanceSquareTo(end_); + } + return Square(x0 * unit_direction_.y() - y0 * unit_direction_.x()); +} + +double LineSegment2d::DistanceSquareTo(const Vec2d& point, + Vec2d* const nearest_pt) const { + CHECK_NOTNULL(nearest_pt); + if (length_ <= kMathEpsilon) { + *nearest_pt = start_; + return point.DistanceSquareTo(start_); + } + const double x0 = point.x() - start_.x(); + const double y0 = point.y() - start_.y(); + const double proj = x0 * unit_direction_.x() + y0 * unit_direction_.y(); + if (proj <= 0.0) { + *nearest_pt = start_; + return Square(x0) + Square(y0); + } + if (proj >= length_) { + *nearest_pt = end_; + return point.DistanceSquareTo(end_); + } + *nearest_pt = start_ + unit_direction_ * proj; + return Square(x0 * unit_direction_.y() - y0 * unit_direction_.x()); +} + +bool LineSegment2d::IsPointIn(const Vec2d& point) const { + if (length_ <= kMathEpsilon) { + return std::abs(point.x() - start_.x()) <= kMathEpsilon && + std::abs(point.y() - start_.y()) <= kMathEpsilon; + } + const double prod = CrossProd(point, start_, end_); + if (std::abs(prod) > kMathEpsilon) { + return false; + } + return IsWithin(point.x(), start_.x(), end_.x()) && + IsWithin(point.y(), start_.y(), end_.y()); +} + +double LineSegment2d::ProjectOntoUnit(const Vec2d& point) const { + return unit_direction_.InnerProd(point - start_); +} + +double LineSegment2d::ProductOntoUnit(const Vec2d& point) const { + return unit_direction_.CrossProd(point - start_); +} + +bool LineSegment2d::HasIntersect(const LineSegment2d& other_segment) const { + Vec2d point; + return GetIntersect(other_segment, &point); +} + +bool LineSegment2d::GetIntersect(const LineSegment2d& other_segment, + Vec2d* const point) const { + CHECK_NOTNULL(point); + if (IsPointIn(other_segment.start())) { + *point = other_segment.start(); + return true; + } + if (IsPointIn(other_segment.end())) { + *point = other_segment.end(); + return true; + } + if (other_segment.IsPointIn(start_)) { + *point = start_; + return true; + } + if (other_segment.IsPointIn(end_)) { + *point = end_; + return true; + } + if (length_ <= kMathEpsilon || other_segment.length() <= kMathEpsilon) { + return false; + } + const double cc1 = CrossProd(start_, end_, other_segment.start()); + const double cc2 = CrossProd(start_, end_, other_segment.end()); + if (cc1 * cc2 >= -kMathEpsilon) { + return false; + } + const double cc3 = + CrossProd(other_segment.start(), other_segment.end(), start_); + const double cc4 = + CrossProd(other_segment.start(), other_segment.end(), end_); + if (cc3 * cc4 >= -kMathEpsilon) { + return false; + } + const double ratio = cc4 / (cc4 - cc3); + *point = Vec2d(start_.x() * ratio + end_.x() * (1.0 - ratio), + start_.y() * ratio + end_.y() * (1.0 - ratio)); + return true; +} + +// return distance with perpendicular foot point. +double LineSegment2d::GetPerpendicularFoot(const Vec2d& point, + Vec2d* const foot_point) const { + CHECK_NOTNULL(foot_point); + if (length_ <= kMathEpsilon) { + *foot_point = start_; + return point.DistanceTo(start_); + } + const double x0 = point.x() - start_.x(); + const double y0 = point.y() - start_.y(); + const double proj = x0 * unit_direction_.x() + y0 * unit_direction_.y(); + *foot_point = start_ + unit_direction_ * proj; + return std::abs(x0 * unit_direction_.y() - y0 * unit_direction_.x()); +} + +std::string LineSegment2d::DebugString() const { + std::ostringstream sout; + sout << "segment2d ( start = " << start_.DebugString() + << " end = " << end_.DebugString() << " )"; + sout.flush(); + return sout.str(); +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/linear_interpolation.cc b/apollo_common/src/math/linear_interpolation.cc new file mode 100644 index 0000000..b4d8982 --- /dev/null +++ b/apollo_common/src/math/linear_interpolation.cc @@ -0,0 +1,84 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/linear_interpolation.h" + +#include + +#include "apollo_common/log.h" +#include "apollo_common/math/math_utils.h" + +namespace apollo { +namespace common { +namespace math { + +double lerp(const double x0, const double t0, const double x1, const double t1, + const double t) { + if (std::abs(t1 - t0) <= kMathEpsilon) { + AERROR << "input time difference is too small"; + return x0; + } + double r = (t - t0) / (t1 - t0); + double x = x0 + r * (x1 - x0); + return x; +} + +void lerp(const double x0, const double y0, const double t0, const double x1, + const double y1, const double t1, const double t, double* x, + double* y) { + *x = lerp(x0, t0, x1, t1, t); + *y = lerp(y0, t0, y1, t1, t); +} + +double slerp(const double a0, const double t0, const double a1, const double t1, + const double t) { + if (std::abs(t1 - t0) <= kMathEpsilon) { + AERROR << "input time difference is too small"; + return NormalizeAngle(a0); + } + double a0_n = NormalizeAngle(a0); + double a1_n = NormalizeAngle(a1); + double d = a1_n - a0_n; + if (d > M_PI) { + d = d - 2 * M_PI; + } else if (d < -M_PI) { + d = d + 2 * M_PI; + } + + double r = (t - t0) / (t1 - t0); + double a = a0_n + d * r; + return NormalizeAngle(a); +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/linear_quadratic_regulator.cc b/apollo_common/src/math/linear_quadratic_regulator.cc new file mode 100644 index 0000000..041ed74 --- /dev/null +++ b/apollo_common/src/math/linear_quadratic_regulator.cc @@ -0,0 +1,90 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ +#include "apollo_common/math/linear_quadratic_regulator.h" + +#include + +#include "apollo_common/log.h" + +namespace apollo { +namespace common { +namespace math { + +using Matrix = Eigen::MatrixXd; + +void SolveLQRProblem(const Matrix &A, const Matrix &B, + const Matrix &Q, const Matrix &R, + const double tolerance, const uint max_num_iteration, + Matrix *ptr_K) { + if (A.rows() != A.cols() || + B.rows() != A.rows() || + Q.rows() != Q.cols() || + Q.rows() != A.rows() || + R.rows() != R.cols() || + R.rows() != B.cols()) { + AERROR << "One or more matrices have incompatible dimensions."; + return; + } + + Matrix AT = A.transpose(); + Matrix BT = B.transpose(); + + // Solves a discrete-time Algebraic Riccati equation (DARE) + // Calculate Matrix Difference Riccati Equation, initialize P and Q + Matrix P = Q; + uint num_iteration = 0; + double diff = 0.0; + while (num_iteration++ < max_num_iteration) { + Matrix P_next = AT * P * A - + AT * P * B * (R + BT * P * B).inverse() * BT * P * A + + Q; + // check the difference between P and P_next + diff = fabs((P_next - P).maxCoeff()); + P = P_next; + + if (diff < tolerance) { + break; + } + } + + if (num_iteration >= max_num_iteration) { + AWARN << "lqr_not_convergence, last_diff_is:" << diff; + } else { + ADEBUG << "Number of iterations until convergence: " << num_iteration + << ", max difference: " << diff; + } + *ptr_K = (R + BT * P * B).inverse() * BT * P * A; +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/math_utils.cc b/apollo_common/src/math/math_utils.cc new file mode 100644 index 0000000..902b1ea --- /dev/null +++ b/apollo_common/src/math/math_utils.cc @@ -0,0 +1,99 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/math_utils.h" + +#include + +#include + +namespace apollo { +namespace common { +namespace math { + +double CrossProd(const Vec2d& start_point, const Vec2d& end_point_1, + const Vec2d& end_point_2) { + return (end_point_1 - start_point).CrossProd(end_point_2 - start_point); +} + +double InnerProd(const Vec2d& start_point, const Vec2d& end_point_1, + const Vec2d& end_point_2) { + return (end_point_1 - start_point).InnerProd(end_point_2 - start_point); +} + +double CrossProd(const double x0, const double y0, const double x1, + const double y1) { + return x0 * y1 - x1 * y0; +} + +double InnerProd(const double x0, const double y0, const double x1, + const double y1) { + return x0 * x1 + y0 * y1; +} + +double WrapAngle(const double angle) { + const double new_angle = std::fmod(angle, M_PI * 2.0); + return new_angle < 0 ? new_angle + M_PI * 2.0 : new_angle; +} + +double NormalizeAngle(const double angle) { + const double new_angle = std::fmod(angle + M_PI, M_PI * 2.0); + return (new_angle < 0 ? new_angle + M_PI * 2.0 : new_angle) - M_PI; +} + +int RandomInt(const int s, const int t, unsigned int rand_seed) { + if (s >= t) { + return s; + } + return s + rand_r(&rand_seed) % (t - s + 1); +} + +double RandomDouble(const double s, const double t, unsigned int rand_seed) { + return s + (t - s) / 16383.0 * (rand_r(&rand_seed) & 16383); +} + +int double_compare(const double d1, const double d2, const double epsilon) { + DCHECK(!std::isnan(d1)); + DCHECK(!std::isnan(d2)); + + if ((d1 - d2) > std::fmax(std::fabs(d1), std::fabs(d2)) * epsilon) { + return 1; + } else if ((d2 - d1) > std::fmax(std::fabs(d1), std::fabs(d2)) * epsilon) { + return -1; + } else { + return 0; + } +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/polygon2d.cc b/apollo_common/src/math/polygon2d.cc new file mode 100644 index 0000000..5f96566 --- /dev/null +++ b/apollo_common/src/math/polygon2d.cc @@ -0,0 +1,610 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/polygon2d.h" + +#include +#include +#include +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/math/math_utils.h" + +namespace apollo { +namespace common { +namespace math { + +Polygon2d::Polygon2d(const Box2d& box) { + box.GetAllCorners(&points_); + BuildFromPoints(); +} + +Polygon2d::Polygon2d(std::vector points) : points_(std::move(points)) { + BuildFromPoints(); +} + +double Polygon2d::DistanceTo(const Vec2d& point) const { + CHECK_GE(points_.size(), 3); + if (IsPointIn(point)) { + return 0.0; + } + double distance = std::numeric_limits::infinity(); + for (int i = 0; i < num_points_; ++i) { + distance = std::min(distance, line_segments_[i].DistanceTo(point)); + } + return distance; +} + +double Polygon2d::DistanceSquareTo(const Vec2d& point) const { + CHECK_GE(points_.size(), 3); + if (IsPointIn(point)) { + return 0.0; + } + double distance_sqr = std::numeric_limits::infinity(); + for (int i = 0; i < num_points_; ++i) { + distance_sqr = + std::min(distance_sqr, line_segments_[i].DistanceSquareTo(point)); + } + return distance_sqr; +} + +double Polygon2d::DistanceTo(const LineSegment2d& line_segment) const { + if (line_segment.length() <= kMathEpsilon) { + return DistanceTo(line_segment.start()); + } + CHECK_GE(points_.size(), 3); + if (IsPointIn(line_segment.center())) { + return 0.0; + } + if (std::any_of(line_segments_.begin(), line_segments_.end(), + [&](const LineSegment2d& poly_seg) { + return poly_seg.HasIntersect(line_segment); + })) { + return 0.0; + } + + double distance = std::min(DistanceTo(line_segment.start()), + DistanceTo(line_segment.end())); + for (int i = 0; i < num_points_; ++i) { + distance = std::min(distance, line_segment.DistanceTo(points_[i])); + } + return distance; +} + +double Polygon2d::DistanceTo(const Box2d& box) const { + CHECK_GE(points_.size(), 3); + return DistanceTo(Polygon2d(box)); +} + +double Polygon2d::DistanceTo(const Polygon2d& polygon) const { + CHECK_GE(points_.size(), 3); + CHECK_GE(polygon.num_points(), 3); + + if (IsPointIn(polygon.points()[0])) { + return 0.0; + } + if (polygon.IsPointIn(points_[0])) { + return 0.0; + } + double distance = std::numeric_limits::infinity(); + for (int i = 0; i < num_points_; ++i) { + distance = std::min(distance, polygon.DistanceTo(line_segments_[i])); + } + return distance; +} + +double Polygon2d::DistanceToBoundary(const Vec2d& point) const { + double distance = std::numeric_limits::infinity(); + for (int i = 0; i < num_points_; ++i) { + distance = std::min(distance, line_segments_[i].DistanceTo(point)); + } + return distance; +} + +bool Polygon2d::IsPointOnBoundary(const Vec2d& point) const { + CHECK_GE(points_.size(), 3); + return std::any_of( + line_segments_.begin(), line_segments_.end(), + [&](const LineSegment2d& poly_seg) { return poly_seg.IsPointIn(point); }); +} + +bool Polygon2d::IsPointIn(const Vec2d& point) const { + CHECK_GE(points_.size(), 3); + if (IsPointOnBoundary(point)) { + return true; + } + int j = num_points_ - 1; + int c = 0; + for (int i = 0; i < num_points_; ++i) { + if ((points_[i].y() > point.y()) != (points_[j].y() > point.y())) { + const double side = CrossProd(point, points_[i], points_[j]); + if (points_[i].y() < points_[j].y() ? side > 0.0 : side < 0.0) { + ++c; + } + } + j = i; + } + return c & 1; +} + +bool Polygon2d::HasOverlap(const Polygon2d& polygon) const { + CHECK_GE(points_.size(), 3); + return DistanceTo(polygon) <= kMathEpsilon; +} + +bool Polygon2d::IsContain(const LineSegment2d& line_segment) const { + if (line_segment.length() <= kMathEpsilon) { + return IsPointIn(line_segment.start()); + } + CHECK_GE(points_.size(), 3); + if (!IsPointIn(line_segment.start())) { + return false; + } + if (!IsPointIn(line_segment.end())) { + return false; + } + if (!is_convex_) { + std::vector overlaps = GetAllOverlaps(line_segment); + double total_length = 0; + for (const auto& overlap_seg : overlaps) { + total_length += overlap_seg.length(); + } + return total_length >= line_segment.length() - kMathEpsilon; + } + return true; +} + +bool Polygon2d::IsContain(const Polygon2d& polygon) const { + CHECK_GE(points_.size(), 3); + if (area_ < polygon.area() - kMathEpsilon) { + return false; + } + if (!IsPointIn(polygon.points()[0])) { + return false; + } + const auto& line_segments = polygon.line_segments(); + return std::all_of(line_segments.begin(), line_segments.end(), + [&](const LineSegment2d& line_segment) { + return IsContain(line_segment); + }); +} + +int Polygon2d::Next(int at) const { return at >= num_points_ - 1 ? 0 : at + 1; } + +int Polygon2d::Prev(int at) const { return at == 0 ? num_points_ - 1 : at - 1; } + +void Polygon2d::BuildFromPoints() { + num_points_ = points_.size(); + CHECK_GE(num_points_, 3); + + // Make sure the points are in ccw order. + area_ = 0.0; + for (int i = 1; i < num_points_; ++i) { + area_ += CrossProd(points_[0], points_[i - 1], points_[i]); + } + if (area_ < 0) { + area_ = -area_; + std::reverse(points_.begin(), points_.end()); + } + area_ /= 2.0; + CHECK_GT(area_, kMathEpsilon); + + // Construct line_segments. + line_segments_.reserve(num_points_); + for (int i = 0; i < num_points_; ++i) { + line_segments_.emplace_back(points_[i], points_[Next(i)]); + } + + // Check convexity. + is_convex_ = true; + for (int i = 0; i < num_points_; ++i) { + if (CrossProd(points_[Prev(i)], points_[i], points_[Next(i)]) <= + -kMathEpsilon) { + is_convex_ = false; + break; + } + } + + // Compute aabox. + min_x_ = points_[0].x(); + max_x_ = points_[0].x(); + min_y_ = points_[0].y(); + max_y_ = points_[0].y(); + for (const auto& point : points_) { + min_x_ = std::min(min_x_, point.x()); + max_x_ = std::max(max_x_, point.x()); + min_y_ = std::min(min_y_, point.y()); + max_y_ = std::max(max_y_, point.y()); + } +} + +bool Polygon2d::ComputeConvexHull(const std::vector& points, + Polygon2d* const polygon) { + CHECK_NOTNULL(polygon); + const int n = points.size(); + if (n < 3) { + return false; + } + std::vector sorted_indices(n); + for (int i = 0; i < n; ++i) { + sorted_indices[i] = i; + } + std::sort(sorted_indices.begin(), sorted_indices.end(), + [&](const int idx1, const int idx2) { + const Vec2d& pt1 = points[idx1]; + const Vec2d& pt2 = points[idx2]; + const double dx = pt1.x() - pt2.x(); + if (std::abs(dx) > kMathEpsilon) { + return dx < 0.0; + } + return pt1.y() < pt2.y(); + }); + int count = 0; + std::vector results; + results.reserve(n); + int last_count = 1; + for (int i = 0; i < n + n; ++i) { + if (i == n) { + last_count = count; + } + const int idx = sorted_indices[(i < n) ? i : (n + n - 1 - i)]; + const Vec2d& pt = points[idx]; + while (count > last_count && + CrossProd(points[results[count - 2]], points[results[count - 1]], + pt) <= kMathEpsilon) { + results.pop_back(); + --count; + } + results.push_back(idx); + ++count; + } + --count; + if (count < 3) { + return false; + } + std::vector result_points; + result_points.reserve(count); + for (int i = 0; i < count; ++i) { + result_points.push_back(points[results[i]]); + } + *polygon = Polygon2d(result_points); + return true; +} + +bool Polygon2d::ClipConvexHull(const LineSegment2d& line_segment, + std::vector* const points) { + if (line_segment.length() <= kMathEpsilon) { + return true; + } + CHECK_NOTNULL(points); + const int n = points->size(); + if (n < 3) { + return false; + } + std::vector prod(n); + std::vector side(n); + for (int i = 0; i < n; ++i) { + prod[i] = CrossProd(line_segment.start(), line_segment.end(), (*points)[i]); + if (std::abs(prod[i]) <= kMathEpsilon) { + side[i] = 0; + } else { + side[i] = ((prod[i] < 0) ? -1 : 1); + } + } + + std::vector new_points; + for (int i = 0; i < n; ++i) { + if (side[i] >= 0) { + new_points.push_back((*points)[i]); + } + const int j = ((i == n - 1) ? 0 : (i + 1)); + if (side[i] * side[j] < 0) { + const double ratio = prod[j] / (prod[j] - prod[i]); + new_points.emplace_back( + (*points)[i].x() * ratio + (*points)[j].x() * (1.0 - ratio), + (*points)[i].y() * ratio + (*points)[j].y() * (1.0 - ratio)); + } + } + + points->swap(new_points); + return points->size() >= 3; +} + +bool Polygon2d::ComputeOverlap(const Polygon2d& other_polygon, + Polygon2d* const overlap_polygon) const { + CHECK_GE(points_.size(), 3); + CHECK_NOTNULL(overlap_polygon); + CHECK(is_convex_ && other_polygon.is_convex()); + std::vector points = other_polygon.points(); + for (int i = 0; i < num_points_; ++i) { + if (!ClipConvexHull(line_segments_[i], &points)) { + return false; + } + } + return ComputeConvexHull(points, overlap_polygon); +} + +bool Polygon2d::HasOverlap(const LineSegment2d& line_segment) const { + CHECK_GE(points_.size(), 3); + Vec2d first; + Vec2d last; + return GetOverlap(line_segment, &first, &last); +} + +bool Polygon2d::GetOverlap(const LineSegment2d& line_segment, + Vec2d* const first, Vec2d* const last) const { + CHECK_GE(points_.size(), 3); + CHECK_NOTNULL(first); + CHECK_NOTNULL(last); + + if (line_segment.length() <= kMathEpsilon) { + if (!IsPointIn(line_segment.start())) { + return false; + } + *first = line_segment.start(); + *last = line_segment.start(); + return true; + } + + double min_proj = line_segment.length(); + double max_proj = 0; + if (IsPointIn(line_segment.start())) { + *first = line_segment.start(); + min_proj = 0.0; + } + if (IsPointIn(line_segment.end())) { + *last = line_segment.end(); + max_proj = line_segment.length(); + } + for (const auto& poly_seg : line_segments_) { + Vec2d pt; + if (poly_seg.GetIntersect(line_segment, &pt)) { + const double proj = line_segment.ProjectOntoUnit(pt); + if (proj < min_proj) { + min_proj = proj; + *first = pt; + } + if (proj > max_proj) { + max_proj = proj; + *last = pt; + } + } + } + return min_proj <= max_proj + kMathEpsilon; +} + +std::vector Polygon2d::GetAllOverlaps( + const LineSegment2d& line_segment) const { + CHECK_GE(points_.size(), 3); + + if (line_segment.length() <= kMathEpsilon) { + std::vector overlaps; + if (IsPointIn(line_segment.start())) { + overlaps.push_back(line_segment); + } + return overlaps; + } + std::vector projections; + if (IsPointIn(line_segment.start())) { + projections.push_back(0.0); + } + if (IsPointIn(line_segment.end())) { + projections.push_back(line_segment.length()); + } + for (const auto& poly_seg : line_segments_) { + Vec2d pt; + if (poly_seg.GetIntersect(line_segment, &pt)) { + projections.push_back(line_segment.ProjectOntoUnit(pt)); + } + } + std::sort(projections.begin(), projections.end()); + std::vector> overlaps; + for (size_t i = 0; i + 1 < projections.size(); ++i) { + const double start_proj = projections[i]; + const double end_proj = projections[i + 1]; + if (end_proj - start_proj <= kMathEpsilon) { + continue; + } + const Vec2d reference_point = + line_segment.start() + + (start_proj + end_proj) / 2.0 * line_segment.unit_direction(); + if (!IsPointIn(reference_point)) { + continue; + } + if (overlaps.empty() || + start_proj > overlaps.back().second + kMathEpsilon) { + overlaps.emplace_back(start_proj, end_proj); + } else { + overlaps.back().second = end_proj; + } + } + std::vector overlap_line_segments; + for (const auto& overlap : overlaps) { + overlap_line_segments.emplace_back( + line_segment.start() + overlap.first * line_segment.unit_direction(), + line_segment.start() + overlap.second * line_segment.unit_direction()); + } + return overlap_line_segments; +} + +void Polygon2d::ExtremePoints(const double heading, Vec2d* const first, + Vec2d* const last) const { + CHECK_GE(points_.size(), 3); + CHECK_NOTNULL(first); + CHECK_NOTNULL(last); + + const Vec2d direction_vec = Vec2d::CreateUnitVec2d(heading); + double min_proj = std::numeric_limits::infinity(); + double max_proj = -std::numeric_limits::infinity(); + for (const auto& pt : points_) { + const double proj = pt.InnerProd(direction_vec); + if (proj < min_proj) { + min_proj = proj; + *first = pt; + } + if (proj > max_proj) { + max_proj = proj; + *last = pt; + } + } +} + +AABox2d Polygon2d::AABoundingBox() const { + return AABox2d({min_x_, min_y_}, {max_x_, max_y_}); +} + +Box2d Polygon2d::BoundingBoxWithHeading(const double heading) const { + CHECK_GE(points_.size(), 3); + const Vec2d direction_vec = Vec2d::CreateUnitVec2d(heading); + Vec2d px1; + Vec2d px2; + Vec2d py1; + Vec2d py2; + ExtremePoints(heading, &px1, &px2); + ExtremePoints(heading - M_PI_2, &py1, &py2); + const double x1 = px1.InnerProd(direction_vec); + const double x2 = px2.InnerProd(direction_vec); + const double y1 = py1.CrossProd(direction_vec); + const double y2 = py2.CrossProd(direction_vec); + return Box2d( + (x1 + x2) / 2.0 * direction_vec + + (y1 + y2) / 2.0 * Vec2d(direction_vec.y(), -direction_vec.x()), + heading, x2 - x1, y2 - y1); +} + +Box2d Polygon2d::MinAreaBoundingBox() const { + CHECK_GE(points_.size(), 3); + if (!is_convex_) { + Polygon2d convex_polygon; + ComputeConvexHull(points_, &convex_polygon); + CHECK(convex_polygon.is_convex()); + return convex_polygon.MinAreaBoundingBox(); + } + double min_area = std::numeric_limits::infinity(); + double min_area_at_heading = 0.0; + int left_most = 0; + int right_most = 0; + int top_most = 0; + for (int i = 0; i < num_points_; ++i) { + const auto& line_segment = line_segments_[i]; + double proj = 0.0; + double min_proj = line_segment.ProjectOntoUnit(points_[left_most]); + while ((proj = line_segment.ProjectOntoUnit(points_[Prev(left_most)])) < + min_proj) { + min_proj = proj; + left_most = Prev(left_most); + } + while ((proj = line_segment.ProjectOntoUnit(points_[Next(left_most)])) < + min_proj) { + min_proj = proj; + left_most = Next(left_most); + } + double max_proj = line_segment.ProjectOntoUnit(points_[right_most]); + while ((proj = line_segment.ProjectOntoUnit(points_[Prev(right_most)])) > + max_proj) { + max_proj = proj; + right_most = Prev(right_most); + } + while ((proj = line_segment.ProjectOntoUnit(points_[Next(right_most)])) > + max_proj) { + max_proj = proj; + right_most = Next(right_most); + } + double prod = 0.0; + double max_prod = line_segment.ProductOntoUnit(points_[top_most]); + while ((prod = line_segment.ProductOntoUnit(points_[Prev(top_most)])) > + max_prod) { + max_prod = prod; + top_most = Prev(top_most); + } + while ((prod = line_segment.ProductOntoUnit(points_[Next(top_most)])) > + max_prod) { + max_prod = prod; + top_most = Next(top_most); + } + const double area = max_prod * (max_proj - min_proj); + if (area < min_area) { + min_area = area; + min_area_at_heading = line_segment.heading(); + } + } + return BoundingBoxWithHeading(min_area_at_heading); +} + +Polygon2d Polygon2d::ExpandByDistance(const double distance) const { + if (!is_convex_) { + Polygon2d convex_polygon; + ComputeConvexHull(points_, &convex_polygon); + CHECK(convex_polygon.is_convex()); + return convex_polygon.ExpandByDistance(distance); + } + const double kMinAngle = 0.1; + std::vector points; + for (int i = 0; i < num_points_; ++i) { + const double start_angle = line_segments_[Prev(i)].heading() - M_PI_2; + const double end_angle = line_segments_[i].heading() - M_PI_2; + const double diff = WrapAngle(end_angle - start_angle); + if (diff <= kMathEpsilon) { + points.push_back(points_[i] + + Vec2d::CreateUnitVec2d(start_angle) * distance); + } else { + const int count = static_cast(diff / kMinAngle) + 1; + for (int k = 0; k <= count; ++k) { + const double angle = + start_angle + + diff * static_cast(k) / static_cast(count); + points.push_back(points_[i] + Vec2d::CreateUnitVec2d(angle) * distance); + } + } + } + Polygon2d new_polygon; + CHECK(ComputeConvexHull(points, &new_polygon)); + return new_polygon; +} + +std::string Polygon2d::DebugString() const { + std::ostringstream sout; + sout << "polygon2d ( num_points = " << num_points_ << " points = ("; + for (const auto& pt : points_) { + sout << " " << pt.DebugString(); + } + sout << " ) " << (is_convex_ ? "convex" : "non-convex") + << " area = " << area_ << " )"; + sout.flush(); + return sout.str(); +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/search.cc b/apollo_common/src/math/search.cc new file mode 100644 index 0000000..7764b19 --- /dev/null +++ b/apollo_common/src/math/search.cc @@ -0,0 +1,68 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/search.h" + +#include + +namespace apollo { +namespace common { +namespace math { + +double GoldenSectionSearch(const std::function& func, + const double lower_bound, const double upper_bound, + const double tol) { + constexpr double gr = 1.618033989; // (sqrt(5) + 1) / 2 + + double a = lower_bound; + double b = upper_bound; + + double t = (b - a) / gr; + double c = b - t; + double d = a + t; + + while (std::abs(c - d) > tol) { + if (func(c) < func(d)) { + b = d; + } else { + a = c; + } + t = (b - a) / gr; + c = b - t; + d = a + t; + } + return (a + b) * 0.5; +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/sin_table.cc b/apollo_common/src/math/sin_table.cc new file mode 100644 index 0000000..0cea998 --- /dev/null +++ b/apollo_common/src/math/sin_table.cc @@ -0,0 +1,3322 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +// Do NOT modify this file. It was generated by gen_sin_table.py. + +#include "apollo_common/math/sin_table.h" + +namespace apollo { +namespace common { +namespace math { + +const float SIN_TABLE[16385] = { + 0.000000000f, 0.000095874f, 0.000191748f, 0.000287621f, 0.000383495f, + 0.000479369f, 0.000575243f, 0.000671117f, 0.000766990f, 0.000862864f, + 0.000958738f, 0.001054612f, 0.001150485f, 0.001246359f, 0.001342233f, + 0.001438106f, 0.001533980f, 0.001629854f, 0.001725728f, 0.001821601f, + 0.001917475f, 0.002013348f, 0.002109222f, 0.002205096f, 0.002300969f, + 0.002396843f, 0.002492716f, 0.002588590f, 0.002684463f, 0.002780337f, + 0.002876210f, 0.002972083f, 0.003067957f, 0.003163830f, 0.003259703f, + 0.003355577f, 0.003451450f, 0.003547323f, 0.003643196f, 0.003739069f, + 0.003834943f, 0.003930816f, 0.004026689f, 0.004122562f, 0.004218435f, + 0.004314308f, 0.004410180f, 0.004506053f, 0.004601926f, 0.004697799f, + 0.004793672f, 0.004889544f, 0.004985417f, 0.005081289f, 0.005177162f, + 0.005273035f, 0.005368907f, 0.005464779f, 0.005560652f, 0.005656524f, + 0.005752396f, 0.005848268f, 0.005944141f, 0.006040013f, 0.006135885f, + 0.006231757f, 0.006327629f, 0.006423500f, 0.006519372f, 0.006615244f, + 0.006711116f, 0.006806987f, 0.006902859f, 0.006998730f, 0.007094602f, + 0.007190473f, 0.007286344f, 0.007382215f, 0.007478087f, 0.007573958f, + 0.007669829f, 0.007765700f, 0.007861571f, 0.007957441f, 0.008053312f, + 0.008149183f, 0.008245053f, 0.008340924f, 0.008436794f, 0.008532665f, + 0.008628535f, 0.008724405f, 0.008820275f, 0.008916145f, 0.009012015f, + 0.009107885f, 0.009203755f, 0.009299624f, 0.009395494f, 0.009491364f, + 0.009587233f, 0.009683102f, 0.009778972f, 0.009874841f, 0.009970710f, + 0.010066579f, 0.010162448f, 0.010258317f, 0.010354185f, 0.010450054f, + 0.010545922f, 0.010641791f, 0.010737659f, 0.010833527f, 0.010929396f, + 0.011025264f, 0.011121131f, 0.011216999f, 0.011312867f, 0.011408735f, + 0.011504602f, 0.011600470f, 0.011696337f, 0.011792204f, 0.011888071f, + 0.011983938f, 0.012079805f, 0.012175672f, 0.012271538f, 0.012367405f, + 0.012463271f, 0.012559138f, 0.012655004f, 0.012750870f, 0.012846736f, + 0.012942602f, 0.013038467f, 0.013134333f, 0.013230198f, 0.013326064f, + 0.013421929f, 0.013517794f, 0.013613659f, 0.013709524f, 0.013805389f, + 0.013901253f, 0.013997118f, 0.014092982f, 0.014188846f, 0.014284710f, + 0.014380574f, 0.014476438f, 0.014572302f, 0.014668165f, 0.014764029f, + 0.014859892f, 0.014955755f, 0.015051618f, 0.015147481f, 0.015243344f, + 0.015339206f, 0.015435069f, 0.015530931f, 0.015626793f, 0.015722655f, + 0.015818517f, 0.015914379f, 0.016010240f, 0.016106102f, 0.016201963f, + 0.016297824f, 0.016393685f, 0.016489546f, 0.016585407f, 0.016681267f, + 0.016777128f, 0.016872988f, 0.016968848f, 0.017064708f, 0.017160568f, + 0.017256427f, 0.017352287f, 0.017448146f, 0.017544005f, 0.017639864f, + 0.017735723f, 0.017831582f, 0.017927440f, 0.018023298f, 0.018119156f, + 0.018215014f, 0.018310872f, 0.018406730f, 0.018502587f, 0.018598445f, + 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0.999532354f, 0.999535281f, 0.999538199f, 0.999541108f, 0.999544007f, + 0.999546898f, 0.999549779f, 0.999552651f, 0.999555514f, 0.999558367f, + 0.999561212f, 0.999564047f, 0.999566873f, 0.999569690f, 0.999572498f, + 0.999575296f, 0.999578085f, 0.999580865f, 0.999583636f, 0.999586398f, + 0.999589151f, 0.999591894f, 0.999594628f, 0.999597353f, 0.999600069f, + 0.999602776f, 0.999605473f, 0.999608161f, 0.999610840f, 0.999613510f, + 0.999616171f, 0.999618822f, 0.999621465f, 0.999624098f, 0.999626722f, + 0.999629337f, 0.999631942f, 0.999634538f, 0.999637126f, 0.999639704f, + 0.999642272f, 0.999644832f, 0.999647382f, 0.999649924f, 0.999652456f, + 0.999654979f, 0.999657492f, 0.999659997f, 0.999662492f, 0.999664978f, + 0.999667455f, 0.999669923f, 0.999672381f, 0.999674831f, 0.999677271f, + 0.999679702f, 0.999682124f, 0.999684536f, 0.999686940f, 0.999689334f, + 0.999691719f, 0.999694095f, 0.999696461f, 0.999698819f, 0.999701167f, + 0.999703506f, 0.999705836f, 0.999708157f, 0.999710468f, 0.999712770f, + 0.999715064f, 0.999717348f, 0.999719622f, 0.999721888f, 0.999724144f, + 0.999726391f, 0.999728629f, 0.999730858f, 0.999733078f, 0.999735288f, + 0.999737489f, 0.999739682f, 0.999741864f, 0.999744038f, 0.999746203f, + 0.999748358f, 0.999750504f, 0.999752641f, 0.999754769f, 0.999756887f, + 0.999758996f, 0.999761097f, 0.999763188f, 0.999765269f, 0.999767342f, + 0.999769405f, 0.999771460f, 0.999773505f, 0.999775540f, 0.999777567f, + 0.999779584f, 0.999781593f, 0.999783592f, 0.999785582f, 0.999787562f, + 0.999789534f, 0.999791496f, 0.999793449f, 0.999795393f, 0.999797328f, + 0.999799254f, 0.999801170f, 0.999803077f, 0.999804975f, 0.999806864f, + 0.999808743f, 0.999810614f, 0.999812475f, 0.999814327f, 0.999816170f, + 0.999818004f, 0.999819828f, 0.999821643f, 0.999823449f, 0.999825246f, + 0.999827034f, 0.999828812f, 0.999830582f, 0.999832342f, 0.999834093f, + 0.999835835f, 0.999837567f, 0.999839291f, 0.999841005f, 0.999842710f, + 0.999844405f, 0.999846092f, 0.999847770f, 0.999849438f, 0.999851097f, + 0.999852747f, 0.999854387f, 0.999856019f, 0.999857641f, 0.999859254f, + 0.999860858f, 0.999862453f, 0.999864038f, 0.999865615f, 0.999867182f, + 0.999868740f, 0.999870288f, 0.999871828f, 0.999873358f, 0.999874879f, + 0.999876391f, 0.999877894f, 0.999879388f, 0.999880872f, 0.999882347f, + 0.999883813f, 0.999885270f, 0.999886718f, 0.999888156f, 0.999889586f, + 0.999891006f, 0.999892417f, 0.999893818f, 0.999895211f, 0.999896594f, + 0.999897968f, 0.999899333f, 0.999900689f, 0.999902036f, 0.999903373f, + 0.999904701f, 0.999906020f, 0.999907330f, 0.999908630f, 0.999909922f, + 0.999911204f, 0.999912477f, 0.999913741f, 0.999914996f, 0.999916241f, + 0.999917477f, 0.999918704f, 0.999919922f, 0.999921131f, 0.999922330f, + 0.999923521f, 0.999924702f, 0.999925874f, 0.999927036f, 0.999928190f, + 0.999929334f, 0.999930470f, 0.999931596f, 0.999932712f, 0.999933820f, + 0.999934918f, 0.999936007f, 0.999937087f, 0.999938158f, 0.999939220f, + 0.999940272f, 0.999941316f, 0.999942350f, 0.999943375f, 0.999944390f, + 0.999945397f, 0.999946394f, 0.999947382f, 0.999948361f, 0.999949331f, + 0.999950291f, 0.999951243f, 0.999952185f, 0.999953118f, 0.999954041f, + 0.999954956f, 0.999955861f, 0.999956758f, 0.999957645f, 0.999958522f, + 0.999959391f, 0.999960250f, 0.999961101f, 0.999961942f, 0.999962774f, + 0.999963596f, 0.999964410f, 0.999965214f, 0.999966009f, 0.999966795f, + 0.999967572f, 0.999968339f, 0.999969097f, 0.999969846f, 0.999970586f, + 0.999971317f, 0.999972039f, 0.999972751f, 0.999973454f, 0.999974148f, + 0.999974833f, 0.999975509f, 0.999976175f, 0.999976832f, 0.999977480f, + 0.999978119f, 0.999978749f, 0.999979369f, 0.999979980f, 0.999980582f, + 0.999981175f, 0.999981759f, 0.999982333f, 0.999982899f, 0.999983455f, + 0.999984002f, 0.999984539f, 0.999985068f, 0.999985587f, 0.999986097f, + 0.999986598f, 0.999987090f, 0.999987573f, 0.999988046f, 0.999988510f, + 0.999988965f, 0.999989411f, 0.999989848f, 0.999990275f, 0.999990693f, + 0.999991102f, 0.999991502f, 0.999991893f, 0.999992274f, 0.999992647f, + 0.999993010f, 0.999993364f, 0.999993708f, 0.999994044f, 0.999994370f, + 0.999994687f, 0.999994995f, 0.999995294f, 0.999995583f, 0.999995864f, + 0.999996135f, 0.999996397f, 0.999996650f, 0.999996893f, 0.999997128f, + 0.999997353f, 0.999997569f, 0.999997776f, 0.999997973f, 0.999998162f, + 0.999998341f, 0.999998511f, 0.999998672f, 0.999998823f, 0.999998966f, + 0.999999099f, 0.999999223f, 0.999999338f, 0.999999444f, 0.999999540f, + 0.999999628f, 0.999999706f, 0.999999775f, 0.999999835f, 0.999999885f, + 0.999999926f, 0.999999959f, 0.999999982f, 0.999999995f, 1.000000000f}; + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/math/vec2d.cc b/apollo_common/src/math/vec2d.cc new file mode 100644 index 0000000..67c26be --- /dev/null +++ b/apollo_common/src/math/vec2d.cc @@ -0,0 +1,138 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/math/vec2d.h" + +#include +#include + +#include "apollo_common/log.h" + +namespace apollo { +namespace common { +namespace math { + +Vec2d Vec2d::CreateUnitVec2d(const double angle) { + return Vec2d(cos(angle), sin(angle)); +} + +double Vec2d::Length() const { return std::hypot(x_, y_); } + +double Vec2d::LengthSquare() const { return x_ * x_ + y_ * y_; } + +double Vec2d::Angle() const { return std::atan2(y_, x_); } + +void Vec2d::Normalize() { + const double l = Length(); + if (l > kMathEpsilon) { + x_ /= l; + y_ /= l; + } +} + +double Vec2d::DistanceTo(const Vec2d& other) const { + return std::hypot(x_ - other.x_, y_ - other.y_); +} + +double Vec2d::DistanceSquareTo(const Vec2d& other) const { + const double dx = x_ - other.x_; + const double dy = y_ - other.y_; + return dx * dx + dy * dy; +} + +double Vec2d::CrossProd(const Vec2d& other) const { + return x_ * other.y() - y_ * other.x(); +} + +double Vec2d::InnerProd(const Vec2d& other) const { + return x_ * other.x() + y_ * other.y(); +} + +Vec2d Vec2d::operator+(const Vec2d& other) const { + return Vec2d(x_ + other.x(), y_ + other.y()); +} + +Vec2d Vec2d::operator-(const Vec2d& other) const { + return Vec2d(x_ - other.x(), y_ - other.y()); +} + +Vec2d Vec2d::operator*(const double ratio) const { + return Vec2d(x_ * ratio, y_ * ratio); +} + +Vec2d Vec2d::operator/(const double ratio) const { + CHECK_GT(std::abs(ratio), kMathEpsilon); + return Vec2d(x_ / ratio, y_ / ratio); +} + +Vec2d& Vec2d::operator+=(const Vec2d& other) { + x_ += other.x(); + y_ += other.y(); + return *this; +} + +Vec2d& Vec2d::operator-=(const Vec2d& other) { + x_ -= other.x(); + y_ -= other.y(); + return *this; +} + +Vec2d& Vec2d::operator*=(const double ratio) { + x_ *= ratio; + y_ *= ratio; + return *this; +} + +Vec2d& Vec2d::operator/=(const double ratio) { + CHECK_GT(std::abs(ratio), kMathEpsilon); + x_ /= ratio; + y_ /= ratio; + return *this; +} + +bool Vec2d::operator==(const Vec2d& other) const { + return (std::abs(x_ - other.x()) < kMathEpsilon && + std::abs(y_ - other.y()) < kMathEpsilon); +} + +Vec2d operator*(const double ratio, const Vec2d& vec) { return vec * ratio; } + +std::string Vec2d::DebugString() const { + std::ostringstream sout; + sout << "vec2d ( x = " << x_ << " y = " << y_ << " )"; + sout.flush(); + return sout.str(); +} + +} // namespace math +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/monitor/monitor.cc b/apollo_common/src/monitor/monitor.cc new file mode 100644 index 0000000..175f48e --- /dev/null +++ b/apollo_common/src/monitor/monitor.cc @@ -0,0 +1,70 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/monitor/monitor.h" + +#include "apollo_common/adapters/adapter_manager.h" +#include "apollo_common/time/time.h" + +namespace apollo { +namespace common { +namespace monitor { + +using apollo::common::adapter::AdapterManager; +using apollo::common::time::Clock; + +void Monitor::Publish(const std::vector &messages) const { + // compose a monitor message + if (messages.empty()) { + return; + } + MonitorMessage monitor_msg; + + for (const auto &msg_item : messages) { + MonitorMessageItem *monitor_msg_item = monitor_msg.add_item(); + monitor_msg_item->set_source(source_); + monitor_msg_item->set_log_level(msg_item.first); + monitor_msg_item->set_msg(msg_item.second); + } + + // publish monitor messages + DoPublish(&monitor_msg); +} + +void Monitor::DoPublish(MonitorMessage *message) const { + AdapterManager::FillMonitorHeader("monitor", message->mutable_header()); + AdapterManager::PublishMonitor(*message); +} + +} // namespace monitor +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/monitor/monitor_buffer.cc b/apollo_common/src/monitor/monitor_buffer.cc new file mode 100644 index 0000000..86e26a9 --- /dev/null +++ b/apollo_common/src/monitor/monitor_buffer.cc @@ -0,0 +1,109 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/monitor/monitor_buffer.h" + +#include "apollo_common/adapters/adapter_manager.h" +#include "apollo_common/log.h" +#include "apollo_common/monitor/monitor.h" +#include "apollo_common/time/time.h" + +namespace apollo { +namespace common { +namespace monitor { + +using apollo::common::adapter::AdapterManager; +using apollo::common::time::Clock; + +MonitorBuffer::MonitorBuffer(Monitor* monitor) : monitor_(monitor) {} + +void MonitorBuffer::PrintLog() { + if (monitor_msg_items_.empty()) { + return; + } + const auto level = monitor_msg_items_.back().first; + const auto& msg = monitor_msg_items_.back().second; + switch (level) { + case MonitorMessageItem::INFO: + AINFO << msg; + break; + case MonitorMessageItem::WARN: + AWARN << msg; + break; + case MonitorMessageItem::ERROR: + AERROR << msg; + break; + case MonitorMessageItem::FATAL: + AFATAL << msg; + break; + default: + AERROR << "[unknown monitor level]: " << msg; + } +} + +void MonitorBuffer::Publish() { + if (!monitor_msg_items_.empty() && monitor_) { + monitor_->Publish(monitor_msg_items_); + monitor_msg_items_.clear(); + level_ = MonitorMessageItem::INFO; + } +} + +MonitorBuffer& MonitorBuffer::operator<<(const std::string& msg) { + if (monitor_msg_items_.empty() || monitor_msg_items_.back().first != level_) { + AddMonitorMsgItem(level_, msg); + } else { + monitor_msg_items_.back().second += msg; + } + return *this; +} + +MonitorBuffer& MonitorBuffer::operator<<(const char* msg) { + if (msg) { + std::string msg_str(msg); + return operator<<(msg_str); + } else { + return *this; + } +} + +MonitorBuffer::~MonitorBuffer() { Publish(); } + +void MonitorBuffer::AddMonitorMsgItem( + const MonitorMessageItem::LogLevel log_level, const std::string& msg) { + level_ = log_level; + monitor_msg_items_.push_back(std::make_pair(log_level, msg)); +} + +} // namespace monitor +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/util/file.cc b/apollo_common/src/util/file.cc new file mode 100644 index 0000000..4fd9a13 --- /dev/null +++ b/apollo_common/src/util/file.cc @@ -0,0 +1,107 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/util/file.h" + +#include +#include +#include + +namespace apollo { +namespace common { +namespace util { + +bool DirectoryExists(const std::string &directory_path) { + struct stat info; + if (stat(directory_path.c_str(), &info) != 0) { + return false; + } + + if (info.st_mode & S_IFDIR) { + return true; + } + + return false; +} + +bool EnsureDirectory(const std::string &directory_path) { + std::string path = directory_path; + for (size_t i = 1; i < directory_path.size(); ++i) { + if (directory_path[i] == '/') { + // Whenever a '/' is encountered, create a temporary view from + // the start of the path to the character right before this. + path[i] = 0; + + if (mkdir(path.c_str(), S_IRWXU) != 0) { + if (errno != EEXIST) { + return false; + } + } + + // Revert the temporary view back to the original. + path[i] = '/'; + } + } + + // Make the final (full) directory. + if (mkdir(path.c_str(), S_IRWXU) != 0) { + if (errno != EEXIST) { + return false; + } + } + + return true; +} + +bool RemoveAllFiles(const std::string &directory_path) { + DIR *directory = opendir(directory_path.c_str()); + struct dirent *file; + while ((file = readdir(directory)) != NULL) { + // skip directory_path/. and directory_path/.. + if (!strcmp(file->d_name, ".") || !strcmp(file->d_name, "..")) { + continue; + } + // build the path for each file in the folder + std::string file_path = directory_path + "/" + file->d_name; + if (unlink(file_path.c_str()) < 0) { + AERROR << "Fail to remove file " << file_path << ": " << strerror(errno); + closedir(directory); + return false; + } + } + closedir(directory); + return true; +} + +} // namespace util +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/util/string_tokenizer.cc b/apollo_common/src/util/string_tokenizer.cc new file mode 100644 index 0000000..a407e0b --- /dev/null +++ b/apollo_common/src/util/string_tokenizer.cc @@ -0,0 +1,74 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/util/string_tokenizer.h" + +namespace apollo { +namespace common { +namespace util { + +StringTokenizer::StringTokenizer(const std::string& s, + const std::string& delims) { + s_ = s; + delims_ = delims; + + last_index_ = s_.find_first_not_of(delims, 0); + index_ = s_.find_first_of(delims, last_index_); +} + +std::vector StringTokenizer::Split(const std::string& str, + const std::string& delims) { + std::vector tokens; + std::string::size_type last_index = str.find_first_not_of(delims, 0); + std::string::size_type index = str.find_first_of(delims, last_index); + + while (std::string::npos != index || std::string::npos != last_index) { + tokens.push_back(str.substr(last_index, index - last_index)); + last_index = str.find_first_not_of(delims, index); + index = str.find_first_of(delims, last_index); + } + return tokens; +} + +std::string StringTokenizer::Next() { + if (std::string::npos != index_ || std::string::npos != last_index_) { + auto token = s_.substr(last_index_, index_ - last_index_); + last_index_ = s_.find_first_not_of(delims_, index_); + index_ = s_.find_first_of(delims_, last_index_); + return token; + } + return ""; +} + +} // namespace util +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/util/util.cc b/apollo_common/src/util/util.cc new file mode 100644 index 0000000..5122aa0 --- /dev/null +++ b/apollo_common/src/util/util.cc @@ -0,0 +1,46 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/util/util.h" + +namespace apollo { +namespace common { +namespace util { + +bool EndWith(const std::string& original, const std::string& pattern) { + return original.length() >= pattern.length() && + original.substr(original.length() - pattern.length()) == pattern; +} + +} // namespace util +} // namespace common +} // namespace apollo diff --git a/apollo_common/src/vehicle_state/vehicle_state.cc b/apollo_common/src/vehicle_state/vehicle_state.cc new file mode 100644 index 0000000..8016714 --- /dev/null +++ b/apollo_common/src/vehicle_state/vehicle_state.cc @@ -0,0 +1,171 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/vehicle_state/vehicle_state.h" + +#include + +#include "apollo_common/math/quaternion.h" +#include "apollo_common/log.h" + +// #include "modules/localization/common/localization_gflags.h" + +namespace apollo { +namespace common { +namespace vehicle_state { + +VehicleState::VehicleState( + const localization::LocalizationEstimate &localization) { + ConstructExceptLinearVelocity(&localization); + if (localization.has_pose() && localization.pose().has_linear_velocity()) { + linear_v_ = localization.pose().linear_velocity().y(); + } +} + +VehicleState::VehicleState( + const localization::LocalizationEstimate *localization, + const canbus::Chassis *chassis) { + ConstructExceptLinearVelocity(localization); + if (chassis != nullptr) { + linear_v_ = chassis->speed_mps(); + } +} + +void VehicleState::ConstructExceptLinearVelocity( + const localization::LocalizationEstimate *localization) { + if (localization == nullptr || !localization->has_pose()) { + AERROR << "Invalid localization input."; + return; + } + localization_ptr_ = localization; + if (localization->pose().has_position()) { + x_ = localization->pose().position().x(); + y_ = localization->pose().position().y(); + z_ = localization->pose().position().z(); + } + + const auto &orientation = localization->pose().orientation(); + heading_ = ::apollo::common::math::QuaternionToHeading( + orientation.qw(), orientation.qx(), orientation.qy(), orientation.qz()); + + // if (FLAGS_enable_map_reference_unify) { + // angular_v_ = localization->pose().angular_velocity_vrf().z(); + // linear_a_ = localization->pose().linear_acceleration_vrf().y(); + // } else + { + angular_v_ = localization->pose().angular_velocity().z(); + linear_a_ = localization->pose().linear_acceleration().y(); + } +} + +double VehicleState::x() const { return x_; } + +double VehicleState::y() const { return y_; } + +double VehicleState::z() const { return z_; } + +double VehicleState::heading() const { return heading_; } + +double VehicleState::linear_velocity() const { return linear_v_; } + +double VehicleState::angular_velocity() const { return angular_v_; } + +double VehicleState::linear_acceleration() const { return linear_a_; } + +void VehicleState::set_x(const double x) { x_ = x; } + +void VehicleState::set_y(const double y) { y_ = y; } + +void VehicleState::set_z(const double z) { z_ = z; } + +void VehicleState::set_heading(const double heading) { heading_ = heading; } + +void VehicleState::set_linear_velocity(const double linear_velocity) { + linear_v_ = linear_velocity; +} + +void VehicleState::set_angular_velocity(const double angular_velocity) { + angular_v_ = angular_velocity; +} + +Eigen::Vector2d VehicleState::EstimateFuturePosition(const double t) const { + Eigen::Vector3d vec_distance(0.0, 0.0, 0.0); + // Predict distance travel vector + if (std::fabs(angular_v_) < 0.0001) { + vec_distance[0] = 0.0; + vec_distance[1] = linear_v_ * t; + } else { + vec_distance[0] = + -linear_v_ / angular_v_ * (1.0 - std::cos(angular_v_ * t)); + vec_distance[1] = std::sin(angular_v_ * t) * linear_v_ / angular_v_; + } + + // If we have rotation information, take it into consideration. + if (localization_ptr_ != nullptr && localization_ptr_->has_pose() && + localization_ptr_->pose().has_orientation()) { + const auto &orientation = localization_ptr_->pose().orientation(); + Eigen::Quaternion quaternion(orientation.qw(), orientation.qx(), + orientation.qy(), orientation.qz()); + Eigen::Vector3d pos_vec(x_, y_, z_); + auto future_pos_3d = quaternion.toRotationMatrix() * vec_distance + pos_vec; + return Eigen::Vector2d(future_pos_3d[0], future_pos_3d[1]); + } + + // If no valid rotation information provided from localization, + // return the estimated future position without rotation. + return Eigen::Vector2d(vec_distance[0] + x_, vec_distance[1] + y_); +} + +Eigen::Vector2d VehicleState::ComputeCOMPosition( + const double rear_to_com_distance) const { + // set length as distance between rear wheel and center of mass. + Eigen::Vector3d v(0.0, rear_to_com_distance, 0.0); + Eigen::Vector3d pos_vec(x_, y_, z_); + // Initialize the COM position without rotation + Eigen::Vector3d com_pos_3d = v + pos_vec; + + // If we have rotation information, take it into consideration. + if (localization_ptr_ != nullptr && localization_ptr_->has_pose() && + localization_ptr_->pose().has_orientation()) { + const auto &orientation = localization_ptr_->pose().orientation(); + Eigen::Quaternion quaternion(orientation.qw(), orientation.qx(), + orientation.qy(), orientation.qz()); + // Update the COM position with rotation + com_pos_3d = quaternion.toRotationMatrix() * v + pos_vec; + } + + return Eigen::Vector2d(com_pos_3d[0], com_pos_3d[1]); +} + +} // namespace vehicle_state +} // namespace common +} // namespace apollo diff --git a/apollo_control/CMakeLists.txt b/apollo_control/CMakeLists.txt new file mode 100644 index 0000000..2dee4d6 --- /dev/null +++ b/apollo_control/CMakeLists.txt @@ -0,0 +1,62 @@ +cmake_minimum_required(VERSION 3.0.2) +project(apollo_control) + +add_compile_options(-std=c++17) +# set(CMAKE_BUILD_TYPE "Debug") +set(CMAKE_BUILD_TYPE "Release") + +find_package(Eigen3 REQUIRED) + +find_package(catkin REQUIRED COMPONENTS + roscpp + apollo_msgs + apollo_common +) + +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES apollo_control +# CATKIN_DEPENDS roscpp +# DEPENDS system_lib +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +add_executable(${PROJECT_NAME} + src/main.cc + src/control.cc + # common + src/common/control_gflags.cc + src/common/hysteresis_filter.cc + src/common/interpolation_2d.cc + src/common/pid_controller.cc + src/common/trajectory_analyzer.cc + # controller + src/controller/controller_agent.cc + src/controller/lat_controller.cc + src/controller/lon_controller.cc + # filters + src/filters/digital_filter_coefficients.cc + src/filters/digital_filter.cc + src/filters/mean_filter.cc +) +add_dependencies(${PROJECT_NAME} + ${${PROJECT_NAME}_EXPORTED_TARGETS} + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + protobuf + glog + gflags +) + +# install +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) \ No newline at end of file diff --git a/apollo_control/README.md b/apollo_control/README.md new file mode 100644 index 0000000..e075608 --- /dev/null +++ b/apollo_control/README.md @@ -0,0 +1,13 @@ +# Control + +## Introduction + Based on planning and current car status, use different control algorithms to + generate comfortable driving experience. + +## Input + * Planning trajectory + * Car status + * HMI AUTO mode change request + +## Output + * control command (steering, throttle, brake) to canbus. \ No newline at end of file diff --git a/apollo_control/conf/adapter.conf b/apollo_control/conf/adapter.conf new file mode 100644 index 0000000..922be32 --- /dev/null +++ b/apollo_control/conf/adapter.conf @@ -0,0 +1,31 @@ +config { + type: LOCALIZATION + mode: RECEIVE_ONLY + message_history_limit: 10 +} +config { + type: PAD + mode: RECEIVE_ONLY + message_history_limit: 10 +} +config { + type: PLANNING_TRAJECTORY + mode: RECEIVE_ONLY + message_history_limit: 10 +} +config { + type: CHASSIS + mode: RECEIVE_ONLY + message_history_limit: 10 +} +config { + type: CONTROL_COMMAND + mode: PUBLISH_ONLY + message_history_limit: 10 +} +config { + type: MONITOR + mode: DUPLEX + message_history_limit: 1 +} +is_ros: true diff --git a/apollo_control/conf/control.conf b/apollo_control/conf/control.conf new file mode 100644 index 0000000..1393d56 --- /dev/null +++ b/apollo_control/conf/control.conf @@ -0,0 +1,12 @@ +--enable_csv_debug +--use_state_exact_match +--noenable_speed_station_preview +--noenable_interpolation_by_time +--noenable_control_watchdog +--v=3 +--nouse_preview_speed_for_table +--noenable_input_timestamp_check + +# glog +--colorlogtostderr=1 +--stderrthreshold=0 diff --git a/apollo_control/conf/lincoln.pb.txt b/apollo_control/conf/lincoln.pb.txt new file mode 100644 index 0000000..3d7fefc --- /dev/null +++ b/apollo_control/conf/lincoln.pb.txt @@ -0,0 +1,6560 @@ +control_period: 0.01 +trajectory_period: 0.1 +chassis_period: 0.01 +localization_period: 0.01 +max_status_interval_sec: 0.1 +max_planning_interval_sec: 0.2 +max_planning_delay_threshold: 4.0 +action: STOP +soft_estop_brake: 50.0 +active_controllers: LAT_CONTROLLER +active_controllers: LON_CONTROLLER +max_steering_percentage_allowed: 100 +lat_controller_conf { + ts: 0.01 + preview_window: 0 + cf: 155494.663 + cr: 155494.663 + wheelbase: 2.85 + mass_fl: 520 + mass_fr: 520 + mass_rl: 520 + mass_rr: 520 + eps: 0.01 + matrix_q: 0.05 + matrix_q: 0.0 + matrix_q: 1.0 + matrix_q: 0.0 + cutoff_freq: 10 + mean_filter_window_size: 10 + steer_transmission_ratio: 16 + steer_single_direction_max_degree: 470 + max_iteration: 150 +} +lon_controller_conf { + ts: 0.01 + brake_deadzone: 15.5 + throttle_deadzone: 18.0 + speed_controller_input_limit: 2.0 + station_error_limit: 2.0 + preview_window: 20.0 + standstill_acceleration: -3.0 + station_pid_conf { + integrator_enable: false + integrator_saturation_level: 0.3 + kp: 0.2 + ki: 0.0 + kd: 0.0 + } + low_speed_pid_conf { + integrator_enable: true + integrator_saturation_level: 0.3 + kp: 0.5 + ki: 0.3 + kd: 0.0 + } + high_speed_pid_conf { + integrator_enable: true + integrator_saturation_level: 0.3 + kp: 1.0 + ki: 0.3 + kd: 0.0 + } + switch_speed: 2.0 + throttle_filter_conf { + cutoff_freq: 10 + } + brake_filter_conf { + cutoff_freq: 10 + } + acceleration_filter_conf { + cutoff_freq: 5 + } + calibration_table { + calibration { + speed: 0.0 + acceleration: -1.43 + command: -35.0 + } + calibration { + speed: 0.0 + acceleration: -1.28 + command: -27.0 + } + calibration { + speed: 0.0 + acceleration: -1.17 + command: -25.0 + } + calibration { + speed: 0.0 + acceleration: -1.02 + command: -30.0 + } + calibration { + speed: 0.0 + acceleration: -0.48 + command: -27.5 + } + calibration { + speed: 0.0 + acceleration: 0.09 + command: -20.0 + } + calibration { + speed: 0.0 + acceleration: 0.32 + command: -15.0 + } + calibration { + speed: 0.0 + acceleration: 0.35 + command: -17.0 + } + calibration { + speed: 0.0 + acceleration: 0.37 + command: 17.0 + } + calibration { + speed: 0.0 + acceleration: 0.39 + command: 15.0 + } + calibration { + speed: 0.0 + acceleration: 0.41 + command: -13.0 + } + calibration { + speed: 0.0 + acceleration: 0.72 + command: 20.0 + } + calibration { + speed: 0.0 + acceleration: 0.97 + command: 22.0 + } + calibration { + speed: 0.0 + acceleration: 1.4 + command: 25.0 + } + calibration { + speed: 0.0 + acceleration: 1.43 + command: 27.0 + } + calibration { + speed: 0.0 + acceleration: 1.53 + command: 30.0 + } + calibration { + speed: 0.0 + acceleration: 1.65 + command: 35.0 + } + calibration { + speed: 0.0 + acceleration: 1.79 + command: 40.0 + } + calibration { + speed: 0.0 + acceleration: 1.89 + command: 45.0 + } + calibration { + speed: 0.0 + acceleration: 1.94 + command: 50.0 + } + calibration { + speed: 0.0 + acceleration: 2.03 + command: 55.0 + } + calibration { + speed: 0.0 + acceleration: 2.08 + command: 65.0 + } + calibration { + speed: 0.0 + acceleration: 2.11 + command: 60.0 + } + calibration { + speed: 0.0 + acceleration: 2.3 + command: 80.0 + } + calibration { + speed: 0.0 + acceleration: 2.33 + command: 70.0 + } + calibration { + speed: 0.0 + acceleration: 2.34 + command: 75.0 + } + calibration { + speed: 0.2 + acceleration: -1.87 + command: -35.0 + } + calibration { + speed: 0.2 + acceleration: -1.41 + command: -27.0 + } + calibration { + speed: 0.2 + acceleration: -1.25 + command: -30.0 + } + calibration { + speed: 0.2 + acceleration: -1.22 + command: -25.0 + } + calibration { + speed: 0.2 + acceleration: -0.87 + command: -33.0 + } + calibration { + speed: 0.2 + acceleration: -0.48 + command: -22.0 + } + calibration { + speed: 0.2 + acceleration: 0.09 + command: -20.0 + } + calibration { + speed: 0.2 + acceleration: 0.32 + command: -15.0 + } + calibration { + speed: 0.2 + acceleration: 0.36 + command: -17.0 + } + calibration { + speed: 0.2 + acceleration: 0.38 + command: 17.0 + } + calibration { + speed: 0.2 + acceleration: 0.39 + command: 15.0 + } + calibration { + speed: 0.2 + acceleration: 0.41 + command: -13.0 + } + calibration { + speed: 0.2 + acceleration: 0.74 + command: 20.0 + } + calibration { + speed: 0.2 + acceleration: 0.98 + command: 22.0 + } + calibration { + speed: 0.2 + acceleration: 1.43 + command: 25.0 + } + calibration { + speed: 0.2 + acceleration: 1.48 + command: 27.0 + } + calibration { + speed: 0.2 + acceleration: 1.59 + command: 30.0 + } + calibration { + speed: 0.2 + acceleration: 1.72 + command: 35.0 + } + calibration { + speed: 0.2 + acceleration: 1.87 + command: 40.0 + } + calibration { + speed: 0.2 + acceleration: 1.98 + command: 45.0 + } + calibration { + speed: 0.2 + acceleration: 2.03 + command: 50.0 + } + calibration { + speed: 0.2 + acceleration: 2.15 + command: 55.0 + } + calibration { + speed: 0.2 + acceleration: 2.22 + command: 65.0 + } + calibration { + speed: 0.2 + acceleration: 2.23 + command: 60.0 + } + calibration { + speed: 0.2 + acceleration: 2.44 + command: 80.0 + } + calibration { + speed: 0.2 + acceleration: 2.45 + command: 70.0 + } + calibration { + speed: 0.2 + acceleration: 2.47 + command: 75.0 + } + calibration { + speed: 0.4 + acceleration: -6.89 + command: -35.0 + } + calibration { + speed: 0.4 + acceleration: -5.78 + command: -33.0 + } + calibration { + speed: 0.4 + acceleration: -4.19 + command: -30.0 + } + calibration { + speed: 0.4 + acceleration: -2.88 + command: -27.0 + } + calibration { + speed: 0.4 + acceleration: -1.77 + command: -25.0 + } + calibration { + speed: 0.4 + acceleration: -0.48 + command: -22.0 + } + calibration { + speed: 0.4 + acceleration: 0.01 + command: -20.0 + } + calibration { + speed: 0.4 + acceleration: 0.31 + command: -15.0 + } + calibration { + speed: 0.4 + acceleration: 0.35 + command: 15.0 + } + calibration { + speed: 0.4 + acceleration: 0.38 + command: -17.0 + } + calibration { + speed: 0.4 + acceleration: 0.4 + command: -13.0 + } + calibration { + speed: 0.4 + acceleration: 0.43 + command: 17.0 + } + calibration { + speed: 0.4 + acceleration: 0.82 + command: 20.0 + } + calibration { + speed: 0.4 + acceleration: 1.07 + command: 22.0 + } + calibration { + speed: 0.4 + acceleration: 1.57 + command: 25.0 + } + calibration { + speed: 0.4 + acceleration: 1.66 + command: 27.0 + } + calibration { + speed: 0.4 + acceleration: 1.78 + command: 30.0 + } + calibration { + speed: 0.4 + acceleration: 1.94 + command: 35.0 + } + calibration { + speed: 0.4 + acceleration: 2.12 + command: 40.0 + } + calibration { + speed: 0.4 + acceleration: 2.22 + command: 45.0 + } + calibration { + speed: 0.4 + acceleration: 2.24 + command: 50.0 + } + calibration { + speed: 0.4 + acceleration: 2.43 + command: 55.0 + } + calibration { + speed: 0.4 + acceleration: 2.47 + command: 60.0 + } + calibration { + speed: 0.4 + acceleration: 2.54 + command: 65.0 + } + calibration { + speed: 0.4 + acceleration: 2.67 + command: 75.0 + } + calibration { + speed: 0.4 + acceleration: 2.68 + command: 70.0 + } 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+++ b/apollo_control/conf/lincoln_062147.pb.txt @@ -0,0 +1,7590 @@ +control_period: 0.01 +max_planning_interval_sec: 0.2 +max_planning_delay_threshold: 4.0 +action: STOP +soft_estop_brake: 50.0 +active_controllers: LAT_CONTROLLER +active_controllers: LON_CONTROLLER +max_steering_percentage_allowed: 100 +max_status_interval_sec: 0.1 +lat_controller_conf { + ts: 0.01 + preview_window: 0 + cf: 155494.663 + cr: 155494.663 + wheelbase: 2.85 + mass_fl: 520 + mass_fr: 520 + mass_rl: 520 + mass_rr: 520 + eps: 0.01 + matrix_q: 0.05 + matrix_q: 0.0 + matrix_q: 1.0 + matrix_q: 0.0 + cutoff_freq: 10 + mean_filter_window_size: 10 + steer_transmission_ratio: 16 + steer_single_direction_max_degree: 470 + max_iteration: 150 +} +lon_controller_conf { + ts: 0.01 + brake_deadzone: 15.5 + throttle_deadzone: 18.0 + speed_controller_input_limit: 2.0 + station_error_limit: 2.0 + preview_window: 20.0 + standstill_acceleration: -3.0 + station_pid_conf { + integrator_enable: false + integrator_saturation_level: 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10.0 + acceleration: -1.39 + command: -26.0 + } + calibration { + speed: 10.0 + acceleration: -0.95 + command: -25.0 + } + calibration { + speed: 10.0 + acceleration: -0.69 + command: -24.0 + } + calibration { + speed: 10.0 + acceleration: -0.46 + command: -23.0 + } + calibration { + speed: 10.0 + acceleration: -0.36 + command: -22.0 + } + calibration { + speed: 10.0 + acceleration: -0.3 + command: -14.0 + } + calibration { + speed: 10.0 + acceleration: -0.29 + command: -20.0 + } + calibration { + speed: 10.0 + acceleration: -0.28 + command: -17.0 + } + calibration { + speed: 10.0 + acceleration: -0.04 + command: 20.0 + } + calibration { + speed: 10.0 + acceleration: 0.07 + command: 22.0 + } + calibration { + speed: 10.0 + acceleration: 0.26 + command: 25.0 + } + calibration { + speed: 10.0 + acceleration: 0.42 + command: 27.0 + } + calibration { + speed: 10.0 + acceleration: 0.64 + command: 30.0 + } + calibration { + speed: 10.0 + acceleration: 1.2 + command: 35.0 + } + calibration { + speed: 10.0 + acceleration: 1.71 + command: 40.0 + } + calibration { + speed: 10.0 + acceleration: 2.03 + command: 45.0 + } + calibration { + speed: 10.0 + acceleration: 2.33 + command: 50.0 + } + calibration { + speed: 10.0 + acceleration: 2.36 + command: 55.0 + } + } +} +trajectory_period: 0.1 +chassis_period: 0.01 +localization_period: 0.01 diff --git a/apollo_control/include/apollo_control/common/base_types.h b/apollo_control/include/apollo_control/common/base_types.h new file mode 100644 index 0000000..e08a180 --- /dev/null +++ b/apollo_control/include/apollo_control/common/base_types.h @@ -0,0 +1,77 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ +#ifndef MODULES_CONTROL_COMMON_BASE_TYPES_H_ +#define MODULES_CONTROL_COMMON_BASE_TYPES_H_ + +#include +#include + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +struct PathPoint { + public: + double x = 0.0; + double y = 0.0; + double z = 0.0; + double theta = 0.0; + double kappa = 0.0; + double s = 0.0; + std::string DebugString() { + std::stringstream ss; + ss << "x:" << x << " y:" << y << " z:" << z << " theta:" << theta + << " kappa:" << kappa << " s:" << s; + return ss.str(); + } +}; + +struct TrajectoryPoint : public PathPoint { + public: + double v = 0.0; // in [m/s] + double a = 0.0; + double relative_time = 0.0; + std::string DebugString() { + std::stringstream ss; + ss << PathPoint::DebugString() << " v:" << v << " a:" << a + << " relative_time:" << relative_time; + return ss.str(); + } +}; + +} // namespace control +} // namespace apollo + +#endif /* MODULES_CONTROL_COMMON_BASE_TYPES_H_ */ diff --git a/apollo_control/include/apollo_control/common/control_gflags.h b/apollo_control/include/apollo_control/common/control_gflags.h new file mode 100644 index 0000000..72efe32 --- /dev/null +++ b/apollo_control/include/apollo_control/common/control_gflags.h @@ -0,0 +1,66 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_CONTROL_COMMON_CONTROL_GFLAGS_H_ +#define MODULES_CONTROL_COMMON_CONTROL_GFLAGS_H_ + +#include + +// data file +DECLARE_string(control_conf_file); + +DECLARE_double(min_alert_interval); +DECLARE_bool(enable_csv_debug); + +// gflags for test purpose +DECLARE_bool(use_state_exact_match); + +// temporary gflag for test purpose +DECLARE_bool(enable_speed_station_preview); + +DECLARE_bool(enable_control_watchdog); +DECLARE_string(node_name); +DECLARE_bool(is_control_test_mode); +DECLARE_bool(use_preview_speed_for_table); + +DECLARE_bool(enable_input_timestamp_check); + +DECLARE_int32(max_localization_miss_num); +DECLARE_int32(max_chassis_miss_num); +DECLARE_int32(max_planning_miss_num); + +DECLARE_double(max_acceleration_when_stopped); +DECLARE_double(max_abs_speed_when_stopped); + +DECLARE_double(steer_angle_rate); + +#endif // MODULES_CONTROL_COMMON_CONTROL_GFLAGS_H_ diff --git a/apollo_control/include/apollo_control/common/definitions.h b/apollo_control/include/apollo_control/common/definitions.h new file mode 100644 index 0000000..784116e --- /dev/null +++ b/apollo_control/include/apollo_control/common/definitions.h @@ -0,0 +1,52 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_CONTROL_COMMON_DEFINITIONS_H_ +#define MODULES_CONTROL_COMMON_DEFINITIONS_H_ + +#include "apollo_msgs/proto/common/error_code.pb.h" +#include "apollo_common/status/status.h" + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +using apollo::common::Status; +using apollo::common::ErrorCode; + +} // namespace control +} // namespace apollo + +#endif // MODULES_CONTROL_COMMON_DEFINITIONS_H_ diff --git a/apollo_control/include/apollo_control/common/hysteresis_filter.h b/apollo_control/include/apollo_control/common/hysteresis_filter.h new file mode 100644 index 0000000..4d4db01 --- /dev/null +++ b/apollo_control/include/apollo_control/common/hysteresis_filter.h @@ -0,0 +1,60 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_CONTROL_COMMON_HYSTERESIS_FILTER_H_ +#define MODULES_CONTROL_COMMON_HYSTERESIS_FILTER_H_ + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +class HysteresisFilter { + public: + HysteresisFilter() = default; + void filter(const double input_value, const double threshold, + const double hysteresis_upper, const double hysteresis_lower, + int *state, double *output_value); + + private: + int previous_state_ = 0; +}; + +} // namespace control +} // namespace apollo +#endif // MODULES_CONTROL_COMMON_HYSTERESIS_FILTER_H_ diff --git a/apollo_control/include/apollo_control/common/interpolation_2d.h b/apollo_control/include/apollo_control/common/interpolation_2d.h new file mode 100644 index 0000000..0205804 --- /dev/null +++ b/apollo_control/include/apollo_control/common/interpolation_2d.h @@ -0,0 +1,92 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + */ + +#ifndef MODULES_CONTROL_COMMON_INTERPOLATION_2D_H_ +#define MODULES_CONTROL_COMMON_INTERPOLATION_2D_H_ + +#include +#include +#include +#include +#include + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { +/** + * @class Interpolation2D + * + * @brief linear interpolation from key (double, double) to one double value. + */ +class Interpolation2D { + public: + typedef std::vector> DataType; + typedef std::pair KeyType; + + Interpolation2D() = default; + + /** + * @brief initialize Interpolation2D internal table + * @param xyz passing interpolation initialization table data + * @return true if init is ok. + */ + bool Init(const DataType& xyz); + + /** + * @brief linear interpolate from 2D key (double, double) to one double value. + * @param xyz passing interpolation initialization table data + * @return true if init is ok. + */ + double Interpolate(const KeyType& xy) const; + + private: + double InterpolateYz(const std::map& yz_table, + double y) const; + + double InterpolateValue(const double value_before, const double dist_before, + const double value_after, + const double dist_after) const; + + std::map> xyz_; +}; + +} // namespace control +} // namespace apollo + +#endif // MODULES_CONTROL_COMMON_INTERPOLATION_1D_H_ diff --git a/apollo_control/include/apollo_control/common/pid_controller.h b/apollo_control/include/apollo_control/common/pid_controller.h new file mode 100644 index 0000000..44ae629 --- /dev/null +++ b/apollo_control/include/apollo_control/common/pid_controller.h @@ -0,0 +1,118 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file pid_controller.h + * @brief Defines the PIDController class. + */ + +#ifndef MODULES_CONTROL_COMMON_PID_CONTROLLER_H_ +#define MODULES_CONTROL_COMMON_PID_CONTROLLER_H_ + +#include "apollo_msgs/proto/control/lon_controller_conf.pb.h" + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +/** + * @class PIDController + * @brief A proportional–integral–derivative controller for speed and steering + */ +class PIDController { + public: + /** + * @brief constructor + */ + PIDController() = default; + + /** + * @brief initialize pid controller + * @param pid_conf configuration for pid controller + */ + void Init(const PidConf &pid_conf); + + /** + * @brief set pid controller coefficients for the proportional, + * integral, and derivative + * @param pid_conf configuration for pid controller + */ + void SetPID(const PidConf &pid_conf); + + /** + * @brief reset variables for pid controller + */ + void Reset(); + + /** + * @brief compute control value based on the error + * @param error error value, the difference between + * a desired value and a measured value + * @param dt sampling time interval + * @return control value based on PID terms + */ + double Control(const double error, const double dt); + + /** + * @brief get saturation status + * @return saturation status + */ + int saturation_status() const; + + /** + * @brief get status that if integrator is hold + * @return if integrator is hold return true + */ + bool integrator_hold() const; + + private: + double kp_ = 0.0; + double ki_ = 0.0; + double kd_ = 0.0; + double previous_error_ = 0.0; + double previous_output_ = 0.0; + double integral_ = 0.0; + double saturation_high_ = 0.0; + double saturation_low_ = 0.0; + bool first_hit_ = false; + bool integrator_enabled_ = false; + bool integrator_hold_ = false; + int saturation_status_ = 0; +}; + +} // namespace control +} // namespace apollo + +#endif // MODULES_CONTROL_COMMON_PID_CONTROLLER_H_ diff --git a/apollo_control/include/apollo_control/common/trajectory_analyzer.h b/apollo_control/include/apollo_control/common/trajectory_analyzer.h new file mode 100644 index 0000000..091f839 --- /dev/null +++ b/apollo_control/include/apollo_control/common/trajectory_analyzer.h @@ -0,0 +1,158 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file trajectory_analyzer.h + * @brief Defines the TrajectoryAnalyzer class. + */ + +#ifndef MODULES_CONTROL_COMMON_TRAJECTORY_ANALYZER_H_ +#define MODULES_CONTROL_COMMON_TRAJECTORY_ANALYZER_H_ + +#include + +#include "apollo_common/vehicle_state/vehicle_state.h" +#include "apollo_msgs/proto/planning/planning.pb.h" + +#include "apollo_control/common/base_types.h" + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +/** + * @class TrajectoryAnalyzer + * @brief process point query and conversion related to trajectory + */ +class TrajectoryAnalyzer { + public: + /** + * @brief constructor + */ + TrajectoryAnalyzer() = default; + + /** + * @brief constructor + * @param planning_published_trajectory trajectory data generated by + * planning module + */ + TrajectoryAnalyzer( + const planning::ADCTrajectory* planning_published_trajectory); + + /** + * @brief destructor + */ + ~TrajectoryAnalyzer() = default; + + /** + * @brief get sequence number of the trajecotry + * @return sequence number. + */ + unsigned int seq_num() { return seq_num_; } + + /** + * @brief query a point of trajectery that its absolute time is closest + * to the give time. + * @param t absolute time for query + * @return a point of trajectory + */ + TrajectoryPoint QueryNearestPointByAbsoluteTime(const double t) const; + + /** + * @brief query a point of trajectery that its relative time is closest + * to the give time. The time is relative to the first pointof trajectory + * @param t relative time for query + * @return a point of trajectory + */ + TrajectoryPoint QueryNearestPointByRelativeTime(const double t) const; + + /** + * @brief query a point of trajectery that its position is closest + * to the given position. + * @param x value of x-coordination in the given position + * @param y value of y-coordination in the given position + * @return a point of trajectory + */ + TrajectoryPoint QueryNearestPointByPosition(const double x, + const double y) const; + + /** + * @brief query a point on trajectery that its position is closest + * to the given position. + * @param x value of x-coordination in the given position + * @param y value of y-coordination in the given position + * @return a point on trajectory, the point may be a point of trajectory + * or interpolated by two adjacent points of trajectory + */ + PathPoint QueryMatchedPathPoint(const double x, const double y) const; + + /** + * @brief convert a position with theta and speed to trajectory frame, + * - longitudinal and lateral direction to the trajectory + * @param x x-value of the position + * @param y y-value of the position + * @param theta heading angle on the position + * @param v speed on the position + * @param matched_point matched point on trajectory for the given position + * @param ptr_s longitudinal distance + * @param ptr_s_dot longitudinal speed + * @param ptr_d lateral distance + * @param ptr_d_dot lateral speed + */ + void ToTrajectoryFrame(const double x, const double y, const double theta, + const double v, const PathPoint& matched_point, + double* ptr_s, double* ptr_s_dot, double* ptr_d, + double* ptr_d_dot) const; + + /** + * @brief get all points of the trajectory + * @return a vector of trajectory points + */ + const std::vector& trajectory_points() const; + + private: + PathPoint FindMinDistancePoint(const PathPoint& p0, const PathPoint& p1, + const double x, const double y) const; + + std::vector trajectory_points_; + + double header_time_ = 0.0; + unsigned int seq_num_ = 0; +}; + +} // namespace control +} // namespace apollo + +#endif /* MODULES_CONTROL_COMMON_TRAJECTORY_ANALYZER_H_ */ diff --git a/apollo_control/include/apollo_control/control.h b/apollo_control/include/apollo_control/control.h new file mode 100644 index 0000000..dba58aa --- /dev/null +++ b/apollo_control/include/apollo_control/control.h @@ -0,0 +1,148 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef CONTROL_CONTROL_H_ +#define CONTROL_CONTROL_H_ + +#include +#include +#include +#include + +#include +#include + +#include "apollo_msgs/proto/canbus/chassis.pb.h" +#include "apollo_msgs/proto/common/monitor.pb.h" +#include "apollo_msgs/proto/planning/planning.pb.h" +#include "apollo_msgs/proto/control/control_cmd.pb.h" +#include "apollo_msgs/proto/control/control_conf.pb.h" +#include "apollo_msgs/proto/control/pad_msg.pb.h" + +#include "apollo_common/apollo_app.h" +#include "apollo_common/monitor/monitor.h" +#include "apollo_common/util/util.h" +#include "apollo_control/controller/controller_agent.h" + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +/** + * @class Control + * + * @brief control module main class, it processes localization, chasiss, and + * pad data to compute throttle, brake and steer values. + */ +class Control : public apollo::common::ApolloApp { + friend class ControlTestBase; + + public: + Control() : monitor_(apollo::common::monitor::MonitorMessageItem::CONTROL) {} + + /** + * @brief module name + */ + std::string Name() const override; + + /** + * @brief module initialization function + * @return initialization status + */ + apollo::common::Status Init() override; + + /** + * @brief module start function + * @return start status + */ + apollo::common::Status Start() override; + + /** + * @brief module stop function + */ + void Stop() override; + + /** + * @brief destructor + */ + virtual ~Control() = default; + + private: + // Upon receiving pad message + void OnPad(const apollo::control::PadMessage& pad); + + // Upon receiving monitor message + void OnMonitor( + const apollo::common::monitor::MonitorMessage& monitor_message); + + // Watch dog timer + void OnTimer(const ros::TimerEvent&); + + Status ProduceControlCommand(ControlCommand* control_command); + Status CheckInput(); + Status CheckTimestamp(); + Status CheckPad(); + + void Alert(); + void SendCmd(ControlCommand* control_command); + + private: + ::apollo::localization::LocalizationEstimate localization_; + ::apollo::canbus::Chassis chassis_; + ::apollo::planning::ADCTrajectory trajectory_; + ::apollo::control::PadMessage pad_msg_; + + ControllerAgent controller_agent_; + + bool estop_ = false; + bool pad_received_ = false; + + unsigned int status_lost_ = 0; + unsigned int status_sanity_check_failed_ = 0; + unsigned int total_status_lost_ = 0; + unsigned int total_status_sanity_check_failed_ = 0; + + double last_alert_timestamp_ = 0.0; + + ControlConf control_conf_; + + apollo::common::monitor::Monitor monitor_; + ros::Timer timer_; +}; + +} // namespace control +} // namespace apollo + +#endif // CONTROL_CONTROL_H_ diff --git a/apollo_control/include/apollo_control/controller/controller.h b/apollo_control/include/apollo_control/controller/controller.h new file mode 100644 index 0000000..90ff08a --- /dev/null +++ b/apollo_control/include/apollo_control/controller/controller.h @@ -0,0 +1,119 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the Controller base class. + */ + +#ifndef MODULES_CONTROL_CONTROLLER_CONTROLLER_H_ +#define MODULES_CONTROL_CONTROLLER_CONTROLLER_H_ + +#include +#include + +#include "apollo_msgs/proto/canbus/chassis.pb.h" +#include "apollo_msgs/proto/localization/localization.pb.h" +#include "apollo_msgs/proto/planning/planning.pb.h" +#include "apollo_msgs/proto/control/control_cmd.pb.h" +#include "apollo_msgs/proto/control/control_conf.pb.h" + +#include "apollo_control/common/definitions.h" + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +/** + * @class Controller + * + * @brief base class for all controllers. + */ +class Controller { + public: + /** + * @brief constructor + */ + Controller() = default; + + /** + * @brief destructor + */ + virtual ~Controller() = default; + + /** + * @brief initialize Controller + * @param control_conf control configurations + * @return Status initialization status + */ + virtual Status Init(const ControlConf *control_conf) = 0; + + /** + * @brief compute control command based on current vehicle status + * and target trajectory + * @param localization vehicle location + * @param chassis vehicle status e.g., speed, acceleration + * @param trajectory trajectory generated by planning + * @param cmd control command + * @return Status computation status + */ + virtual Status ComputeControlCommand( + const ::apollo::localization::LocalizationEstimate *localization, + const ::apollo::canbus::Chassis *chassis, + const ::apollo::planning::ADCTrajectory *trajectory, + ::apollo::control::ControlCommand *cmd) = 0; + + /** + * @brief reset Controller + * @return Status reset status + */ + virtual Status Reset() = 0; + + /** + * @brief controller name + * @return string controller name in string + */ + virtual std::string Name() const = 0; + + /** + * @brief stop controller + */ + virtual void Stop() = 0; +}; + +} // namespace control +} // namespace apollo + +#endif // MODULES_CONTROL_CONTROLLER_CONTROLLER_H_ diff --git a/apollo_control/include/apollo_control/controller/controller_agent.h b/apollo_control/include/apollo_control/controller/controller_agent.h new file mode 100644 index 0000000..5d19cc9 --- /dev/null +++ b/apollo_control/include/apollo_control/controller/controller_agent.h @@ -0,0 +1,115 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the ControllerAgent class. + */ + +#ifndef MODULES_CONTROL_CONTROLLER_CONTROLLER_AGENT_H_ +#define MODULES_CONTROL_CONTROLLER_CONTROLLER_AGENT_H_ + +#include +#include +#include + +#include + +#include "apollo_common/util/factory.h" +#include "apollo_msgs/proto/planning/planning.pb.h" +#include "apollo_msgs/proto/control/control_cmd.pb.h" +#include "apollo_msgs/proto/control/control_conf.pb.h" + +#include "apollo_control/controller/controller.h" + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +/** + * @class ControllerAgent + * + * @brief manage all controllers declared in control config file. + */ +class ControllerAgent { + public: + /** + * @brief initialize ControllerAgent + * @param control_conf control configurations + * @return Status initialization status + */ + Status Init(const ControlConf *control_conf); + + /** + * @brief compute control command based on current vehicle status + * and target trajectory + * @param localization vehicle location + * @param chassis vehicle status e.g., speed, acceleration + * @param trajectory trajectory generated by planning + * @param cmd control command + * @return Status computation status + */ + Status ComputeControlCommand( + const ::apollo::localization::LocalizationEstimate *localization, + const ::apollo::canbus::Chassis *chassis, + const ::apollo::planning::ADCTrajectory *trajectory, + ::apollo::control::ControlCommand *cmd); + + /** + * @brief reset ControllerAgent + * @return Status reset status + */ + Status Reset(); + + private: + /** + * @brief + * Register new controllers. If you need to add a new type of controller, + * You should first register your controller in this function. + */ + void RegisterControllers(); + + Status InitializeConf(const ControlConf *control_conf); + + const ControlConf *control_conf_ = nullptr; + apollo::common::util::Factory + controller_factory_; + std::vector> controller_list_; +}; + +} // namespace control +} // namespace apollo + +#endif // MODULES_CONTROL_CONTROLLER_CONTROLLER_AGENT_H_ diff --git a/apollo_control/include/apollo_control/controller/lat_controller.h b/apollo_control/include/apollo_control/controller/lat_controller.h new file mode 100644 index 0000000..48c31ce --- /dev/null +++ b/apollo_control/include/apollo_control/controller/lat_controller.h @@ -0,0 +1,234 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the LatController class. + */ + +#ifndef MODULES_CONTROL_CONTROLLER_LAT_CONTROLLER_H_ +#define MODULES_CONTROL_CONTROLLER_LAT_CONTROLLER_H_ + +#include +#include + +#include "apollo_control/common/definitions.h" +#include "apollo_control/common/trajectory_analyzer.h" +#include "apollo_control/controller/controller.h" +#include "apollo_control/filters/digital_filter.h" +#include "apollo_control/filters/digital_filter_coefficients.h" +#include "apollo_control/filters/mean_filter.h" + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +/** + * @class LatController + * + * @brief Lateral controller, to compute steering target. + */ +class LatController : public Controller { + public: + /** + * @brief constructor + */ + LatController(); + + /** + * @brief destructor + */ + virtual ~LatController(); + + /** + * @brief initialize Lateral Controller + * @param control_conf control configurations + * @return Status initialization status + */ + Status Init(const ControlConf* control_conf) override; + + /** + * @brief compute steering target based on current vehicle status + * and target trajectory + * @param localization vehicle location + * @param chassis vehicle status e.g., speed, acceleration + * @param trajectory trajectory generated by planning + * @param cmd control command + * @return Status computation status + */ + Status ComputeControlCommand( + const localization::LocalizationEstimate* localization, + const canbus::Chassis* chassis, const planning::ADCTrajectory* trajectory, + ControlCommand* cmd) override; + + /** + * @brief reset Lateral Controller + * @return Status reset status + */ + Status Reset() override; + + /** + * @brief stop Lateral controller + */ + void Stop() override; + + /** + * @brief Lateral controller name + * @return string controller name in string + */ + std::string Name() const override; + + protected: + void UpdateState(SimpleLateralDebug* debug); + + void UpdateStateAnalyticalMatching(SimpleLateralDebug* debug); + + void UpdateMatrix(); + + void UpdateMatrixCompound(); + + double ComputeFeedForward(double ref_curvature) const; + + double GetLateralError(const Eigen::Vector2d& point, + TrajectoryPoint* trajectory_point) const; + + void ComputeLateralErrors(const double x, const double y, const double theta, + const double linear_v, const double angular_v, + const TrajectoryAnalyzer& trajectory_analyzer, + SimpleLateralDebug* debug) const; + bool LoadControlConf(const ControlConf* control_conf); + void InitializeFilters(const ControlConf* control_conf); + void LogInitParameters(); + void ProcessLogs(const SimpleLateralDebug* debug, + const canbus::Chassis* chassis); + + void CloseLogFile(); + + // a proxy to access vehicle movement state + ::apollo::common::vehicle_state::VehicleState vehicle_state_; + + // a proxy to analyze the planning trajectory + TrajectoryAnalyzer trajectory_analyzer_; + + // the following parameters are vehicle physics related. + // control time interval + double ts_ = 0.0; + // corner stiffness; front + double cf_ = 0.0; + // corner stiffness; rear + double cr_ = 0.0; + // distance between front and rear wheel center + double wheelbase_ = 0.0; + // mass of the vehicle + double mass_ = 0.0; + // distance from front wheel center to COM + double lf_ = 0.0; + // distance from rear wheel center to COM + double lr_ = 0.0; + // rotational inertia + double iz_ = 0.0; + // the ratio between the turn of the steering wheel and the turn of the wheels + double steer_transmission_ratio_ = 0.0; + // the maximum turn of steer + double steer_single_direction_max_degree_ = 0.0; + + // number of control cycles look ahead (preview controller) + int preview_window_ = 0; + // number of states without previews, includes + // lateral error, lateral error rate, heading error, heading error rate + const int basic_state_size_ = 4; + // vehicle state matrix + Eigen::MatrixXd matrix_a_; + // vehicle state matrix (discrete-time) + Eigen::MatrixXd matrix_ad_; + // vehicle state matrix compound; related to preview + Eigen::MatrixXd matrix_adc_; + // control matrix + Eigen::MatrixXd matrix_b_; + // control matrix (discrete-time) + Eigen::MatrixXd matrix_bd_; + // control matrix compound + Eigen::MatrixXd matrix_bdc_; + // gain matrix + Eigen::MatrixXd matrix_k_; + // control authority weighting matrix + Eigen::MatrixXd matrix_r_; + // state weighting matrix + Eigen::MatrixXd matrix_q_; + // vehicle state matrix coefficients + Eigen::MatrixXd matrix_a_coeff_; + // 4 by 1 matrix; state matrix + Eigen::MatrixXd matrix_state_; + + // heading error + // double heading_error_ = 0.0; + // lateral distance to reference trajectory + // double lateral_error_ = 0.0; + + // reference heading + // double ref_heading_ = 0.0; + // reference trajectory curvature + // double ref_curvature_ = 0.0; + + // heading error of last control cycle + double previous_heading_error_ = 0.0; + // lateral distance to reference trajectory of last control cycle + double previous_lateral_error_ = 0.0; + + // heading error change rate over time, i.e. d(heading_error) / dt + // double heading_error_rate_ = 0.0; + // lateral error change rate over time, i.e. d(lateral_error) / dt + // double lateral_error_rate_ = 0.0; + + // parameters for lqr solver; number of iterations + int lqr_max_iteration_ = 0; + // parameters for lqr solver; threshold for computation + double lqr_eps_ = 0.0; + + DigitalFilter digital_filter_; + + // MeanFilter heading_rate_filter_; + MeanFilter lateral_error_filter_; + + // for logging purpose + std::ofstream steer_log_file_; + + const std::string name_; +}; + +} // namespace control +} // namespace apollo + +#endif // MODULES_CONTROL_CONTROLLER_LATERAL_CONTROLLER_H_ diff --git a/apollo_control/include/apollo_control/controller/lon_controller.h b/apollo_control/include/apollo_control/controller/lon_controller.h new file mode 100644 index 0000000..4ff9af9 --- /dev/null +++ b/apollo_control/include/apollo_control/controller/lon_controller.h @@ -0,0 +1,164 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the LonController class. + */ + +#ifndef MODULES_CONTROL_CONTROLLER_LON_CONTROLLER_H_ +#define MODULES_CONTROL_CONTROLLER_LON_CONTROLLER_H_ + +#include +#include +#include +#include + +#include "apollo_common/vehicle_state/vehicle_state.h" +#include "apollo_control/common/definitions.h" +#include "apollo_control/common/interpolation_2d.h" +#include "apollo_control/common/pid_controller.h" +#include "apollo_control/common/trajectory_analyzer.h" +#include "apollo_control/controller/controller.h" +#include "apollo_control/filters/digital_filter.h" +#include "apollo_control/filters/digital_filter_coefficients.h" + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +/** + * @class LonController + * + * @brief Longitudinal controller, to compute brake / throttle values. + */ +class LonController : public Controller { + public: + /** + * @brief constructor + */ + LonController(); + + /** + * @brief destructor + */ + virtual ~LonController(); + + /** + * @brief initialize Longitudinal Controller + * @param control_conf control configurations + * @return Status initialization status + */ + Status Init(const ControlConf *control_conf) override; + + /** + * @brief compute brake / throttle values based on current vehicle status + * and target trajectory + * @param localization vehicle location + * @param chassis vehicle status e.g., speed, acceleration + * @param trajectory trajectory generated by planning + * @param cmd control command + * @return Status computation status + */ + Status ComputeControlCommand( + const ::apollo::localization::LocalizationEstimate *localization, + const ::apollo::canbus::Chassis *chassis, + const ::apollo::planning::ADCTrajectory *trajectory, + ::apollo::control::ControlCommand *cmd) override; + + /** + * @brief reset longitudinal controller + * @return Status reset status + */ + Status Reset() override; + + /** + * @brief stop longitudinal controller + */ + void Stop() override; + + /** + * @brief longitudinal controller name + * @return string controller name in string + */ + std::string Name() const override; + + protected: + void ComputeLongitudinalErrors( + const ::apollo::common::vehicle_state::VehicleState &vehicle_state, + const TrajectoryAnalyzer *trajectory, const double preview_time, + SimpleLongitudinalDebug *debug); + + private: + void SetDigitalFilterAcceleration( + const LonControllerConf &lon_controller_conf); + + void SetDigitalFilterThrottle(const LonControllerConf &lon_controller_conf); + + void SetDigitalFilterBrake(const LonControllerConf &lon_controller_conf); + + void LoadControlCalibrationTable( + const LonControllerConf &lon_controller_conf); + + void SetDigitalFilter(double ts, double cutoff_freq, + DigitalFilter *digital_filter); + + void CloseLogFile(); + + const ::apollo::localization::LocalizationEstimate *localization_ = nullptr; + const ::apollo::canbus::Chassis *chassis_ = nullptr; + ::apollo::common::vehicle_state::VehicleState vehicle_state_; + + std::unique_ptr control_interpolation_; + const ::apollo::planning::ADCTrajectory *trajectory_message_ = nullptr; + std::unique_ptr trajectory_analyzer_; + + std::string name_; + bool controller_initialized_ = false; + + PIDController speed_pid_controller_; + PIDController station_pid_controller_; + + FILE *speed_log_file_ = nullptr; + + DigitalFilter digital_filter_throttle_; + DigitalFilter digital_filter_brake_; + DigitalFilter digital_filter_acceleration_; + + const ControlConf *control_conf_ = nullptr; +}; +} // namespace control +} // namespace apollo +#endif // MODULES_CONTROL_CONTROLLER_LONGITUDINAL_CONTROLLER_H_ diff --git a/apollo_control/include/apollo_control/filters/digital_filter.h b/apollo_control/include/apollo_control/filters/digital_filter.h new file mode 100644 index 0000000..fca6656 --- /dev/null +++ b/apollo_control/include/apollo_control/filters/digital_filter.h @@ -0,0 +1,171 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the DigitalFilter class. + */ + +#ifndef MODULES_CONTROL_FILTERS_DIGITAL_FILTER_H_ +#define MODULES_CONTROL_FILTERS_DIGITAL_FILTER_H_ + +#include +#include + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +/** + * @class DigitalFilter + * @brief The DigitalFilter class is used to pass signals with a frequency + * lower than a certain cutoff frequency and attenuates signals with + * frequencies higher than the cutoff frequency. + */ +class DigitalFilter { + public: + DigitalFilter() = default; + + /** + * @brief Initializes a DigitalFilter with given denominators and numerators. + * @param denominators The denominators of the DigitalFilter. + * @param numerators The numerators of the DigitalFilter. + */ + DigitalFilter(const std::vector& denominators, + const std::vector& numerators); + + /** + * @brief Default destructor. + */ + ~DigitalFilter() = default; + + /** + * @brief Processes a new measurement with the filter. + * @param x_insert The new input to be processed by the filter. + */ + double Filter(const double x_insert); + /** + * @desc: Filter by the input x_insert + * Input: new value of x_insert + * Remove x[n - 1], insert x_insert into x[0] + * Remove y[n - 1], + * Solve den[0] * y + den[1] * y[0] + ... + den[n - 1]*y[n - 2] = + * num[0] * x[0] + num[1] * x[1] + ... + num[n - 1] * x[n - 1] for y + * Insert y into y[0] + * Output: y[0] + */ + + /** + * @brief set denominators by an input vector + * @param denominators The denominators of filter + */ + void set_denominators(const std::vector& denominators); + + /** + * @brief set numerators by an input vector + * @param numerators The numerators of filter + */ + void set_numerators(const std::vector& numerators); + + /** + * @brief set denominators and numerators + * @param denominators The denominators of filter + * @param numerators The numerators of filter + */ + void set_coefficients(const std::vector& denominators, + const std::vector& numerators); + + /** + * @brief set filter deadzone + * @param deadzone The value of deadzone + */ + void set_dead_zone(const double deadzone); + + /** + * @brief get denominators + * @return vector The denominators of filter + */ + const std::vector& denominators() const; + + /** + * @brief get numerators + * @return vector The numerators of filter + */ + const std::vector& numerators() const; + + /** + * @brief get dead_zone + * @return double The dead_zone + */ + double dead_zone() const; + + private: + /** + * @desc: Update the last-filtered value, + * if the difference is less than dead_zone_ + */ + double UpdateLast(const double input); + + /** + * @desc: Compute the inner product of values[coeff_start : coeff_end] and + * coefficients[coeff_start : coeff_end] + */ + double Compute(const std::deque& values, + const std::vector& coefficients, + const std::size_t coeff_start, const std::size_t coeff_end); + + // Front is latest, back is oldest. + std::deque x_values_; + + // Front is latest, back is oldest. + std::deque y_values_; + + // Coefficients with y values + std::vector denominators_; + + // Coefficients with x values + std::vector numerators_; + + // threshold of updating last-filtered value + double dead_zone_ = 0.0; + + // last-filtered value + double last_ = 0.0; +}; + +} // namespace control +} // namespace apollo + +#endif /* MODULES_CONTROL_FILTERS_DIGITAL_FILTER_H_ */ diff --git a/apollo_control/include/apollo_control/filters/digital_filter_coefficients.h b/apollo_control/include/apollo_control/filters/digital_filter_coefficients.h new file mode 100644 index 0000000..d8df2f1 --- /dev/null +++ b/apollo_control/include/apollo_control/filters/digital_filter_coefficients.h @@ -0,0 +1,64 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file digital_filter_coefficients.h + * @brief Functions to generate coefficients for digital filter. + */ + +#ifndef MODULES_CONTROL_FILTERS_DIGITAL_FILTER_COEFFICIENTS_H_ +#define MODULES_CONTROL_FILTERS_DIGITAL_FILTER_COEFFICIENTS_H_ + +#include + +/** + * @namespace apollo::control + * @brief apollo::control + */ +namespace apollo { +namespace control { + +/** + * @brief Get low-pass coefficients for digital filter. + * @param ts Time interval between signals. + * @param cutoff_freq Cutoff of frequency to filter high-frequency signals out. + * @param denominators Denominator coefficients for digital filter. + * @param numerators Numerator coefficients for digital filter. + */ +void LpfCoefficients(const double ts, const double cutoff_freq, + std::vector *denominators, + std::vector *numerators); + +} // namespace control +} // namespace apollo + +#endif // MODULES_CONTROL_FILTERS_DIGITAL_FILTER_COEFFICIENTS_H_ diff --git a/apollo_control/include/apollo_control/filters/mean_filter.h b/apollo_control/include/apollo_control/filters/mean_filter.h new file mode 100644 index 0000000..ccf7d86 --- /dev/null +++ b/apollo_control/include/apollo_control/filters/mean_filter.h @@ -0,0 +1,105 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file + * @brief Defines the MeanFilter class. + */ + +#ifndef MODULES_CONTROL_FILTERS_MEAN_FILTER_H_ +#define MODULES_CONTROL_FILTERS_MEAN_FILTER_H_ + +#include +#include +#include +#include + +/** + * @namespace apollo::control + * @brief The apollo::control namespace contains the code of the control module. + */ +namespace apollo { +namespace control { + +/** + * @class MeanFilter + * @brief The MeanFilter class is used to smoothen a series of noisy numbers, + * such as sensor data or the output of a function that we wish to be smoother. + * + * This is achieved by keeping track of the last k measurements + * (where k is the window size), and returning the average of all but the + * minimum and maximum measurements, which are likely to be outliers. + */ +class MeanFilter { + public: + /** + * @brief Initializes a MeanFilter with a given window size. + * @param window_size The window size of the MeanFilter. + * Older measurements are discarded. + */ + explicit MeanFilter(const std::uint_fast8_t window_size); + /** + * @brief Default constructor; defers initialization. + */ + MeanFilter() = default; + /** + * @brief Default destructor. + */ + ~MeanFilter() = default; + /** + * @brief Processes a new measurement in amortized constant time. + * @param measurement The measurement to be processed by the filter. + */ + double Update(const double measurement); + + private: + void RemoveEarliest(); + void Insert(const double value); + double GetMin() const; + double GetMax() const; + bool ShouldPopOldestCandidate(const std::uint_fast8_t old_time) const; + std::uint_fast8_t window_size_ = 0; + double sum_ = 0.0; + std::uint_fast8_t time_ = 0; + // front = earliest + std::deque values_; + // front = min + std::deque> min_candidates_; + // front = max + std::deque> max_candidates_; + bool initialized_ = false; +}; + +} // namespace control +} // namespace apollo + +#endif // MODULES_CONTROL_FILTERS_MEAN_FILTER_H_ diff --git a/apollo_control/launch/control.launch b/apollo_control/launch/control.launch new file mode 100644 index 0000000..46a97a2 --- /dev/null +++ b/apollo_control/launch/control.launch @@ -0,0 +1,8 @@ + + + + \ No newline at end of file diff --git a/apollo_control/package.xml b/apollo_control/package.xml new file mode 100644 index 0000000..3335437 --- /dev/null +++ b/apollo_control/package.xml @@ -0,0 +1,29 @@ + + + apollo_control + 0.0.0 + The apollo_control package + + forrest + TODO + + catkin + + roscpp + roscpp + roscpp + + apollo_msgs + apollo_msgs + apollo_msgs + + apollo_common + apollo_common + apollo_common + + + + + + + diff --git a/apollo_control/src/common/control_gflags.cc b/apollo_control/src/common/control_gflags.cc new file mode 100644 index 0000000..d4a7334 --- /dev/null +++ b/apollo_control/src/common/control_gflags.cc @@ -0,0 +1,64 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/common/control_gflags.h" + +DEFINE_double(min_alert_interval, 1., + "minimum alert interval to prevent alerting too frequently."); +DEFINE_string(control_conf_file, "modules/control/conf/lincoln.pb.txt", + "default control conf data file"); +DEFINE_bool(enable_csv_debug, false, "True to write out csv debug file."); +DEFINE_bool(use_state_exact_match, false, + "whether use state exact match in lateral controller"); +DEFINE_bool(enable_speed_station_preview, true, "enable speed/station preview"); +DEFINE_bool(enable_control_watchdog, true, "True to enable control watchdog"); +DEFINE_string(node_name, "control", "The control node name in proto"); +DEFINE_bool(is_control_test_mode, false, "True to run control in test mode"); +DEFINE_bool(use_preview_speed_for_table, false, + "True to use preview speed for table lookup"); + +DEFINE_bool(enable_input_timestamp_check, true, + "True to enable input timestamp delay check"); + +DEFINE_int32(max_localization_miss_num, 20, + "Max missing number of localization before entering estop mode"); +DEFINE_int32(max_chassis_miss_num, 20, + "Max missing number of chassis before entering estop mode"); +DEFINE_int32(max_planning_miss_num, 20, + "Max missing number of planning before entering estop mode"); + +DEFINE_double(max_acceleration_when_stopped, 0.01, + "max acceleration can be observed when vehicle is stopped"); +DEFINE_double(max_abs_speed_when_stopped, 0.01, + "max absolute speed can be observed when vehicle is stopped"); +DEFINE_double(steer_angle_rate, 100.0, + "Steer angle change rate in percentage."); diff --git a/apollo_control/src/common/hysteresis_filter.cc b/apollo_control/src/common/hysteresis_filter.cc new file mode 100644 index 0000000..eb20132 --- /dev/null +++ b/apollo_control/src/common/hysteresis_filter.cc @@ -0,0 +1,59 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/common/hysteresis_filter.h" + +namespace apollo { +namespace control { + +void HysteresisFilter::filter(const double input_value, const double threshold, + const double hysteresis_upper, + const double hysteresis_lower, int *state, + double *output_value) { + // Use integer to represent mode as of now, for instance, + // 1 is throttle, 0 is brake, then threshold is speed error + if (input_value > threshold + hysteresis_upper) { + *state = 1; + previous_state_ = *state; + *output_value = threshold + hysteresis_upper; + } else if (input_value < threshold - hysteresis_lower) { + *state = 0; + previous_state_ = *state; + *output_value = threshold - hysteresis_lower; + } else { + *state = previous_state_; + *output_value = input_value; + } +} + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/common/interpolation_2d.cc b/apollo_control/src/common/interpolation_2d.cc new file mode 100644 index 0000000..cb97a30 --- /dev/null +++ b/apollo_control/src/common/interpolation_2d.cc @@ -0,0 +1,126 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/common/interpolation_2d.h" + +#include + +#include "apollo_common/log.h" + +namespace { + +const double kDoubleEpsilon = 1.0e-6; + +} // namespace + +namespace apollo { +namespace control { + +bool Interpolation2D::Init(const DataType& xyz) { + if (xyz.empty()) { + AERROR << "empty input."; + return false; + } + for (const auto& t : xyz) { + xyz_[std::get<0>(t)][std::get<1>(t)] = std::get<2>(t); + } + return true; +} + +double Interpolation2D::Interpolate(const KeyType& xy) const { + double max_x = xyz_.rbegin()->first; + double min_x = xyz_.begin()->first; + if (xy.first >= max_x - kDoubleEpsilon) { + return InterpolateYz(xyz_.rbegin()->second, xy.second); + } + if (xy.first <= min_x + kDoubleEpsilon) { + return InterpolateYz(xyz_.begin()->second, xy.second); + } + + auto itr_after = xyz_.lower_bound(xy.first); + auto itr_before = itr_after; + --itr_before; + + double x_before = itr_before->first; + double z_before = InterpolateYz(itr_before->second, xy.second); + double x_after = itr_after->first; + double z_after = InterpolateYz(itr_after->second, xy.second); + + double x_diff_before = std::fabs(xy.first - x_before); + double x_diff_after = std::fabs(xy.first - x_after); + + return InterpolateValue(z_before, x_diff_before, z_after, x_diff_after); +} + +double Interpolation2D::InterpolateYz(const std::map& yz_table, + double y) const { + double max_y = yz_table.rbegin()->first; + double min_y = yz_table.begin()->first; + if (y >= max_y - kDoubleEpsilon) { + return yz_table.rbegin()->second; + } + if (y <= min_y + kDoubleEpsilon) { + return yz_table.begin()->second; + } + + auto itr_after = yz_table.lower_bound(y); + auto itr_before = itr_after; + --itr_before; + + double y_before = itr_before->first; + double z_before = itr_before->second; + double y_after = itr_after->first; + double z_after = itr_after->second; + + double y_diff_before = std::fabs(y - y_before); + double y_diff_after = std::fabs(y - y_after); + + return InterpolateValue(z_before, y_diff_before, z_after, y_diff_after); +} + +double Interpolation2D::InterpolateValue(const double value_before, + const double dist_before, + const double value_after, + const double dist_after) const { + if (dist_before < kDoubleEpsilon) { + return value_before; + } + if (dist_after < kDoubleEpsilon) { + return value_after; + } + double value_gap = value_after - value_before; + double value_buff = value_gap * dist_before / (dist_before + dist_after); + return value_before + value_buff; +} + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/common/pid_controller.cc b/apollo_control/src/common/pid_controller.cc new file mode 100644 index 0000000..3526388 --- /dev/null +++ b/apollo_control/src/common/pid_controller.cc @@ -0,0 +1,109 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/common/pid_controller.h" + +#include + +#include "apollo_common/log.h" + +namespace apollo { +namespace control { + +double PIDController::Control(const double error, const double dt) { + if (dt <= 0) { + AWARN << "dt <= 0, will use the last output"; + return previous_output_; + } + double diff = 0; + double output = 0; + + if (first_hit_) { + first_hit_ = false; + } else { + diff = (error - previous_error_) / dt; + } + // integral handling + if (!integrator_enabled_) { + integral_ = 0; + } else if (integrator_enabled_ && !integrator_hold_) { + integral_ += error * dt * ki_; + // apply Ki before integrating to avoid steps when change Ki at steady state + if (integral_ > saturation_high_) { + integral_ = saturation_high_; + saturation_status_ = 1; + } else if (integral_ < saturation_low_) { + integral_ = saturation_low_; + saturation_status_ = -1; + } else { + saturation_status_ = 0; + } + } + previous_error_ = error; + output = error * kp_ + integral_ + diff * kd_; // Ki already applied + previous_output_ = output; + return output; +} + +void PIDController::Reset() { + previous_error_ = 0.0; + previous_output_ = 0.0; + integral_ = 0.0; + first_hit_ = true; +} + +void PIDController::Init(const PidConf &pid_conf) { + previous_error_ = 0.0; + previous_output_ = 0.0; + integral_ = 0.0; + first_hit_ = true; + integrator_enabled_ = pid_conf.integrator_enable(); + saturation_high_ = std::fabs(pid_conf.integrator_saturation_level()); + saturation_low_ = -std::fabs(pid_conf.integrator_saturation_level()); + saturation_status_ = 0; + integrator_hold_ = false; + + SetPID(pid_conf); +} + +void PIDController::SetPID(const PidConf &pid_conf) { + kp_ = pid_conf.kp(); + ki_ = pid_conf.ki(); + kd_ = pid_conf.kd(); +} + +int PIDController::saturation_status() const { return saturation_status_; } + +bool PIDController::integrator_hold() const { return integrator_hold_; } + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/common/trajectory_analyzer.cc b/apollo_control/src/common/trajectory_analyzer.cc new file mode 100644 index 0000000..2310210 --- /dev/null +++ b/apollo_control/src/common/trajectory_analyzer.cc @@ -0,0 +1,244 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/common/trajectory_analyzer.h" + +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/math/linear_interpolation.h" +#include "apollo_common/math/math_utils.h" +#include "apollo_common/math/search.h" + +namespace math = ::apollo::common::math; + +namespace apollo { +namespace control { + +TrajectoryAnalyzer::TrajectoryAnalyzer( + const planning::ADCTrajectory* planning_published_trajectory) { + header_time_ = planning_published_trajectory->header().timestamp_sec(); + seq_num_ = planning_published_trajectory->header().sequence_num(); + + int num_points = planning_published_trajectory->adc_trajectory_point_size(); + trajectory_points_.reserve(num_points); + + for (int i = 0; + i < planning_published_trajectory->adc_trajectory_point_size(); ++i) { + const auto& published_trajectory_point = + planning_published_trajectory->adc_trajectory_point(i); + + TrajectoryPoint point; + point.s = published_trajectory_point.accumulated_s(); + point.x = published_trajectory_point.x(); + point.y = published_trajectory_point.y(); + point.theta = published_trajectory_point.theta(); + point.kappa = published_trajectory_point.curvature(); + point.v = published_trajectory_point.speed(); + point.a = published_trajectory_point.acceleration_s(); + point.relative_time = published_trajectory_point.relative_time(); + + trajectory_points_.push_back(std::move(point)); + } +} + +PathPoint TrajectoryAnalyzer::QueryMatchedPathPoint(const double x, + const double y) const { + auto func_distance_square = [](const PathPoint& point, const double x, + const double y) { + double dx = point.x - x; + double dy = point.y - y; + return dx * dx + dy * dy; + }; + + double d_min = func_distance_square(trajectory_points_.front(), x, y); + size_t index_min = 0; + + for (size_t i = 1; i < trajectory_points_.size(); ++i) { + double d_temp = func_distance_square(trajectory_points_[i], x, y); + if (d_temp < d_min) { + d_min = d_temp; + index_min = i; + } + } + + size_t index_start = index_min == 0 ? index_min : index_min - 1; + size_t index_end = + index_min + 1 == trajectory_points_.size() ? index_min : index_min + 1; + + if (index_start == index_end || + common::math::double_compare(trajectory_points_[index_start].s, + trajectory_points_[index_end].s) == 0) { + return trajectory_points_[index_start]; + } + + return FindMinDistancePoint(trajectory_points_[index_start], + trajectory_points_[index_end], x, y); +} + +// reference: Optimal trajectory generation for dynamic street scenarios in a +// Frenét Frame, +// Moritz Werling, Julius Ziegler, Sören Kammel and Sebastian Thrun, ICRA 2010 +// similar to the method in this paper without the assumption the "normal" +// vector +// (from vehicle position to ref_point position) and reference heading are +// perpendicular. +void TrajectoryAnalyzer::ToTrajectoryFrame(const double x, const double y, + const double theta, const double v, + const PathPoint& ref_point, + double* ptr_s, double* ptr_s_dot, + double* ptr_d, + double* ptr_d_dot) const { + double dx = x - ref_point.x; + double dy = y - ref_point.y; + + double cos_ref_theta = std::cos(ref_point.theta); + double sin_ref_theta = std::sin(ref_point.theta); + + // the sin of diff angle between vector (cos_ref_theta, sin_ref_theta) and + // (dx, dy) + double cross_rd_nd = cos_ref_theta * dy - sin_ref_theta * dx; + *ptr_d = cross_rd_nd; + + // the cos of diff angle between vector (cos_ref_theta, sin_ref_theta) and + // (dx, dy) + double dot_rd_nd = dx * cos_ref_theta + dy * sin_ref_theta; + *ptr_s = ref_point.s + dot_rd_nd; + + double delta_theta = theta - ref_point.theta; + double cos_delta_theta = std::cos(delta_theta); + double sin_delta_theta = std::sin(delta_theta); + + *ptr_d_dot = v * sin_delta_theta; + + double one_minus_kappa_r_d = 1 - ref_point.kappa * (*ptr_d); + if (one_minus_kappa_r_d <= 0.0) { + AERROR << "TrajectoryAnalyzer::ToTrajectoryFrame " + "found fatal reference and actual difference. " + "Control output might be unstable:" + << " ref_point.kappa:" << ref_point.kappa + << " ref_point.x:" << ref_point.x << " ref_point.y:" << ref_point.y + << " car x:" << x << " car y:" << y << " *ptr_d:" << *ptr_d + << " one_minus_kappa_r_d:" << one_minus_kappa_r_d; + // currently set to a small value to avoid control crash. + one_minus_kappa_r_d = 0.01; + } + + *ptr_s_dot = v * cos_delta_theta / one_minus_kappa_r_d; +} + +TrajectoryPoint TrajectoryAnalyzer::QueryNearestPointByAbsoluteTime( + const double t) const { + return QueryNearestPointByRelativeTime(t - header_time_); +} + +TrajectoryPoint TrajectoryAnalyzer::QueryNearestPointByRelativeTime( + const double t) const { + auto func_comp = [](const TrajectoryPoint& point, + const double relative_time) { + return point.relative_time < relative_time; + }; + + auto it_low = std::lower_bound(trajectory_points_.begin(), + trajectory_points_.end(), t, func_comp); + + if (it_low == trajectory_points_.begin()) { + return trajectory_points_.front(); + } + + if (it_low == trajectory_points_.end()) { + return trajectory_points_.back(); + } + + auto it_lower = it_low - 1; + if (it_low->relative_time - t < t - it_lower->relative_time) { + return *it_low; + } else { + return *it_lower; + } +} + +TrajectoryPoint TrajectoryAnalyzer::QueryNearestPointByPosition( + const double x, const double y) const { + auto func_distance_square = [](const PathPoint& point, const double x, + const double y) { + double dx = point.x - x; + double dy = point.y - y; + return dx * dx + dy * dy; + }; + + double d_min = func_distance_square(trajectory_points_.front(), x, y); + size_t index_min = 0; + + for (size_t i = 1; i < trajectory_points_.size(); ++i) { + double d_temp = func_distance_square(trajectory_points_[i], x, y); + if (d_temp < d_min) { + d_min = d_temp; + index_min = i; + } + } + return trajectory_points_[index_min]; +} + +const std::vector& TrajectoryAnalyzer::trajectory_points() + const { + return trajectory_points_; +} + +PathPoint TrajectoryAnalyzer::FindMinDistancePoint(const PathPoint& p0, + const PathPoint& p1, + const double x, + const double y) const { + // given the fact that the discretized trajectory is dense enough, + // we assume linear trajectory between consecutive trajectory points. + auto dist_square = [&p0, &p1, &x, &y](const double s) { + double px = math::lerp(p0.x, p0.s, p1.x, p1.s, s); + double py = math::lerp(p0.y, p0.s, p1.y, p1.s, s); + double dx = px - x; + double dy = py - y; + return dx * dx + dy * dy; + }; + + PathPoint p = p0; + double s = math::GoldenSectionSearch(dist_square, p0.s, p1.s); + p.s = s; + p.x = math::lerp(p0.x, p0.s, p1.x, p1.s, s); + p.y = math::lerp(p0.y, p0.s, p1.y, p1.s, s); + p.theta = math::slerp(p0.theta, p0.s, p1.theta, p1.s, s); + // approximate the curvature at the intermediate point + p.kappa = math::lerp(p0.kappa, p0.s, p1.kappa, p1.s, s); + return p; +} + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/control.cc b/apollo_control/src/control.cc new file mode 100644 index 0000000..c2fc6e2 --- /dev/null +++ b/apollo_control/src/control.cc @@ -0,0 +1,331 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ +#include "apollo_control/control.h" + +#include + +#include "apollo_common/adapters/adapter_gflags.h" +#include "apollo_common/adapters/adapter_manager.h" +#include "apollo_common/log.h" +#include "apollo_common/time/time.h" +#include "apollo_msgs/proto/localization/localization.pb.h" + +#include "apollo_control/common/control_gflags.h" + +namespace apollo { +namespace control { + +using ::apollo::canbus::Chassis; +using ::apollo::common::ErrorCode; +using ::apollo::common::Status; +using ::apollo::common::adapter::AdapterManager; +using ::apollo::common::monitor::MonitorMessageItem; +using ::apollo::common::time::Clock; +using ::apollo::localization::LocalizationEstimate; +using ::apollo::planning::ADCTrajectory; + +#define CHECK_PROTO(a, b) \ + if (!a.has_##b()) { \ + AERROR << "PB invalid! [" << #a << "] has NO [" << #b << "]!"; \ + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, \ + #a " missing pb field:" #b); \ + } + +std::string Control::Name() const { return FLAGS_node_name; } + +Status Control::Init() { + AINFO << "Control init, starting ..."; + if (!::apollo::common::util::GetProtoFromFile(FLAGS_control_conf_file, + &control_conf_)) { + return Status( + ErrorCode::CONTROL_INIT_ERROR, + "Unable to load control conf file: " + FLAGS_control_conf_file); + } + + AINFO << "Conf file: " << FLAGS_control_conf_file << " is loaded."; + + AdapterManager::Init(FLAGS_adapter_config_path); + + apollo::common::monitor::MonitorBuffer buffer(&monitor_); + + // set controller + if (!controller_agent_.Init(&control_conf_).ok()) { + std::string error_msg = "Control init controller failed! Stopping..."; + buffer.ERROR(error_msg); + return Status(ErrorCode::CONTROL_INIT_ERROR, error_msg); + } + + // lock it in case for after sub, init_vehicle not ready, but msg trigger + // come + CHECK(AdapterManager::GetLocalization()) + << "Localization is not initialized."; + + CHECK(AdapterManager::GetChassis()) << "Chassis is not initialized."; + + CHECK(AdapterManager::GetPlanningTrajectory()) + << "PlanningTrajectory is not initialized."; + + CHECK(AdapterManager::GetPad()) << "Pad is not initialized."; + + CHECK(AdapterManager::GetControlCommand()) + << "ControlCommand publisher is not initialized."; + + AdapterManager::SetPadCallback(&Control::OnPad, this); + AdapterManager::SetMonitorCallback(&Control::OnMonitor, this); + + return Status::OK(); +} + +Status Control::Start() { + // set initial vehicle state by cmd + // need to sleep, because advertised channel is not ready immediately + // simple test shows a short delay of 80 ms or so + AINFO << "Control resetting vehicle state, sleeping for 1000 ms ..."; + usleep(1000 * 1000); + + // should init_vehicle first, let car enter work status, then use status msg + // trigger control + + AINFO << "Control default driving action is " + << DrivingAction_Name(control_conf_.action()); + pad_msg_.set_action(control_conf_.action()); + + timer_ = AdapterManager::CreateTimer( + ros::Duration(control_conf_.control_period()), &Control::OnTimer, this); + + AINFO << "Control init done!"; + + apollo::common::monitor::MonitorBuffer buffer(&monitor_); + buffer.INFO("control started"); + + return Status::OK(); +} + +void Control::OnPad(const apollo::control::PadMessage& pad) { + pad_msg_ = pad; + AINFO << "Received Pad Msg:" << pad.DebugString(); + + if (!CheckPad().ok()) { + AERROR << "pad message check failed!"; + } + // do something according to pad message + if (pad_msg_.action() == ::apollo::control::DrivingAction::RESET) { + AINFO << "Control received RESET action!"; + estop_ = false; + } + pad_received_ = true; +} + +void Control::OnMonitor( + const apollo::common::monitor::MonitorMessage& monitor_message) { + for (const auto& item : monitor_message.item()) { + if (item.log_level() == MonitorMessageItem::FATAL) { + estop_ = true; + return; + } + } +} + +Status Control::ProduceControlCommand(ControlCommand* control_command) { + Status status = CheckInput(); + // check data + if (!status.ok()) { + AERROR << "Control input data failed: " << status.error_message(); + estop_ = true; + Alert(); + } else { + Status status_ts = CheckTimestamp(); + if (!status_ts.ok()) { + AERROR << "Input messages timeout"; + estop_ = true; + Alert(); + status = status_ts; + } + // estop_的重置是通过pad发送过来的，我们这里进行自动更新 + else { + estop_ = false; + } + } + + // check estop + estop_ = estop_ || trajectory_.estop().is_estop(); + + // if planning set estop, then no control process triggered + if (!estop_) { + if (chassis_.driving_mode() == ::apollo::canbus::Chassis::COMPLETE_MANUAL) { + controller_agent_.Reset(); + AINFO << "Reset Controllers in Manual Mode"; + } + + auto debug = control_command->mutable_debug()->mutable_input_debug(); + debug->mutable_localization_header()->CopyFrom(localization_.header()); + debug->mutable_canbus_header()->CopyFrom(chassis_.header()); + debug->mutable_trajectory_header()->CopyFrom(trajectory_.header()); + + Status status_compute = controller_agent_.ComputeControlCommand( + &localization_, &chassis_, &trajectory_, control_command); + + if (!status_compute.ok()) { + AERROR << "Control main function failed" + << " with localization: " << localization_.ShortDebugString() + << " with chassis: " << chassis_.ShortDebugString() + << " with trajectory: " << trajectory_.ShortDebugString() + << " with cmd: " << control_command->ShortDebugString() + << " status:" << status_compute.error_message(); + estop_ = true; + status = status_compute; + } + } + + if (estop_) { + AWARN << "Estop triggered! No control core method executed!"; + // set Estop command + control_command->set_speed(0); + control_command->set_throttle(0); + control_command->set_brake(control_conf_.soft_estop_brake()); + } + // check signal + if (trajectory_.has_signal()) { + control_command->mutable_signal()->CopyFrom(trajectory_.signal()); + } + return status; +} + +void Control::OnTimer(const ros::TimerEvent&) { + double start_timestamp = apollo::common::time::ToSecond(Clock::Now()); + + ControlCommand control_command; + + control_command.set_gear_location(::apollo::canbus::Chassis::GEAR_DRIVE); + + Status status = ProduceControlCommand(&control_command); + if (!status.ok()) { + AERROR << "Failed to produce control command:" << status.error_message(); + } + + double end_timestamp = apollo::common::time::ToSecond(Clock::Now()); + + if (pad_received_) { + control_command.mutable_pad_msg()->CopyFrom(pad_msg_); + pad_received_ = false; + } + + control_command.mutable_latency_stats()->set_total_time_ms( + (end_timestamp - start_timestamp) * 1000); + AINFO << "control cycle time is: " << (end_timestamp - start_timestamp) * 1000 + << " ms."; + status.Save(control_command.mutable_header()->mutable_status()); + + SendCmd(&control_command); +} + +Status Control::CheckInput() { + AdapterManager::Observe(); + auto localization_adapter = AdapterManager::GetLocalization(); + if (localization_adapter->Empty()) { + AINFO << "No Localization msg yet. "; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, "No localization msg"); + } + localization_ = localization_adapter->GetLatestObserved(); + ADEBUG << "Received localization:" << localization_.ShortDebugString(); + + auto chassis_adapter = AdapterManager::GetChassis(); + if (chassis_adapter->Empty()) { + AINFO << "No Chassis msg yet. "; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, "No chassis msg"); + } + chassis_ = chassis_adapter->GetLatestObserved(); + ADEBUG << "Received chassis:" << chassis_.ShortDebugString(); + + auto trajectory_adapter = AdapterManager::GetPlanningTrajectory(); + if (trajectory_adapter->Empty()) { + AINFO << "No planning msg yet. "; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, "No planning msg"); + } + trajectory_ = trajectory_adapter->GetLatestObserved(); + + return Status::OK(); +} + +Status Control::CheckTimestamp() { + if (!FLAGS_enable_input_timestamp_check || FLAGS_is_control_test_mode) { + ADEBUG << "Skip input timestamp check by gflags."; + return Status::OK(); + } + double current_timestamp = apollo::common::time::ToSecond(Clock::Now()); + double localization_diff = + current_timestamp - localization_.header().timestamp_sec(); + if (localization_diff > + (FLAGS_max_localization_miss_num * control_conf_.localization_period())) { + AERROR << "Localization msg lost for " << std::setprecision(6) + << localization_diff << "s"; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, "Localization msg timeout"); + } + + double chassis_diff = current_timestamp - chassis_.header().timestamp_sec(); + if (chassis_diff > + (FLAGS_max_chassis_miss_num * control_conf_.chassis_period())) { + AERROR << "Chassis msg lost for " << std::setprecision(6) << chassis_diff + << "s"; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, "Chassis msg timeout"); + } + + double trajectory_diff = + current_timestamp - trajectory_.header().timestamp_sec(); + if (trajectory_diff > + (FLAGS_max_planning_miss_num * control_conf_.trajectory_period())) { + AERROR << "Trajectory msg lost for " << std::setprecision(6) + << trajectory_diff << "s"; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, "Trajectory msg timeout"); + } + return Status::OK(); +} + +void Control::SendCmd(ControlCommand* control_command) { + // set header + AdapterManager::FillControlCommandHeader(Name(), + control_command->mutable_header()); + + ADEBUG << control_command->ShortDebugString(); + if (FLAGS_is_control_test_mode) { + ADEBUG << "Skip publish control command in test mode"; + return; + } + AdapterManager::PublishControlCommand(*control_command); +} + +Status Control::CheckPad() { + // CHECK_PROTO(pad_msg_, action) + return Status::OK(); +} + +void Control::Alert() { + // do not alert too frequently + // though "0" means first hit + if (last_alert_timestamp_ > 0. && + (apollo::common::time::ToSecond(Clock::Now()) - last_alert_timestamp_) < + FLAGS_min_alert_interval) { + return; + } + + // update timestamp + last_alert_timestamp_ = apollo::common::time::ToSecond(Clock::Now()); +} + +void Control::Stop() {} + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/controller/controller_agent.cc b/apollo_control/src/controller/controller_agent.cc new file mode 100644 index 0000000..bf49dc5 --- /dev/null +++ b/apollo_control/src/controller/controller_agent.cc @@ -0,0 +1,124 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/controller/controller_agent.h" + +#include + +#include "apollo_common/log.h" +#include "apollo_common/time/time.h" + +#include "apollo_control/controller/lat_controller.h" +#include "apollo_control/controller/lon_controller.h" + +namespace apollo { +namespace control { + +using apollo::common::time::Clock; + +void ControllerAgent::RegisterControllers() { + controller_factory_.Register( + ControlConf::LAT_CONTROLLER, + []() -> Controller * { return new LatController(); }); + controller_factory_.Register( + ControlConf::LON_CONTROLLER, + []() -> Controller * { return new LonController(); }); +} + +Status ControllerAgent::InitializeConf(const ControlConf *control_conf) { + if (!control_conf) { + AERROR << "control_conf is null"; + return Status(ErrorCode::CONTROL_INIT_ERROR, "Failed to load config"); + } + control_conf_ = control_conf; + AINFO << control_conf_->DebugString(); + for (auto controller_type : control_conf_->active_controllers()) { + auto controller = controller_factory_.CreateObject( + static_cast(controller_type)); + if (controller) { + controller_list_.emplace_back(std::move(controller)); + } else { + AERROR << "Controller: " << controller_type << "is not supported"; + return Status(ErrorCode::CONTROL_INIT_ERROR, + "Invalid controller type:" + controller_type); + } + } + return Status::OK(); +} + +Status ControllerAgent::Init(const ControlConf *control_conf) { + RegisterControllers(); + CHECK(InitializeConf(control_conf).ok()) << "Fail to initialize config."; + for (auto &controller : controller_list_) { + if (controller == NULL || !controller->Init(control_conf_).ok()) { + if (controller != NULL) { + AERROR << "Controller <" << controller->Name() << "> init failed!"; + return Status(ErrorCode::CONTROL_INIT_ERROR, + "Failed to init Controller:" + controller->Name()); + } else { + return Status(ErrorCode::CONTROL_INIT_ERROR, + "Failed to init Controller"); + } + } + AINFO << "Controller <" << controller->Name() << "> init done!"; + } + return Status::OK(); +} + +Status ControllerAgent::ComputeControlCommand( + const ::apollo::localization::LocalizationEstimate *localization, + const ::apollo::canbus::Chassis *chassis, + const ::apollo::planning::ADCTrajectory *trajectory, + ::apollo::control::ControlCommand *cmd) { + for (auto &controller : controller_list_) { + ADEBUG << "controller:" << controller->Name() << " processing ..."; + double start_timestamp = apollo::common::time::ToSecond(Clock::Now()); + controller->ComputeControlCommand(localization, chassis, trajectory, cmd); + double end_timestamp = apollo::common::time::ToSecond(Clock::Now()); + AINFO << "controller: " << controller->Name() << " calculation time is: " + << (end_timestamp - start_timestamp) * 1000 << " ms."; + cmd->mutable_latency_stats()->add_controller_time_ms( + (end_timestamp - start_timestamp) * 1000); + } + return Status::OK(); +} + +Status ControllerAgent::Reset() { + for (auto &controller : controller_list_) { + ADEBUG << "controller:" << controller->Name() << " reset..."; + controller->Reset(); + } + return Status::OK(); +} + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/controller/lat_controller.cc b/apollo_control/src/controller/lat_controller.cc new file mode 100644 index 0000000..e6a762c --- /dev/null +++ b/apollo_control/src/controller/lat_controller.cc @@ -0,0 +1,507 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/controller/lat_controller.h" + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "apollo_common/log.h" +#include "apollo_common/math/linear_quadratic_regulator.h" +#include "apollo_common/math/math_utils.h" +#include "apollo_common/time/time.h" + +#include "apollo_control/common/control_gflags.h" + +namespace apollo { +namespace control { + +using common::Point3D; +using Matrix = Eigen::MatrixXd; +using ::apollo::common::vehicle_state::VehicleState; + +namespace { + +std::string GetLogFileName() { + time_t raw_time; + char name_buffer[80]; + std::time(&raw_time); + strftime(name_buffer, 80, "/tmp/steer_log_simple_optimal_%F_%H%M%S.csv", + localtime(&raw_time)); + return std::string(name_buffer); +} + +void WriteHeaders(std::ofstream& file_stream) { + file_stream << "current_lateral_error," + << "current_ref_heading," + << "current_heading," + << "current_heading_error," + << "heading_error_rate," + << "lateral_error_rate," + << "current_curvature," + << "steer_angle," + << "steer_angle_feedforward," + << "steer_angle_lateral_contribution," + << "steer_angle_lateral_rate_contribution," + << "steer_angle_heading_contribution," + << "steer_angle_heading_rate_contribution," + << "steer_angle_feedback," + << "steering_position," + << "v" << std::endl; +} +} // namespace + +LatController::LatController() : name_("LQR-based Lateral Controller") { + if (FLAGS_enable_csv_debug) { + steer_log_file_.open(GetLogFileName()); + steer_log_file_ << std::fixed; + steer_log_file_ << std::setprecision(6); + WriteHeaders(steer_log_file_); + } + AINFO << "Using " << name_; +} + +LatController::~LatController() { CloseLogFile(); } + +bool LatController::LoadControlConf(const ControlConf* control_conf) { + if (!control_conf) { + AERROR << "[LatController] control_conf == nullptr"; + return false; + } + ts_ = control_conf->lat_controller_conf().ts(); + CHECK_GT(ts_, 0.0) << "[LatController] Invalid control update interval."; + cf_ = control_conf->lat_controller_conf().cf(); + cr_ = control_conf->lat_controller_conf().cr(); + preview_window_ = control_conf->lat_controller_conf().preview_window(); + wheelbase_ = control_conf->lat_controller_conf().wheelbase(); + steer_transmission_ratio_ = + control_conf->lat_controller_conf().steer_transmission_ratio(); + steer_single_direction_max_degree_ = + control_conf->lat_controller_conf().steer_single_direction_max_degree(); + double mass_fl = control_conf->lat_controller_conf().mass_fl(); + double mass_fr = control_conf->lat_controller_conf().mass_fr(); + double mass_rl = control_conf->lat_controller_conf().mass_rl(); + double mass_rr = control_conf->lat_controller_conf().mass_rr(); + double mass_front = mass_fl + mass_fr; + double mass_rear = mass_rl + mass_rr; + mass_ = mass_front + mass_rear; + + lf_ = wheelbase_ * (1.0 - mass_front / mass_); + lr_ = wheelbase_ * (1.0 - mass_rear / mass_); + iz_ = lf_ * lf_ * mass_front + lr_ * lr_ * mass_rear; + + lqr_eps_ = control_conf->lat_controller_conf().eps(); + lqr_max_iteration_ = control_conf->lat_controller_conf().max_iteration(); + return true; +} + +void LatController::ProcessLogs(const SimpleLateralDebug* debug, + const canbus::Chassis* chassis) { + std::stringstream log_stream; + log_stream << debug->lateral_error() << "," << debug->ref_heading() << "," + << vehicle_state_.heading() << "," << debug->heading_error() << "," + << debug->heading_error_rate() << "," + << debug->lateral_error_rate() << "," << debug->curvature() << "," + << debug->steer_angle() << "," << debug->steer_angle_feedforward() + << "," << debug->steer_angle_lateral_contribution() << "," + << debug->steer_angle_lateral_rate_contribution() << "," + << debug->steer_angle_heading_contribution() << "," + << debug->steer_angle_heading_rate_contribution() << "," + << debug->steer_angle_feedback() << "," + << chassis->steering_percentage() << "," + << vehicle_state_.linear_velocity(); + if (FLAGS_enable_csv_debug) { + steer_log_file_ << log_stream.str() << std::endl; + } + // AINFO << "Steer_Control_Detail: " << log_stream.str(); +} + +void LatController::LogInitParameters() { + AINFO << name_ << " begin."; + AINFO << "[LatController parameters]" + << " mass_: " << mass_ << "," + << " iz_: " << iz_ << "," + << " lf_: " << lf_ << "," + << " lr_: " << lr_; +} + +void LatController::InitializeFilters(const ControlConf* control_conf) { + // Low pass filter + std::vector den(3, 0.0); + std::vector num(3, 0.0); + LpfCoefficients(ts_, control_conf->lat_controller_conf().cutoff_freq(), &den, + &num); + digital_filter_.set_coefficients(den, num); + // Mean filters + /** + heading_rate_filter_ = MeanFilter( + control_conf->lat_controller_conf().mean_filter_window_size()); + **/ + lateral_error_filter_ = + MeanFilter(control_conf->lat_controller_conf().mean_filter_window_size()); +} + +Status LatController::Init(const ControlConf* control_conf) { + if (!LoadControlConf(control_conf)) { + AERROR << "failed to load control conf"; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, + "failed to load control_conf"); + } + // Matrix init operations. + int matrix_size = basic_state_size_ + preview_window_; + matrix_a_ = Matrix::Zero(basic_state_size_, basic_state_size_); + matrix_ad_ = Matrix::Zero(basic_state_size_, basic_state_size_); + matrix_adc_ = Matrix::Zero(matrix_size, matrix_size); + matrix_a_(0, 1) = 1.0; + matrix_a_(1, 2) = (cf_ + cr_) / mass_; + matrix_a_(2, 3) = 1.0; + matrix_a_(3, 2) = (lf_ * cf_ - lr_ * cr_) / iz_; + + matrix_a_coeff_ = Matrix::Zero(matrix_size, matrix_size); + matrix_a_coeff_(1, 1) = -(cf_ + cr_) / mass_; + matrix_a_coeff_(1, 3) = (lr_ * cr_ - lf_ * cf_) / mass_; + matrix_a_coeff_(2, 3) = 1.0; + matrix_a_coeff_(3, 1) = (lr_ * cr_ - lf_ * cf_) / iz_; + matrix_a_coeff_(3, 3) = -1.0 * (lf_ * lf_ * cf_ + lr_ * lr_ * cr_) / iz_; + + matrix_b_ = Matrix::Zero(basic_state_size_, 1); + matrix_bd_ = Matrix::Zero(basic_state_size_, 1); + matrix_bdc_ = Matrix::Zero(matrix_size, 1); + matrix_b_(1, 0) = cf_ / mass_; + matrix_b_(3, 0) = lf_ * cf_ / iz_; + matrix_bd_ = matrix_b_ * ts_; + + matrix_state_ = Matrix::Zero(matrix_size, 1); + matrix_k_ = Matrix::Zero(1, matrix_size); + matrix_r_ = Matrix::Identity(1, 1); + matrix_q_ = Matrix::Zero(matrix_size, matrix_size); + + int q_param_size = control_conf->lat_controller_conf().matrix_q_size(); + if (matrix_size != q_param_size) { + AERROR << "matrix_q size: " << q_param_size + << " in parameter file not equal to matrix_size: " << matrix_size; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, + "lateral controller error: matrix_q size: " + + std::to_string(q_param_size) + + " in parameter file not equal to matrix_size: " + + std::to_string(matrix_size)); + } + for (int i = 0; i < q_param_size; ++i) { + matrix_q_(i, i) = control_conf->lat_controller_conf().matrix_q(i); + } + + InitializeFilters(control_conf); + LogInitParameters(); + return Status::OK(); +} + +void LatController::CloseLogFile() { + if (FLAGS_enable_csv_debug && steer_log_file_.is_open()) { + steer_log_file_.close(); + } +} + +void LatController::Stop() { CloseLogFile(); } + +std::string LatController::Name() const { return name_; } + +Status LatController::ComputeControlCommand( + const localization::LocalizationEstimate* localization, + const canbus::Chassis* chassis, + const planning::ADCTrajectory* planning_published_trajectory, + ControlCommand* cmd) { + vehicle_state_ = std::move(VehicleState(localization, chassis)); + vehicle_state_.set_linear_velocity(std::max(vehicle_state_.linear_velocity(), 1.0)); + + trajectory_analyzer_ = std::move(TrajectoryAnalyzer(planning_published_trajectory)); + + SimpleLateralDebug* debug = cmd->mutable_debug()->mutable_simple_lat_debug(); + debug->Clear(); + + // Update state = [Lateral Error, Lateral Error Rate, Heading Error, Heading + // Error Rate, preview lateral error1 , preview lateral error2, ...] + if (FLAGS_use_state_exact_match) { + UpdateStateAnalyticalMatching(debug); + } else { + UpdateState(debug); + } + + UpdateMatrix(); + + // Compound discrete matrix with road preview model + UpdateMatrixCompound(); + + common::math::SolveLQRProblem(matrix_adc_, matrix_bdc_, matrix_q_, matrix_r_, + lqr_eps_, lqr_max_iteration_, &matrix_k_); + + // feedback = - K * state + // Convert vehicle steer angle from rad to degree and then to steer degree + // then to 100% ratio + double steer_angle_feedback = -(matrix_k_ * matrix_state_)(0, 0) * 180 / + M_PI * steer_transmission_ratio_ / + steer_single_direction_max_degree_ * 100; + + double steer_angle_feedforward = ComputeFeedForward(debug->curvature()); + double steer_angle = steer_angle_feedback + steer_angle_feedforward; + // Clamp the steer angle to -100.0 to 100.0 + steer_angle = apollo::common::math::Clamp(steer_angle, -100.0, 100.0); + + steer_angle = digital_filter_.Filter(steer_angle); + cmd->set_steering_target(steer_angle); + cmd->set_steering_rate(FLAGS_steer_angle_rate); + + // compute extra information for logging and debugging + double steer_angle_lateral_contribution = + -matrix_k_(0, 0) * matrix_state_(0, 0) * 180 / M_PI * + steer_transmission_ratio_ / steer_single_direction_max_degree_ * 100; + + double steer_angle_lateral_rate_contribution = + -matrix_k_(0, 1) * matrix_state_(1, 0) * 180 / M_PI * + steer_transmission_ratio_ / steer_single_direction_max_degree_ * 100; + + double steer_angle_heading_contribution = + -matrix_k_(0, 2) * matrix_state_(2, 0) * 180 / M_PI * + steer_transmission_ratio_ / steer_single_direction_max_degree_ * 100; + + double steer_angle_heading_rate_contribution = + -matrix_k_(0, 3) * matrix_state_(3, 0) * 180 / M_PI * + steer_transmission_ratio_ / steer_single_direction_max_degree_ * 100; + + // TODO(yifei): move up temporary values to use debug fields. + + debug->set_heading(vehicle_state_.heading()); + debug->set_steer_angle(steer_angle); + debug->set_steer_angle_feedforward(steer_angle_feedforward); + debug->set_steer_angle_lateral_contribution(steer_angle_lateral_contribution); + debug->set_steer_angle_lateral_rate_contribution( + steer_angle_lateral_rate_contribution); + debug->set_steer_angle_heading_contribution(steer_angle_heading_contribution); + debug->set_steer_angle_heading_rate_contribution( + steer_angle_heading_rate_contribution); + debug->set_steer_angle_feedback(steer_angle_feedback); + debug->set_steering_position(chassis->steering_percentage()); + debug->set_ref_speed(vehicle_state_.linear_velocity()); + ProcessLogs(debug, chassis); + return Status::OK(); +} + +Status LatController::Reset() { + previous_heading_error_ = 0.0; + previous_lateral_error_ = 0.0; + return Status::OK(); +} + +// state = [Lateral Error, Lateral Error Rate, Heading Error, Heading Error +// Rate, Preview Lateral1, Preview Lateral2, ...] +void LatController::UpdateState(SimpleLateralDebug* debug) { + TrajectoryPoint traj_point; + Eigen::Vector2d com = vehicle_state_.ComputeCOMPosition(lr_); + double raw_lateral_error = GetLateralError(com, &traj_point); + + // lateral_error_ = lateral_rate_filter_.Filter(raw_lateral_error); + debug->set_lateral_error(lateral_error_filter_.Update(raw_lateral_error)); + + // ref_curvature_ = traj_point.kappa; + debug->set_curvature(traj_point.kappa); + + // ref_heading_ = traj_point.theta; + debug->set_ref_heading(traj_point.theta); + + // heading_error_ = + // common::math::NormalizeAngle(vehicle_state_.heading() - ref_heading_); + debug->set_heading_error(common::math::NormalizeAngle(vehicle_state_.heading() - traj_point.theta)); + + // heading_error_rate_ = (heading_error_ - previous_heading_error_) / ts_; + debug->set_heading_error_rate( + (debug->heading_error() - previous_heading_error_) / ts_); + // lateral_error_rate_ = (lateral_error_ - previous_lateral_error_) / ts_; + debug->set_lateral_error_rate( + (debug->lateral_error() - previous_lateral_error_) / ts_); + + // Prepare for next iteration. + previous_heading_error_ = debug->heading_error(); + previous_lateral_error_ = debug->lateral_error(); + + // State matrix update; + // First four elements are fixed; + matrix_state_(0, 0) = debug->lateral_error(); + matrix_state_(1, 0) = debug->lateral_error_rate(); + matrix_state_(2, 0) = debug->heading_error(); + matrix_state_(3, 0) = debug->heading_error_rate(); + + // Next elements are depending on preview window size; + for (int i = 0; i < preview_window_; ++i) { + double preview_time = ts_ * (i + 1); + Eigen::Vector2d future_position_estimate = + vehicle_state_.EstimateFuturePosition(preview_time); + double preview_lateral = GetLateralError(future_position_estimate, nullptr); + matrix_state_(basic_state_size_ + i, 0) = preview_lateral; + } + // preview matrix update; +} + +void LatController::UpdateStateAnalyticalMatching(SimpleLateralDebug* debug) { + Eigen::Vector2d com = vehicle_state_.ComputeCOMPosition(lr_); + ComputeLateralErrors(com.x(), com.y(), vehicle_state_.heading(), + vehicle_state_.linear_velocity(), + vehicle_state_.angular_velocity(), trajectory_analyzer_, + debug); + + // State matrix update; + // First four elements are fixed; + matrix_state_(0, 0) = debug->lateral_error(); + matrix_state_(1, 0) = debug->lateral_error_rate(); + matrix_state_(2, 0) = debug->heading_error(); + matrix_state_(3, 0) = debug->heading_error_rate(); + + // Next elements are depending on preview window size; + for (int i = 0; i < preview_window_; ++i) { + double preview_time = ts_ * (i + 1); + auto preview_point = + trajectory_analyzer_.QueryNearestPointByRelativeTime(preview_time); + + auto matched_point = trajectory_analyzer_.QueryNearestPointByPosition( + preview_point.x, preview_point.y); + + double dx = preview_point.x - matched_point.x; + double dy = preview_point.y - matched_point.y; + + double cos_matched_theta = std::cos(matched_point.theta); + double sin_matched_theta = std::sin(matched_point.theta); + double preview_d_error = cos_matched_theta * dy - sin_matched_theta * dx; + + matrix_state_(basic_state_size_ + i, 0) = preview_d_error; + } +} + +void LatController::UpdateMatrix() { + double v = vehicle_state_.linear_velocity(); + matrix_a_(1, 1) = matrix_a_coeff_(1, 1) / v; + matrix_a_(1, 3) = matrix_a_coeff_(1, 3) / v; + matrix_a_(3, 1) = matrix_a_coeff_(3, 1) / v; + matrix_a_(3, 3) = matrix_a_coeff_(3, 3) / v; + Matrix matrix_i = Matrix::Identity(matrix_a_.cols(), matrix_a_.cols()); + matrix_ad_ = (matrix_i + ts_ * 0.5 * matrix_a_) * + (matrix_i - ts_ * 0.5 * matrix_a_).inverse(); +} + +void LatController::UpdateMatrixCompound() { + // Initialize preview matrix + matrix_adc_.block(0, 0, basic_state_size_, basic_state_size_) = matrix_ad_; + matrix_bdc_.block(0, 0, basic_state_size_, 1) = matrix_bd_; + if (preview_window_ > 0) { + matrix_bdc_(matrix_bdc_.rows() - 1, 0) = 1; + // Update augument A matrix; + for (int i = 0; i < preview_window_ - 1; ++i) { + matrix_adc_(basic_state_size_ + i, basic_state_size_ + 1 + i) = 1; + } + } +} + +double LatController::ComputeFeedForward(double ref_curvature) const { + double kv = + lr_ * mass_ / 2 / cf_ / wheelbase_ - lf_ * mass_ / 2 / cr_ / wheelbase_; + + // then change it from rad to % + double v = vehicle_state_.linear_velocity(); + double steer_angle_feedforwardterm = + (wheelbase_ * ref_curvature + kv * v * v * ref_curvature - + matrix_k_(0, 2) * + (lr_ * ref_curvature - + lf_ * mass_ * v * v * ref_curvature / 2 / cr_ / wheelbase_)) * + 180 / M_PI * steer_transmission_ratio_ / + steer_single_direction_max_degree_ * 100; + return steer_angle_feedforwardterm; +} + +/* + * SL coordinate system: + * left to the ref_line, L is + + * right to the ref_line, L is - + */ +double LatController::GetLateralError(const Eigen::Vector2d& point, + TrajectoryPoint* traj_point) const { + auto closest = + trajectory_analyzer_.QueryNearestPointByPosition(point.x(), point.y()); + + double point_angle = std::atan2(point.y() - closest.y, point.x() - closest.x); + double point2path_angle = point_angle - closest.theta; + if (traj_point != nullptr) { + *traj_point = closest; + } + + double dx = closest.x - point.x(); + double dy = closest.y - point.y(); + return std::sin(point2path_angle) * std::sqrt(dx * dx + dy * dy); +} + +void LatController::ComputeLateralErrors( + const double x, const double y, const double theta, const double linear_v, + const double angular_v, const TrajectoryAnalyzer& trajectory_analyzer, + SimpleLateralDebug* debug) const { + auto matched_point = trajectory_analyzer.QueryNearestPointByPosition(x, y); + + double dx = x - matched_point.x; + double dy = y - matched_point.y; + + double cos_matched_theta = std::cos(matched_point.theta); + double sin_matched_theta = std::sin(matched_point.theta); + // d_error = cos_matched_theta * dy - sin_matched_theta * dx; + debug->set_lateral_error(cos_matched_theta * dy - sin_matched_theta * dx); + + double delta_theta = + common::math::NormalizeAngle(theta - matched_point.theta); + double sin_delta_theta = std::sin(delta_theta); + // d_error_dot = linear_v * sin_delta_theta; + debug->set_lateral_error_rate(linear_v * sin_delta_theta); + + // theta_error = delta_theta; + debug->set_heading_error(delta_theta); + // theta_error_dot = angular_v - matched_point.kappa * matched_point.v; + debug->set_heading_error_rate(angular_v - + matched_point.kappa * matched_point.v); + + // matched_theta = matched_point.theta; + debug->set_ref_heading(matched_point.theta); + // matched_kappa = matched_point.kappa; + debug->set_curvature(matched_point.kappa); +} + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/controller/lon_controller.cc b/apollo_control/src/controller/lon_controller.cc new file mode 100644 index 0000000..f913d2a --- /dev/null +++ b/apollo_control/src/controller/lon_controller.cc @@ -0,0 +1,369 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ +#include "apollo_control/controller/lon_controller.h" + +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/math/math_utils.h" +#include "apollo_common/time/time.h" + +#include "apollo_control/common/control_gflags.h" +// #include "modules/localization/common/localization_gflags.h" + +namespace apollo { +namespace control { + +using ::apollo::common::time::Clock; +using ::apollo::common::vehicle_state::VehicleState; + +LonController::LonController() + : name_(ControlConf_ControllerType_Name(ControlConf::LON_CONTROLLER)) { + if (FLAGS_enable_csv_debug) { + time_t rawtime; + char name_buffer[80]; + std::time(&rawtime); + strftime(name_buffer, 80, "/tmp/speed_log__%F_%H%M%S.csv", + localtime(&rawtime)); + speed_log_file_ = fopen(name_buffer, "w"); + if (speed_log_file_ == nullptr) { + AERROR << "Fail to open file:" << name_buffer; + FLAGS_enable_csv_debug = false; + } + if (speed_log_file_ != nullptr) { + fprintf(speed_log_file_, + "station_reference," + "station_error," + "station_error_limited," + "preview_station_error," + "speed_reference," + "speed_error," + "speed_error_limited," + "preview_speed_reference," + "preview_speed_error," + "preview_acceleration_reference," + "acceleration_cmd_closeloop," + "acceleration_cmd," + "acceleration_lookup," + "speed_lookup," + "calibration_value," + "throttle_cmd," + "brake_cmd," + "is_full_stop," + "\r\n"); + + fflush(speed_log_file_); + } + AINFO << name_ << " used."; + } +} + +void LonController::CloseLogFile() { + if (FLAGS_enable_csv_debug) { + if (speed_log_file_ != nullptr) { + fclose(speed_log_file_); + speed_log_file_ = nullptr; + } + } +} +void LonController::Stop() { CloseLogFile(); } + +LonController::~LonController() { CloseLogFile(); } + +Status LonController::Init(const ControlConf *control_conf) { + control_conf_ = control_conf; + if (control_conf_ == nullptr) { + controller_initialized_ = false; + AERROR << "get_longitudinal_param() nullptr"; + return Status(ErrorCode::CONTROL_INIT_ERROR, + "Failed to load LonController conf"); + } + const LonControllerConf &lon_controller_conf = + control_conf_->lon_controller_conf(); + + station_pid_controller_.Init(lon_controller_conf.station_pid_conf()); + speed_pid_controller_.Init(lon_controller_conf.low_speed_pid_conf()); + + SetDigitalFilterAcceleration(lon_controller_conf); + SetDigitalFilterThrottle(lon_controller_conf); + SetDigitalFilterBrake(lon_controller_conf); + + LoadControlCalibrationTable(lon_controller_conf); + controller_initialized_ = true; + return Status::OK(); +} + +void LonController::SetDigitalFilterAcceleration( + const LonControllerConf &lon_controller_conf) { + double cutoff_freq = + lon_controller_conf.acceleration_filter_conf().cutoff_freq(); + double ts = lon_controller_conf.ts(); + SetDigitalFilter(ts, cutoff_freq, &digital_filter_acceleration_); +} + +void LonController::SetDigitalFilterThrottle( + const LonControllerConf &lon_controller_conf) { + double cutoff_freq = lon_controller_conf.throttle_filter_conf().cutoff_freq(); + double ts = lon_controller_conf.ts(); + SetDigitalFilter(ts, cutoff_freq, &digital_filter_throttle_); +} + +void LonController::SetDigitalFilterBrake( + const LonControllerConf &lon_controller_conf) { + double cutoff_freq = lon_controller_conf.brake_filter_conf().cutoff_freq(); + double ts = lon_controller_conf.ts(); + SetDigitalFilter(ts, cutoff_freq, &digital_filter_brake_); +} + +void LonController::LoadControlCalibrationTable( + const LonControllerConf &lon_controller_conf) { + const auto &control_table = lon_controller_conf.calibration_table(); + AINFO << "Control calibration table loaded"; + int control_table_size = control_table.calibration_size(); + AINFO << "Control calibration table size is " << control_table_size; + Interpolation2D::DataType xyz; + for (int i = 0; i < control_table_size; ++i) { + const auto &calibration = control_table.calibration(i); + xyz.push_back(std::make_tuple(calibration.speed(), + calibration.acceleration(), + calibration.command())); + } + control_interpolation_.reset(new Interpolation2D); + CHECK(control_interpolation_->Init(xyz)) + << "Fail to load control calibration table"; +} + +Status LonController::ComputeControlCommand( + const ::apollo::localization::LocalizationEstimate *localization, + const ::apollo::canbus::Chassis *chassis, + const ::apollo::planning::ADCTrajectory *planning_published_trajectory, + ::apollo::control::ControlCommand *cmd) { + localization_ = localization; + chassis_ = chassis; + vehicle_state_ = std::move(VehicleState(localization, chassis)); + + trajectory_message_ = planning_published_trajectory; + if (!control_interpolation_) { + AERROR << "Fail to initialize calibration table."; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, + "Fail to initialize calibration table."); + } + + if (trajectory_analyzer_ == nullptr || + trajectory_analyzer_->seq_num() != + trajectory_message_->header().sequence_num()) { + trajectory_analyzer_.reset(new TrajectoryAnalyzer(trajectory_message_)); + } + const LonControllerConf &lon_controller_conf = + control_conf_->lon_controller_conf(); + + auto debug = cmd->mutable_debug()->mutable_simple_lon_debug(); + debug->Clear(); + + double brake_cmd = 0.0; + double throttle_cmd = 0.0; + double ts = lon_controller_conf.ts(); + double preview_time = lon_controller_conf.preview_window() * ts; + + if (preview_time < 0.0) { + AERROR << "Preview time set as: " << preview_time << " less than 0"; + return Status(ErrorCode::CONTROL_COMPUTE_ERROR, + "Invalid preview time:" + std::to_string(preview_time)); + } + ComputeLongitudinalErrors(vehicle_state_, trajectory_analyzer_.get(), + preview_time, debug); + + double station_error_limit = lon_controller_conf.station_error_limit(); + double station_error_limited = 0.0; + if (FLAGS_enable_speed_station_preview) { + station_error_limited = + apollo::common::math::Clamp(debug->preview_station_error(), + -station_error_limit, station_error_limit); + } else { + station_error_limited = apollo::common::math::Clamp( + debug->station_error(), -station_error_limit, station_error_limit); + } + double speed_offset = + station_pid_controller_.Control(station_error_limited, ts); + + double speed_controller_input = 0.0; + double speed_controller_input_limit = + lon_controller_conf.speed_controller_input_limit(); + double speed_controller_input_limited = 0.0; + if (FLAGS_enable_speed_station_preview) { + speed_controller_input = speed_offset + debug->preview_speed_error(); + } else { + speed_controller_input = speed_offset + debug->speed_error(); + } + speed_controller_input_limited = apollo::common::math::Clamp( + speed_controller_input, -speed_controller_input_limit, + speed_controller_input_limit); + + double acceleration_cmd_closeloop = 0.0; + if (vehicle_state_.linear_velocity() <= lon_controller_conf.switch_speed()) { + speed_pid_controller_.SetPID(lon_controller_conf.low_speed_pid_conf()); + acceleration_cmd_closeloop = + speed_pid_controller_.Control(speed_controller_input_limited, ts); + } else { + speed_pid_controller_.SetPID(lon_controller_conf.high_speed_pid_conf()); + acceleration_cmd_closeloop = + speed_pid_controller_.Control(speed_controller_input_limited, ts); + } + + double acceleration_cmd = + acceleration_cmd_closeloop + debug->preview_acceleration_reference(); + debug->set_is_full_stop(false); + if (std::abs(debug->preview_acceleration_reference()) <= + FLAGS_max_acceleration_when_stopped && + std::abs(debug->preview_speed_reference()) <= + FLAGS_max_abs_speed_when_stopped) { + acceleration_cmd = lon_controller_conf.standstill_acceleration(); + AINFO << "Stop location reached"; + debug->set_is_full_stop(true); + } + + double throttle_deadzone = lon_controller_conf.throttle_deadzone(); + double brake_deadzone = lon_controller_conf.brake_deadzone(); + double calibration_value = 0.0; + if (FLAGS_use_preview_speed_for_table) { + calibration_value = control_interpolation_->Interpolate( + std::make_pair(debug->preview_speed_reference(), acceleration_cmd)); + } else { + calibration_value = control_interpolation_->Interpolate( + std::make_pair(chassis_->speed_mps(), acceleration_cmd)); + } + + if (calibration_value >= 0) { + throttle_cmd = calibration_value > throttle_deadzone ? calibration_value + : throttle_deadzone; + brake_cmd = 0.0; + } else { + throttle_cmd = 0.0; + brake_cmd = -calibration_value > brake_deadzone ? -calibration_value + : brake_deadzone; + } + + debug->set_station_error_limited(station_error_limited); + debug->set_speed_controller_input_limited(speed_controller_input_limited); + debug->set_acceleration_cmd(acceleration_cmd); + debug->set_throttle_cmd(throttle_cmd); + debug->set_brake_cmd(brake_cmd); + debug->set_acceleration_lookup(acceleration_cmd); + debug->set_speed_lookup(chassis_->speed_mps()); + debug->set_calibration_value(calibration_value); + debug->set_acceleration_cmd_closeloop(acceleration_cmd_closeloop); + + if (FLAGS_enable_csv_debug && speed_log_file_ != nullptr) { + fprintf(speed_log_file_, + "%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f," + "%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %d,\r\n", + debug->station_reference(), debug->station_error(), + station_error_limited, debug->preview_station_error(), + debug->speed_reference(), debug->speed_error(), + speed_controller_input_limited, debug->preview_speed_reference(), + debug->preview_speed_error(), + debug->preview_acceleration_reference(), acceleration_cmd_closeloop, + acceleration_cmd, debug->acceleration_lookup(), + debug->speed_lookup(), calibration_value, throttle_cmd, brake_cmd, + debug->is_full_stop()); + } + + cmd->set_throttle(throttle_cmd); + cmd->set_brake(brake_cmd); + return Status::OK(); +} + +Status LonController::Reset() { + speed_pid_controller_.Reset(); + station_pid_controller_.Reset(); + return Status::OK(); +} + +std::string LonController::Name() const { return name_; } + +void LonController::ComputeLongitudinalErrors( + const VehicleState &vehicle_state, + const TrajectoryAnalyzer *trajectory_analyzer, const double preview_time, + SimpleLongitudinalDebug *debug) { + // the decomposed vehicle motion onto Frenet frame + // s: longitudinal accumulated distance along reference trajectory + // s_dot: longitudinal velocity along reference trajectory + // d: lateral distance w.r.t. reference trajectory + // d_dot: lateral distance change rate, i.e. dd/dt + double s_matched = 0.0; + double s_dot_matched = 0.0; + double d_matched = 0.0; + double d_dot_matched = 0.0; + + auto matched_point = trajectory_analyzer->QueryMatchedPathPoint( + vehicle_state.x(), vehicle_state.y()); + + trajectory_analyzer->ToTrajectoryFrame( + vehicle_state.x(), vehicle_state.y(), vehicle_state.heading(), + vehicle_state.linear_velocity(), matched_point, &s_matched, + &s_dot_matched, &d_matched, &d_dot_matched); + + double current_control_time = apollo::common::time::ToSecond(Clock::Now()); + double preview_control_time = current_control_time + preview_time; + + TrajectoryPoint reference_point = + trajectory_analyzer->QueryNearestPointByAbsoluteTime( + current_control_time); + TrajectoryPoint preview_point = + trajectory_analyzer->QueryNearestPointByAbsoluteTime( + preview_control_time); + + ADEBUG << "matched point:" << matched_point.DebugString(); + ADEBUG << "reference point:" << reference_point.DebugString(); + ADEBUG << "preview point:" << preview_point.DebugString(); + debug->set_station_error(reference_point.s - s_matched); + debug->set_speed_error(reference_point.v - s_dot_matched); + + debug->set_station_reference(reference_point.s); + debug->set_speed_reference(reference_point.v); + debug->set_preview_station_error(preview_point.s - s_matched); + debug->set_preview_speed_error(preview_point.v - s_dot_matched); + debug->set_preview_speed_reference(preview_point.v); + debug->set_preview_acceleration_reference(preview_point.a); +} + +void LonController::SetDigitalFilter(double ts, double cutoff_freq, + DigitalFilter *digital_filter) { + std::vector denominators; + std::vector numerators; + LpfCoefficients(ts, cutoff_freq, &denominators, &numerators); + digital_filter->set_coefficients(denominators, numerators); +} + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/filters/digital_filter.cc b/apollo_control/src/filters/digital_filter.cc new file mode 100644 index 0000000..149ddcc --- /dev/null +++ b/apollo_control/src/filters/digital_filter.cc @@ -0,0 +1,140 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/filters/digital_filter.h" + +#include + +#include "apollo_common/log.h" + +namespace { + +const double kDoubleEpsilon = 1.0e-6; + +} // namespace + +namespace apollo { +namespace control { + +DigitalFilter::DigitalFilter(const std::vector& denominators, + const std::vector& numerators) { + dead_zone_ = 0.0; + last_ = 0.0; + set_coefficients(denominators, numerators); +} + +void DigitalFilter::set_denominators(const std::vector& denominators) { + denominators_ = denominators; + y_values_.resize(denominators_.size(), 0.0); +} + +void DigitalFilter::set_numerators(const std::vector& numerators) { + numerators_ = numerators; + x_values_.resize(numerators_.size(), 0.0); +} + +void DigitalFilter::set_coefficients(const std::vector& denominators, + const std::vector& numerators) { + set_denominators(denominators); + set_numerators(numerators); +} + +void DigitalFilter::set_dead_zone(const double deadzone) { + dead_zone_ = std::abs(deadzone); + AINFO << "Setting digital filter dead zone = " << dead_zone_; +} + +double DigitalFilter::Filter(const double x_insert) { + if (denominators_.empty() || numerators_.empty()) { + AERROR << "Empty denominators or numerators"; + return 0.0; + } + + x_values_.pop_back(); + x_values_.push_front(x_insert); + double xside = Compute(x_values_, numerators_, 0, numerators_.size() - 1); + + y_values_.pop_back(); + double yside = Compute(y_values_, denominators_, 1, denominators_.size() - 1); + + double y_insert = 0.0; + if (std::abs(denominators_.front()) > kDoubleEpsilon) { + y_insert = (xside - yside) / denominators_.front(); + } + y_values_.push_front(y_insert); + + return UpdateLast(y_insert); +} + +double DigitalFilter::UpdateLast(const double input) { + double diff = std::abs(input - last_); + if (diff < dead_zone_) { + return last_; + } else { + last_ = input; + return input; + } +} + +double DigitalFilter::Compute(const std::deque& values, + const std::vector& coefficients, + const std::size_t coeff_start, + const std::size_t coeff_end) { + if (coeff_start > coeff_end || coeff_end >= coefficients.size()) { + AERROR << "Invalid inputs."; + return 0.0; + } + if (coeff_end - coeff_start + 1 != values.size()) { + AERROR << "Sizes not match."; + return 0.0; + } + double sum = 0.0; + int i = coeff_start; + for (auto& value : values) { + sum += value * coefficients[i]; + ++i; + } + return sum; +} + +const std::vector& DigitalFilter::denominators() const { + return denominators_; +} + +const std::vector& DigitalFilter::numerators() const { + return numerators_; +} + +double DigitalFilter::dead_zone() const { return dead_zone_; } + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/filters/digital_filter_coefficients.cc b/apollo_control/src/filters/digital_filter_coefficients.cc new file mode 100644 index 0000000..6a88d55 --- /dev/null +++ b/apollo_control/src/filters/digital_filter_coefficients.cc @@ -0,0 +1,68 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/filters/digital_filter_coefficients.h" + +#include +#include + +namespace apollo { +namespace control { + +void LpfCoefficients(const double ts, const double cutoff_freq, + std::vector *denominators, + std::vector *numerators) { + denominators->clear(); + numerators->clear(); + denominators->reserve(3); + numerators->reserve(3); + + double wa = 2.0 * M_PI * cutoff_freq; // Analog frequency in rad/s + double alpha = wa * ts / 2.0; // tan(Wd/2), Wd is discrete frequency + double alpha_sqr = alpha * alpha; + double tmp_term = std::sqrt(2.0) * alpha + alpha_sqr; + double gain = alpha_sqr / (1.0 + tmp_term); + + denominators->push_back(1.0); + denominators->push_back(2.0 * (alpha_sqr - 1.0) / (1.0 + tmp_term)); + denominators->push_back((1.0 - std::sqrt(2.0) * alpha + alpha_sqr) / + (1.0 + tmp_term)); + + numerators->push_back(gain); + numerators->push_back(2.0 * gain); + numerators->push_back(gain); + + return; +} + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/filters/mean_filter.cc b/apollo_control/src/filters/mean_filter.cc new file mode 100644 index 0000000..cc01e1f --- /dev/null +++ b/apollo_control/src/filters/mean_filter.cc @@ -0,0 +1,127 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_control/filters/mean_filter.h" + +#include + +#include "apollo_common/log.h" + +namespace apollo { +namespace control { + +using MF = MeanFilter; +using uint8 = std::uint_fast8_t; +using TimedValue = std::pair; + +const uint8 kMaxWindowSize = std::numeric_limits::max() / 2; + +MF::MeanFilter(const uint8 window_size) : window_size_(window_size) { + CHECK_GT(window_size_, 0); + CHECK_LE(window_size_, kMaxWindowSize); + initialized_ = true; +} + +double MF::GetMin() const { + if (min_candidates_.size() == 0) { + return std::numeric_limits::infinity(); + } else { + return min_candidates_.front().second; + } +} + +double MF::GetMax() const { + if (max_candidates_.size() == 0) { + return -std::numeric_limits::infinity(); + } else { + return max_candidates_.front().second; + } +} + +double MF::Update(const double measurement) { + CHECK(initialized_); + CHECK_LE(values_.size(), window_size_); + CHECK_LE(min_candidates_.size(), window_size_); + CHECK_LE(max_candidates_.size(), window_size_); + ++time_; + time_ %= 2 * window_size_; + if (values_.size() == window_size_) { + RemoveEarliest(); + } + Insert(measurement); + if (values_.size() > 2) { + return (sum_ - GetMin() - GetMax()) / (values_.size() - 2); + } else { + return sum_ / values_.size(); + } +} + +bool MF::ShouldPopOldestCandidate(const uint8 old_time) const { + if (old_time < window_size_) { + CHECK_LE(time_, old_time + window_size_); + return old_time + window_size_ == time_; + } else if (time_ < window_size_) { + CHECK_GE(old_time, time_ + window_size_); + return old_time == time_ + window_size_; + } else { + return false; + } +} + +void MF::RemoveEarliest() { + CHECK_EQ(values_.size(), window_size_); + double removed = values_.front(); + values_.pop_front(); + sum_ -= removed; + if (ShouldPopOldestCandidate(min_candidates_.front().first)) { + min_candidates_.pop_front(); + } + if (ShouldPopOldestCandidate(max_candidates_.front().first)) { + max_candidates_.pop_front(); + } +} + +void MF::Insert(const double value) { + values_.push_back(value); + sum_ += value; + while (min_candidates_.size() > 0 && min_candidates_.back().second > value) { + min_candidates_.pop_back(); + } + min_candidates_.push_back(std::make_pair(time_, value)); + while (max_candidates_.size() > 0 && max_candidates_.back().second < value) { + max_candidates_.pop_back(); + } + max_candidates_.push_back(std::make_pair(time_, value)); +} + +} // namespace control +} // namespace apollo diff --git a/apollo_control/src/main.cc b/apollo_control/src/main.cc new file mode 100644 index 0000000..471628e --- /dev/null +++ b/apollo_control/src/main.cc @@ -0,0 +1,37 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/apollo_app.h" +#include "apollo_control/common/control_gflags.h" +#include "apollo_control/control.h" + +APOLLO_MAIN(apollo::control::Control); diff --git a/apollo_decision/CMakeLists.txt b/apollo_decision/CMakeLists.txt new file mode 100644 index 0000000..5f619aa --- /dev/null +++ b/apollo_decision/CMakeLists.txt @@ -0,0 +1,50 @@ +cmake_minimum_required(VERSION 3.0.2) +project(apollo_decision) + +add_compile_options(-std=c++17) +# set(CMAKE_BUILD_TYPE "Debug") +set(CMAKE_BUILD_TYPE "Release") + +find_package(Eigen3 REQUIRED) + +find_package(catkin REQUIRED COMPONENTS + roscpp + apollo_msgs + apollo_common +) + +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES apollo_decision +# CATKIN_DEPENDS roscpp +# DEPENDS system_lib +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +add_executable(${PROJECT_NAME} + src/main.cc + src/decision.cc + # common + src/common/decision_gflags.cc +) +add_dependencies(${PROJECT_NAME} + ${${PROJECT_NAME}_EXPORTED_TARGETS} + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + protobuf + glog + gflags +) + +# install +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) \ No newline at end of file diff --git a/apollo_decision/README.md b/apollo_decision/README.md new file mode 100644 index 0000000..eca98e6 --- /dev/null +++ b/apollo_decision/README.md @@ -0,0 +1,21 @@ +# Decision + +## Introduction + Decision module receives obstacles information (e.g., position, speed, + acceleration, prediction trajectory, and etc.), master vehicle status + (e.g, position, speed, acceleration, and etc.), traffic light status, + and map and routing information. Based on the aforementioned + information, decision module generates decision command for master vehicle + and each obstacle. It also generates virtual obstacles if necessary and + position them based on map information. + +## Input + * Obstacles information from perception and prediction modules + * Traffic lights status from perception module + * Map and routing information + * Master vehicle status + +## Output + * Decision command for master vehicle + * Generated virtual obstacles + * Decision command for each obstacle \ No newline at end of file diff --git a/apollo_decision/conf/adapter.conf b/apollo_decision/conf/adapter.conf new file mode 100644 index 0000000..940ce0d --- /dev/null +++ b/apollo_decision/conf/adapter.conf @@ -0,0 +1,6 @@ +config { + type: DECISION + mode: PUBLISH_ONLY + message_history_limit: 10 +} +is_ros: true diff --git a/apollo_decision/conf/decision.conf b/apollo_decision/conf/decision.conf new file mode 100644 index 0000000..5c5d4b5 --- /dev/null +++ b/apollo_decision/conf/decision.conf @@ -0,0 +1 @@ +--decision_publish_freq=5.0 \ No newline at end of file diff --git a/apollo_decision/include/apollo_decision/common/decision_gflags.h b/apollo_decision/include/apollo_decision/common/decision_gflags.h new file mode 100644 index 0000000..eee3d39 --- /dev/null +++ b/apollo_decision/include/apollo_decision/common/decision_gflags.h @@ -0,0 +1,42 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODEULES_DECISION_COMMON_DECISION_GFLAGS_H_ +#define MODEULES_DECISION_COMMON_DECISION_GFLAGS_H_ + +#include + +DECLARE_string(decision_module_name); + +DECLARE_double(decision_publish_freq); + +#endif // MODEULES_DECISION_COMMON_DECISION_GFLAGS_H_ diff --git a/apollo_decision/include/apollo_decision/decision.h b/apollo_decision/include/apollo_decision/decision.h new file mode 100644 index 0000000..70fda48 --- /dev/null +++ b/apollo_decision/include/apollo_decision/decision.h @@ -0,0 +1,69 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_DECISION_DECISION_H_ +#define MODULES_DECISION_DECISION_H_ + +#include + +#include + +#include "apollo_common/apollo_app.h" +#include "apollo_common/macro.h" + +/** + * @namespace apollo::decision + * @brief apollo::decision + */ +namespace apollo { +namespace decision { + +class Decision : public apollo::common::ApolloApp { + public: + std::string Name() const override; + apollo::common::Status Init() override; + apollo::common::Status Start() override; + void Stop() override; + virtual ~Decision() = default; + + private: + void OnTimer(const ros::TimerEvent& event); + void PublishDecision(); + + private: + ros::Timer timer_; +}; + +} // namespace decision +} // namespace apollo + +#endif // MODULES_DECISION_DECISION_H_ diff --git a/apollo_decision/launch/decision.launch b/apollo_decision/launch/decision.launch new file mode 100644 index 0000000..c08fe35 --- /dev/null +++ b/apollo_decision/launch/decision.launch @@ -0,0 +1,7 @@ + + + + \ No newline at end of file diff --git a/apollo_decision/package.xml b/apollo_decision/package.xml new file mode 100644 index 0000000..f88ee1e --- /dev/null +++ b/apollo_decision/package.xml @@ -0,0 +1,29 @@ + + + apollo_decision + 0.0.0 + The apollo_decision package + + forrest + TODO + + catkin + + roscpp + roscpp + roscpp + + apollo_msgs + apollo_msgs + apollo_msgs + + apollo_common + apollo_common + apollo_common + + + + + + + diff --git a/apollo_decision/src/common/decision_gflags.cc b/apollo_decision/src/common/decision_gflags.cc new file mode 100644 index 0000000..8a03d6f --- /dev/null +++ b/apollo_decision/src/common/decision_gflags.cc @@ -0,0 +1,37 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_decision/common/decision_gflags.h" + +DEFINE_string(decision_module_name, "decision", "decision module name"); + +DEFINE_double(decision_publish_freq, 10, "decision publishing frequency."); diff --git a/apollo_decision/src/decision.cc b/apollo_decision/src/decision.cc new file mode 100644 index 0000000..bc57235 --- /dev/null +++ b/apollo_decision/src/decision.cc @@ -0,0 +1,80 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_decision/decision.h" + +#include "apollo_msgs/proto/common/adapter_config.pb.h" +#include "apollo_common/adapters/adapter_manager.h" +#include "apollo_common/time/time.h" + +#include "apollo_decision/common/decision_gflags.h" + +namespace apollo { +namespace decision { + +using apollo::common::adapter::AdapterManager; +using apollo::common::time::Clock; + +std::string Decision::Name() const { + return FLAGS_decision_module_name; +} + +apollo::common::Status Decision::Init() { + return apollo::common::Status::OK(); +} + +apollo::common::Status Decision::Start() { + AdapterManager::Init(); + + // start ROS timer, one-shot = false, auto-start = true + const double duration = 1.0 / FLAGS_decision_publish_freq; + timer_ = AdapterManager::CreateTimer(ros::Duration(duration), + &Decision::OnTimer, this); + return apollo::common::Status::OK(); +} + +void Decision::Stop() { // spinner_.stop(); +} + +void Decision::OnTimer(const ros::TimerEvent&) { + PublishDecision(); +} + +void Decision::PublishDecision() { + DecisionResult decision_result; + AdapterManager::FillDecisionHeader(Name(), decision_result.mutable_header()); + + AdapterManager::PublishDecision(decision_result); +} + +} // namespace decision +} // namespace apollo diff --git a/apollo_decision/src/main.cc b/apollo_decision/src/main.cc new file mode 100644 index 0000000..15651b8 --- /dev/null +++ b/apollo_decision/src/main.cc @@ -0,0 +1,42 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include + +#include + +#include "apollo_common/log.h" + +#include "apollo_decision/common/decision_gflags.h" +#include "apollo_decision/decision.h" + +APOLLO_MAIN(apollo::decision::Decision); diff --git a/apollo_localization/CMakeLists.txt b/apollo_localization/CMakeLists.txt new file mode 100644 index 0000000..05c20c0 --- /dev/null +++ b/apollo_localization/CMakeLists.txt @@ -0,0 +1,54 @@ +cmake_minimum_required(VERSION 3.0.2) +project(apollo_localization) + +add_compile_options(-std=c++17) +# set(CMAKE_BUILD_TYPE "Debug") +set(CMAKE_BUILD_TYPE "Release") + +find_package(Eigen3 REQUIRED) + +find_package(catkin REQUIRED COMPONENTS + roscpp + apollo_msgs + apollo_common +) + +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES apollo_localization +# CATKIN_DEPENDS roscpp +# DEPENDS system_lib +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +add_executable(${PROJECT_NAME} + src/main.cc + src/localization.cc + # common + src/common/localization_gflags.cc + # camera + src/camera/camera_localization.cc + # rtk + src/rtk/rtk_localization.cc +) +add_dependencies(${PROJECT_NAME} + ${${PROJECT_NAME}_EXPORTED_TARGETS} + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + protobuf + glog + gflags +) + +# install +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) \ No newline at end of file diff --git a/apollo_localization/README.md b/apollo_localization/README.md new file mode 100644 index 0000000..ea1db46 --- /dev/null +++ b/apollo_localization/README.md @@ -0,0 +1,29 @@ +# Localization + +## Introduction + This module provides localization service. It has implemented a RTK based localization which incorporates GPS and IMU information. + +## Input + In the provided RTK localization method, there are two inputs: + * GPS The Global Position System. + * IMU Inertial Measurement Unit. + +## Output + * An object instance defined by Protobuf message `LocalizationEstimate`, which can be found in file `localization/proto/localization.proto`. + +## Add localization implementation + Currently the RTK based localization is implemented in class `RTKLocalization`. If a new localization method need to be implemented with a name such as `FooLocalization`, you can follow the following steps: + + 1. In `proto/localization_config.proto`, add `FOO` in the `LocalizationType` enum type. + + 1. Go to the `modules/localization` directory, and create a `foo` directory. In the `foo` directory, implement class `FooLocalization` following the `RTKLocalization` class in the `rtk` directory. `FooLocalization` has to be a subclass of `LocalizationBase`. Also create file foo/BUILD following file `rtk/BUILD`. + + 1. You need to register `FooLocalizatoin` class in function `Localization::RegisterLocalizationMethods()`, which is located in cpp file `localization.cc`. You can register by inserting the following code at the end of the function: + + ``` + localization_factory_.Register(LocalizationConfing::FOO, []()->LocalizationBase* { return new FooLocalization(); }); + ``` + + Make sure your code can be compiled by including the header files that defines class `FooLocalization`. + + 1. Now you can go back to the `apollo` root directory and build your code with command `bash apollo.sh build`. diff --git a/apollo_localization/conf/camera_adapter.conf b/apollo_localization/conf/camera_adapter.conf new file mode 100644 index 0000000..8181617 --- /dev/null +++ b/apollo_localization/conf/camera_adapter.conf @@ -0,0 +1,26 @@ +config { + type: GPS + mode: RECEIVE_ONLY + message_history_limit: 50 +} +config { + type: IMU + mode: RECEIVE_ONLY + message_history_limit: 50 +} +config { + type: CAMERA + mode: RECEIVE_ONLY + message_history_limit: 3 +} +config { + type: LOCALIZATION + mode: PUBLISH_ONLY + message_history_limit: 10 +} +config { + type: MONITOR + mode: PUBLISH_ONLY + message_history_limit: 10 +} +is_ros: true diff --git a/apollo_localization/conf/localization.conf b/apollo_localization/conf/localization.conf new file mode 100644 index 0000000..ccba030 --- /dev/null +++ b/apollo_localization/conf/localization.conf @@ -0,0 +1 @@ +--noenable_gps_imu_interprolate diff --git a/apollo_localization/conf/localization_config.pb.txt b/apollo_localization/conf/localization_config.pb.txt new file mode 100644 index 0000000..534b58d --- /dev/null +++ b/apollo_localization/conf/localization_config.pb.txt @@ -0,0 +1 @@ +localization_type: RTK diff --git a/apollo_localization/conf/rtk_adapter.conf b/apollo_localization/conf/rtk_adapter.conf new file mode 100644 index 0000000..e3c11fe --- /dev/null +++ b/apollo_localization/conf/rtk_adapter.conf @@ -0,0 +1,21 @@ +config { + type: GPS + mode: RECEIVE_ONLY + message_history_limit: 50 +} +config { + type: IMU + mode: RECEIVE_ONLY + message_history_limit: 50 +} +config { + type: LOCALIZATION + mode: PUBLISH_ONLY + message_history_limit: 10 +} +config { + type: MONITOR + mode: PUBLISH_ONLY + message_history_limit: 10 +} +is_ros: true diff --git a/apollo_localization/include/apollo_localization/camera/camera_localization.h b/apollo_localization/include/apollo_localization/camera/camera_localization.h new file mode 100644 index 0000000..9b6d9c6 --- /dev/null +++ b/apollo_localization/include/apollo_localization/camera/camera_localization.h @@ -0,0 +1,113 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file localization_rtk.h + * @brief The class of CameraLocalization + */ + +#ifndef MODULES_LOCALIZATION_CAMERA_LOCALIZATION_CAMERA_H_ +#define MODULES_LOCALIZATION_CAMERA_LOCALIZATION_CAMERA_H_ + +#include +#include +#include +#include + +#include +#include + +#include "apollo_common/monitor/monitor.h" +#include "apollo_common/status/status.h" +#include "apollo_msgs/proto/localization/camera.pb.h" +#include "apollo_msgs/proto/localization/camera_parameter.pb.h" +#include "apollo_msgs/proto/localization/gps.pb.h" +#include "apollo_msgs/proto/localization/imu.pb.h" +#include "apollo_msgs/proto/localization/localization.pb.h" + +#include "apollo_localization/localization_base.h" + +/** + * @namespace apollo::localization + * @brief apollo::localization + */ +namespace apollo { +namespace localization { + +/** + * @class CameraLocalization + * + * @brief generate localization info based on Camera + */ +class CameraLocalization : public LocalizationBase { + public: + CameraLocalization(); + virtual ~CameraLocalization() = default; + + /** + * @brief module start function + * @return start status + */ + apollo::common::Status Start() override; + + /** + * @brief module stop function + * @return stop status + */ + apollo::common::Status Stop() override; + + private: + void OnTimer(const ros::TimerEvent &event); + bool PublishLocalization(); + void RunWatchDog(); + + bool PrepareLocalizationMsg(LocalizationEstimate *localization); + bool CreateLocalizationMsg(const ::apollo::localization::Gps &gps_msg, + const ::apollo::localization::Camera &camera_msg, + LocalizationEstimate *localization); + template + T InterpolateXYZ(const T &p1, const T &p2, const double &frac1); + + private: + ros::Timer timer_; + apollo::common::monitor::Monitor monitor_; + CameraParameter camera_parameter_; + double last_received_timestamp_sec_ = 0.0; + double last_reported_timestamp_sec_ = 0.0; + bool use_imu_ = false; + bool service_started_ = false; +}; + +} // namespace localization +} // namespace apollo + +#endif // MODULES_LOCALIZATION_Camera_LOCALIZATION_Camera_H_ diff --git a/apollo_localization/include/apollo_localization/common/localization_gflags.h b/apollo_localization/include/apollo_localization/common/localization_gflags.h new file mode 100644 index 0000000..3562b0b --- /dev/null +++ b/apollo_localization/include/apollo_localization/common/localization_gflags.h @@ -0,0 +1,74 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file localization_gflags.h + * @brief The gflags used by localization module + */ + +#ifndef MODEULES_LOCALIZATION_COMMON_LOCALIZATION_GFLAGS_H_ +#define MODEULES_LOCALIZATION_COMMON_LOCALIZATION_GFLAGS_H_ + +#include + +DECLARE_string(localization_module_name); + +DECLARE_double(localization_publish_freq); + +DECLARE_string(localization_config_file); +DECLARE_string(rtk_adapter_config_file); +DECLARE_string(camera_adapter_config_file); +DECLARE_string(camera_parameter_config_file); + +DECLARE_bool(enable_gps_imu_interprolate); +DECLARE_bool(enable_map_reference_unify); +DECLARE_bool(enable_watchdog); + +DECLARE_double(gps_time_delay_tolerance); +DECLARE_double(imu_time_delay_tolerance); +DECLARE_double(camera_time_delay_tolerance); +DECLARE_double(gps_imu_timestamp_sec_diff_tolerance); +DECLARE_double(timestamp_sec_tolerance); + +DECLARE_double(map_offset_x); +DECLARE_double(map_offset_y); +DECLARE_double(map_offset_z); + +DECLARE_int32(monitor_level); + +DECLARE_int32(report_threshold_err_num); +DECLARE_double(report_gps_imu_time_diff_threshold); + +DECLARE_bool(enable_gps_timestamp); +DECLARE_bool(enable_camera_timestamp); + +#endif // MODEULES_LOCALIZATION_COMMON_LOCALIZATION_GFLAGS_H_ diff --git a/apollo_localization/include/apollo_localization/decision.h b/apollo_localization/include/apollo_localization/decision.h new file mode 100644 index 0000000..70fda48 --- /dev/null +++ b/apollo_localization/include/apollo_localization/decision.h @@ -0,0 +1,69 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_DECISION_DECISION_H_ +#define MODULES_DECISION_DECISION_H_ + +#include + +#include + +#include "apollo_common/apollo_app.h" +#include "apollo_common/macro.h" + +/** + * @namespace apollo::decision + * @brief apollo::decision + */ +namespace apollo { +namespace decision { + +class Decision : public apollo::common::ApolloApp { + public: + std::string Name() const override; + apollo::common::Status Init() override; + apollo::common::Status Start() override; + void Stop() override; + virtual ~Decision() = default; + + private: + void OnTimer(const ros::TimerEvent& event); + void PublishDecision(); + + private: + ros::Timer timer_; +}; + +} // namespace decision +} // namespace apollo + +#endif // MODULES_DECISION_DECISION_H_ diff --git a/apollo_localization/include/apollo_localization/localization.h b/apollo_localization/include/apollo_localization/localization.h new file mode 100644 index 0000000..faab40c --- /dev/null +++ b/apollo_localization/include/apollo_localization/localization.h @@ -0,0 +1,103 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file localization.h + * @brief The class of Localization + */ + +#ifndef MODULES_LOCALIZATION_LOCALIZATION_H_ +#define MODULES_LOCALIZATION_LOCALIZATION_H_ + +#include +#include + +#include "apollo_common/apollo_app.h" +#include "apollo_common/status/status.h" +#include "apollo_common/util/factory.h" +#include "apollo_msgs/proto/localization/localization_config.pb.h" + +#include "apollo_localization/localization_base.h" + +/** + * @namespace apollo::localization + * @brief apollo::localization + */ +namespace apollo { +namespace localization { + +/** + * @class Localization + * + * @brief Localization module main class. It processes GPS and IMU as input, + * to generate localization info. + */ +class Localization : public apollo::common::ApolloApp { + public: + /** + * @brief module name + * @return module name + */ + std::string Name() const override; + + /** + * @brief module initialization function + * @return initialization status + */ + apollo::common::Status Init() override; + + /** + * @brief module start function + * @return start status + */ + apollo::common::Status Start() override; + + /** + * @brief module stop function + * @return stop status + */ + void Stop() override; + + private: + void RegisterLocalizationMethods(); + + std::unique_ptr localization_; + apollo::common::util::Factory + localization_factory_; + LocalizationConfig config_; +}; + +} // namespace localization +} // namespace apollo + +#endif // MODULES_LOCALIZATION_LOCALIZATION_H_ diff --git a/apollo_localization/include/apollo_localization/localization_base.h b/apollo_localization/include/apollo_localization/localization_base.h new file mode 100644 index 0000000..3869d42 --- /dev/null +++ b/apollo_localization/include/apollo_localization/localization_base.h @@ -0,0 +1,75 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file localization_base.h + * @brief The class of LocalizationBase + */ + +#ifndef MODULES_LOCALIZATION_LOCALIZATION_BASE_H_ +#define MODULES_LOCALIZATION_LOCALIZATION_BASE_H_ + +#include "apollo_common/status/status.h" + +/** + * @namespace apollo::localization + * @brief apollo::localization + */ +namespace apollo { +namespace localization { + +/** + * @class LocalizationBase + * + * @brief base class for Localization factory + */ +class LocalizationBase { + public: + virtual ~LocalizationBase() = default; + + /** + * @brief module start function + * @return start status + */ + virtual apollo::common::Status Start() = 0; + + /** + * @brief module stop function + * @return stop status + */ + virtual apollo::common::Status Stop() = 0; +}; + +} // namespace localization +} // namespace apollo + +#endif // MODULES_LOCALIZATION_LOCALIZATION_BASE_H_ diff --git a/apollo_localization/include/apollo_localization/rtk/rtk_localization.h b/apollo_localization/include/apollo_localization/rtk/rtk_localization.h new file mode 100644 index 0000000..adcf076 --- /dev/null +++ b/apollo_localization/include/apollo_localization/rtk/rtk_localization.h @@ -0,0 +1,116 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/** + * @file localization_rtk.h + * @brief The class of RTKLocalization + */ + +#ifndef MODULES_LOCALIZATION_RTK_RTK_LOCALIZATION_H_ +#define MODULES_LOCALIZATION_RTK_RTK_LOCALIZATION_H_ + +#include +#include +#include +#include + +#include +#include + +#include "apollo_common/monitor/monitor.h" +#include "apollo_common/status/status.h" +#include "apollo_msgs/proto/localization/gps.pb.h" +#include "apollo_msgs/proto/localization/imu.pb.h" +#include "apollo_msgs/proto/localization/localization.pb.h" + +#include "apollo_localization/localization_base.h" + +/** + * @namespace apollo::localization + * @brief apollo::localization + */ +namespace apollo { +namespace localization { + +/** + * @class RTKLocalization + * + * @brief generate localization info based on RTK + */ +class RTKLocalization : public LocalizationBase { + public: + RTKLocalization(); + virtual ~RTKLocalization() = default; + + /** + * @brief module start function + * @return start status + */ + apollo::common::Status Start() override; + + /** + * @brief module stop function + * @return stop status + */ + apollo::common::Status Stop() override; + + private: + void OnTimer(const ros::TimerEvent &event); + void PublishLocalization(); + void RunWatchDog(); + + void PrepareLocalizationMsg(LocalizationEstimate *localization); + void ComposeLocalizationMsg(const ::apollo::localization::Gps &gps, + const ::apollo::localization::Imu &imu, + LocalizationEstimate *localization); + bool FindMatchingIMU(const double gps_timestamp_sec, Imu *imu_msg); + void InterpolateIMU(const Imu &imu1, const Imu &imu2, + const double timestamp_sec, Imu *msgbuf); + template + T InterpolateXYZ(const T &p1, const T &p2, const double &frac1); + + private: + ros::Timer timer_; + apollo::common::monitor::Monitor monitor_; + const std::vector map_offset_; + double last_received_timestamp_sec_ = 0.0; + double last_reported_timestamp_sec_ = 0.0; + bool service_started_ = false; + + FRIEND_TEST(RTKLocalizationTest, InterpolateIMU); + FRIEND_TEST(RTKLocalizationTest, ComposeLocalizationMsg); +}; + +} // namespace localization +} // namespace apollo + +#endif // MODULES_LOCALIZATION_RTK_RTK_LOCALIZATION_H_ diff --git a/apollo_localization/launch/localization.launch b/apollo_localization/launch/localization.launch new file mode 100644 index 0000000..6b36c4e --- /dev/null +++ b/apollo_localization/launch/localization.launch @@ -0,0 +1,9 @@ + + + + \ No newline at end of file diff --git a/apollo_localization/package.xml b/apollo_localization/package.xml new file mode 100644 index 0000000..a132936 --- /dev/null +++ b/apollo_localization/package.xml @@ -0,0 +1,29 @@ + + + apollo_localization + 0.0.0 + The apollo_localization package + + forrest + TODO + + catkin + + roscpp + roscpp + roscpp + + apollo_msgs + apollo_msgs + apollo_msgs + + apollo_common + apollo_common + apollo_common + + + + + + + diff --git a/apollo_localization/src/camera/camera_localization.cc b/apollo_localization/src/camera/camera_localization.cc new file mode 100644 index 0000000..67a5701 --- /dev/null +++ b/apollo_localization/src/camera/camera_localization.cc @@ -0,0 +1,264 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_localization/camera/camera_localization.h" + +#include "apollo_common/adapters/adapter_manager.h" +#include "apollo_common/math/quaternion.h" +#include "apollo_common/time/time.h" +#include "apollo_common/util/file.h" + +#include "apollo_localization/common/localization_gflags.h" + +namespace apollo { +namespace localization { + +using ::Eigen::Vector3d; +using ::apollo::common::adapter::AdapterManager; +using ::apollo::common::adapter::ImuAdapter; +using ::apollo::common::monitor::MonitorMessageItem; +using ::apollo::common::monitor::MonitorBuffer; +using ::apollo::common::Status; +using ::apollo::common::time::Clock; + +CameraLocalization::CameraLocalization() + : monitor_(MonitorMessageItem::LOCALIZATION) {} + +Status CameraLocalization::Start() { + MonitorBuffer buffer(&monitor_); + if (!apollo::common::util::GetProtoFromFile( + FLAGS_camera_parameter_config_file, &camera_parameter_)) { + buffer.ERROR() << "Camera parameter is not initialized. Check " + << FLAGS_camera_parameter_config_file; + buffer.PrintLog(); + return Status(apollo::common::LOCALIZATION_ERROR, + "failed to load camera parameter"); + } + + AdapterManager::Init(FLAGS_camera_adapter_config_file); + // start ROS timer, one-shot = false, auto-start = true + const double duration = 1.0 / FLAGS_localization_publish_freq; + timer_ = AdapterManager::CreateTimer(ros::Duration(duration), + &CameraLocalization::OnTimer, this); + if (!AdapterManager::GetGps()) { + buffer.ERROR() << "GPS input not initialized. Check " + << FLAGS_camera_adapter_config_file; + buffer.PrintLog(); + return Status(apollo::common::LOCALIZATION_ERROR, "no GPS adapter"); + } + if (!AdapterManager::GetCamera()) { + buffer.ERROR() << "Camera input not initialized. Check " + << FLAGS_camera_adapter_config_file; + buffer.PrintLog(); + return Status(apollo::common::LOCALIZATION_ERROR, "no Camera adapter"); + } + // IMU is optional + if (!AdapterManager::GetImu()) { + buffer.INFO("IMU input not initialized. Check your adapter.conf file!"); + buffer.PrintLog(); + use_imu_ = false; + } else { + use_imu_ = true; + } + return Status::OK(); +} + +Status CameraLocalization::Stop() { + timer_.stop(); + return Status::OK(); +} + +void CameraLocalization::OnTimer(const ros::TimerEvent &event) { + double time_delay = apollo::common::time::ToSecond(Clock::Now()) - + last_received_timestamp_sec_; + MonitorBuffer buffer(&monitor_); + if (FLAGS_enable_gps_timestamp && + time_delay > FLAGS_gps_time_delay_tolerance) { + buffer.ERROR() << "GPS message time delay: " << time_delay; + buffer.PrintLog(); + } + if (FLAGS_enable_camera_timestamp && + time_delay > FLAGS_camera_time_delay_tolerance) { + AERROR << "Camera message time delay: " << time_delay; + buffer.ERROR() << "Camera message time delay: " << time_delay; + buffer.PrintLog(); + } + + // Take a snapshot of the current received messages. + AdapterManager::Observe(); + + if (AdapterManager::GetGps()->Empty()) { + AERROR << "GPS message buffer is empty."; + if (service_started_) { + buffer.ERROR("GPS message buffer is empty."); + } + return; + } + if (AdapterManager::GetCamera()->Empty()) { + AERROR << "Camera message buffer is empty."; + if (service_started_) { + buffer.ERROR("Camera message buffer is empty."); + } + return; + } + if (use_imu_ && AdapterManager::GetImu()->Empty()) { + AERROR << "Imu message buffer is empty."; + if (service_started_) { + buffer.ERROR("Imu message buffer is empty."); + } + return; + } + + // publish localization messages + if (!PublishLocalization()) { + buffer.ERROR("Publish localization failed"); + buffer.PrintLog(); + return; + } + service_started_ = true; + + // watch dog + RunWatchDog(); + + last_received_timestamp_sec_ = apollo::common::time::ToSecond(Clock::Now()); +} + +// TODO(Dong): Implement this function for camera based high accuracy +// localization. +bool CameraLocalization::CreateLocalizationMsg( + const ::apollo::localization::Gps &gps_msg, + const ::apollo::localization::Camera &camera_msg, + LocalizationEstimate *localization) { + localization->Clear(); + + // header + AdapterManager::FillLocalizationHeader(FLAGS_localization_module_name, + localization->mutable_header()); + if (FLAGS_enable_gps_timestamp) { + // copy time stamp, do NOT use Clock::Now() + localization->mutable_header()->set_timestamp_sec( + gps_msg.header().timestamp_sec()); + } + + if (!gps_msg.has_localization()) { + AERROR << "GPS has no localization field"; + return false; + } + + if (camera_msg.image().empty() || !camera_msg.width() == 0 || + !camera_msg.height()== 0) { + AERROR << "camera data is invalid"; + return false; + } + + // TODO(Dong): Get high accuracy position information from gps and camera + // image. + // const auto &gps_location = gps_msg.localization(); + // const auto &image = camera_msg.image(); + // const auto image_width = camera_msg.width(); + // const auto image_height = camera_msg.height(); + return true; +} + +bool CameraLocalization::PublishLocalization() { + LocalizationEstimate localization; + const auto &gps_msg = AdapterManager::GetGps()->GetLatestObserved(); + const auto &camera_msg = AdapterManager::GetCamera()->GetLatestObserved(); + // TODO(Dong): Implement how to apply camera parameter to camera data. + // + // TODO(Dong): Find the timestamp difference in GPS message and Camera + // message, do time alignment if necessary. + // + // TODO(Dong): Produce localization message based on GPS and Camera Data. + if (!CreateLocalizationMsg(gps_msg, camera_msg, &localization)) { + AERROR << "Failed to compose localization message"; + return false; + } + + // publish localization messages + AdapterManager::PublishLocalization(localization); + AINFO << "[OnTimer]: Localization message publish success!"; + return true; +} + +void CameraLocalization::RunWatchDog() { + if (!FLAGS_enable_watchdog) { + return; + } + + bool msg_lost = false; + + MonitorBuffer buffer(&monitor_); + + // check GPS time stamp against ROS timer + double gps_delay_sec = + apollo::common::time::ToSecond(Clock::Now()) - + AdapterManager::GetGps()->GetLatestObserved().header().timestamp_sec(); + int64_t gps_delay_cycle_cnt = + static_cast(gps_delay_sec * FLAGS_localization_publish_freq); + if (FLAGS_enable_gps_timestamp && + (gps_delay_cycle_cnt > FLAGS_report_threshold_err_num)) { + msg_lost = true; + + buffer.ERROR() << "Raw GPS Message Lost. GPS message is " + << gps_delay_cycle_cnt << " cycle " << gps_delay_sec + << " sec behind current time."; + buffer.PrintLog(); + } + + // check Camera time stamp against ROS timer + double camera_delay_sec = + apollo::common::time::ToSecond(Clock::Now()) - + AdapterManager::GetCamera()->GetLatestObserved().header().timestamp_sec(); + int64_t camera_delay_cycle_cnt = + static_cast(camera_delay_sec * FLAGS_localization_publish_freq); + if (FLAGS_enable_gps_timestamp && + camera_delay_cycle_cnt > FLAGS_report_threshold_err_num) { + msg_lost = true; + + buffer.ERROR() << "Raw Camera Message Lost. IMU message is " + << camera_delay_cycle_cnt << " cycle " << camera_delay_sec + << " sec behind current time."; + buffer.PrintLog(); + } + + // to prevent it from beeping continuously + if (msg_lost && (last_reported_timestamp_sec_ < 1. || + apollo::common::time::ToSecond(Clock::Now()) > + last_reported_timestamp_sec_ + 1.)) { + AERROR << "gps/camera frame lost!"; + last_reported_timestamp_sec_ = apollo::common::time::ToSecond(Clock::Now()); + } +} + +} // namespace localization +} // namespace apollo diff --git a/apollo_localization/src/common/localization_gflags.cc b/apollo_localization/src/common/localization_gflags.cc new file mode 100644 index 0000000..79cab8b --- /dev/null +++ b/apollo_localization/src/common/localization_gflags.cc @@ -0,0 +1,93 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_localization/common/localization_gflags.h" + +DEFINE_string(localization_module_name, "localization", + "localization module name"); + +DEFINE_double(localization_publish_freq, 100, + "localization publishing frequency."); + +DEFINE_string(rtk_adapter_config_file, + "modules/localization/conf/rtk_adapter.conf", + "rtk adapter configuration"); + +DEFINE_string(camera_adapter_config_file, + "modules/localization/conf/camera_adapter.conf", + "camera based localization adapter configuration"); + +DEFINE_string(camera_parameter_config_file, + "modules/localization/conf/camera_parameter.conf", + "camera parameter config in camera based localiztion"); + +DEFINE_string(localization_config_file, + "modules/localization/conf/localization_config.pb.txt", + "localization config file"); + +// features +DEFINE_bool(enable_gps_imu_interprolate, true, "enable GPU/IMU interprolate"); +DEFINE_bool(enable_map_reference_unify, true, + "enable IMU data convert to map reference"); +DEFINE_bool(enable_watchdog, true, "enable watchdog"); + +DEFINE_double(gps_time_delay_tolerance, 1.0, + "gps message time delay tolerance (sec)"); + +DEFINE_double(imu_time_delay_tolerance, 1.0, + "imu message time delay tolerance (sec)"); + +DEFINE_double(camera_time_delay_tolerance, 1.0, + "camera imu message time delay tolerance (sec)"); + +DEFINE_double(gps_imu_timestamp_sec_diff_tolerance, 20e-3, + "gps/imu timestamp diff tolerance (sec)"); + +DEFINE_double(timestamp_sec_tolerance, 10e-7, "timestamp second tolerance"); +// map offset +DEFINE_double(map_offset_x, 0.0, "map_offsite: x"); +DEFINE_double(map_offset_y, 0.0, "map_offsite: y"); +DEFINE_double(map_offset_z, 0.0, "map_offsite: z"); + +DEFINE_int32(monitor_level, 2, + "minimum log level(INFO=0; WARN=1;" + "ERROR=2;FATAL=3) for monitor msg"); + +DEFINE_int32(report_threshold_err_num, 10, "report threshold error num"); +DEFINE_double(report_gps_imu_time_diff_threshold, 0.02, + "report threshold of timestamp diff between gps and imu(sec)"); + +DEFINE_bool(enable_gps_timestamp, false, + "True to set gps timestamp as localization header timestamp"); + +DEFINE_bool(enable_camera_timestamp, false, + "True to set camera timestamp as localization header timestamp"); diff --git a/apollo_localization/src/localization.cc b/apollo_localization/src/localization.cc new file mode 100644 index 0000000..a63b9e8 --- /dev/null +++ b/apollo_localization/src/localization.cc @@ -0,0 +1,93 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_localization/localization.h" + +#include "apollo_common/log.h" +#include "apollo_common/util/file.h" + +#include "apollo_localization/camera/camera_localization.h" +#include "apollo_localization/common/localization_gflags.h" +#include "apollo_localization/rtk/rtk_localization.h" + +namespace apollo { +namespace localization { + +using apollo::common::Status; +using apollo::common::ErrorCode; + +std::string Localization::Name() const { + return FLAGS_localization_module_name; +} + +void Localization::RegisterLocalizationMethods() { + localization_factory_.Register( + LocalizationConfig::RTK, + []() -> LocalizationBase* { return new RTKLocalization(); }); + + // TODO(Dong): Implement camera based localization method. + localization_factory_.Register( + LocalizationConfig::CAMERA, + []() -> LocalizationBase* { return new CameraLocalization(); }); +} + +Status Localization::Init() { + RegisterLocalizationMethods(); + if (!apollo::common::util::GetProtoFromFile(FLAGS_localization_config_file, + &config_)) { + AERROR << "failed to load localization config file " + << FLAGS_localization_config_file; + return Status(ErrorCode::LOCALIZATION_ERROR, + "failed to load localization config file: " + + FLAGS_localization_config_file); + } + + return Status::OK(); +} + +Status Localization::Start() { + localization_ = + localization_factory_.CreateObject(config_.localization_type()); + if (!localization_) { + return Status(ErrorCode::LOCALIZATION_ERROR, + "localization is not initialized with config : " + + config_.DebugString()); + } + localization_->Start(); + + return Status::OK(); +} + +void Localization::Stop() {} + +} // namespace localization +} // namespace apollo diff --git a/apollo_localization/src/main.cc b/apollo_localization/src/main.cc new file mode 100644 index 0000000..7b22c8d --- /dev/null +++ b/apollo_localization/src/main.cc @@ -0,0 +1,36 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_common/apollo_app.h" +#include "apollo_localization/localization.h" + +APOLLO_MAIN(::apollo::localization::Localization) diff --git a/apollo_localization/src/rtk/rtk_localization.cc b/apollo_localization/src/rtk/rtk_localization.cc new file mode 100644 index 0000000..d717b8a --- /dev/null +++ b/apollo_localization/src/rtk/rtk_localization.cc @@ -0,0 +1,429 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_localization/rtk/rtk_localization.h" + +#include "apollo_common/adapters/adapter_manager.h" +#include "apollo_common/math/quaternion.h" +#include "apollo_common/time/time.h" + +#include "apollo_localization/common/localization_gflags.h" + +namespace apollo { +namespace localization { + +using ::Eigen::Vector3d; +using ::apollo::common::adapter::AdapterManager; +using ::apollo::common::adapter::ImuAdapter; +using ::apollo::common::monitor::MonitorMessageItem; +using ::apollo::common::Status; +using ::apollo::common::time::Clock; + +RTKLocalization::RTKLocalization() + : monitor_(MonitorMessageItem::LOCALIZATION), + map_offset_{FLAGS_map_offset_x, FLAGS_map_offset_y, FLAGS_map_offset_z} {} + +Status RTKLocalization::Start() { + AdapterManager::Init(FLAGS_rtk_adapter_config_file); + + // start ROS timer, one-shot = false, auto-start = true + const double duration = 1.0 / FLAGS_localization_publish_freq; + timer_ = AdapterManager::CreateTimer(ros::Duration(duration), + &RTKLocalization::OnTimer, this); + apollo::common::monitor::MonitorBuffer buffer(&monitor_); + if (!AdapterManager::GetGps()) { + buffer.ERROR() << "GPS input not initialized. Check file " + << FLAGS_rtk_adapter_config_file; + buffer.PrintLog(); + return Status(apollo::common::LOCALIZATION_ERROR, "no GPS adapter"); + } + if (!AdapterManager::GetImu()) { + buffer.ERROR("IMU input not initialized. Check your adapter.conf file!"); + buffer.PrintLog(); + return Status(apollo::common::LOCALIZATION_ERROR, "no IMU adapter"); + } + return Status::OK(); +} + +Status RTKLocalization::Stop() { + timer_.stop(); + return Status::OK(); +} + +void RTKLocalization::OnTimer(const ros::TimerEvent &event) { + double time_delay = apollo::common::time::ToSecond(Clock::Now()) - + last_received_timestamp_sec_; + apollo::common::monitor::MonitorBuffer buffer(&monitor_); + if (FLAGS_enable_gps_timestamp && + time_delay > FLAGS_gps_time_delay_tolerance) { + buffer.ERROR() << "GPS message time delay: " << time_delay; + buffer.PrintLog(); + } + + // Take a snapshot of the current received messages. + AdapterManager::Observe(); + + if (AdapterManager::GetGps()->Empty()) { + AERROR << "GPS message buffer is empty."; + if (service_started_) { + buffer.ERROR("GPS message buffer is empty."); + } + return; + } + if (AdapterManager::GetImu()->Empty()) { + AERROR << "IMU message buffer is empty."; + if (service_started_) { + buffer.ERROR("IMU message buffer is empty."); + } + return; + } + + // publish localization messages + PublishLocalization(); + service_started_ = true; + + // watch dog + RunWatchDog(); + + last_received_timestamp_sec_ = apollo::common::time::ToSecond(Clock::Now()); +} + +template +T RTKLocalization::InterpolateXYZ(const T &p1, const T &p2, + const double &frac1) { + T p; + double frac2 = 1.0 - frac1; + if (!std::isnan(p1.x()) && !std::isnan(p2.x())) { + p.set_x(p1.x() * frac2 + p2.x() * frac1); + } + if (!std::isnan(p1.y()) && !std::isnan(p2.y())) { + p.set_y(p1.y() * frac2 + p2.y() * frac1); + } + if (!std::isnan(p1.z()) && !std::isnan(p2.z())) { + p.set_z(p1.z() * frac2 + p2.z() * frac1); + } + return p; +} + +bool RTKLocalization::FindMatchingIMU(const double gps_timestamp_sec, + Imu *imu_msg) { + bool success = false; + + auto *imu_adapter = AdapterManager::GetImu(); + if (imu_adapter->Empty()) { + AERROR << "[FindMatchingIMU]: Cannot find Matching IMU. " + << "IMU message Queue is empty! GPS timestamp[" << gps_timestamp_sec + << "]"; + return success; + } + + // scan imu buffer, find first imu message that is newer than the given + // timestamp + ImuAdapter::Iterator imu_it = imu_adapter->begin(); + for (; imu_it != imu_adapter->end(); ++imu_it) { + if ((*imu_it)->header().timestamp_sec() - gps_timestamp_sec > + FLAGS_timestamp_sec_tolerance) { + break; + } + } + + success = true; + + if (imu_it != imu_adapter->end()) { // found one + if (imu_it == imu_adapter->begin()) { + AERROR << "[FindMatchingIMU]: IMU queue too short or request too old. " + << "Oldest timestamp[" + << imu_adapter->GetOldestObserved().header().timestamp_sec() + << "], Newest timestamp[" + << imu_adapter->GetLatestObserved().header().timestamp_sec() + << "], GPS timestamp[" << gps_timestamp_sec << "]"; + *imu_msg = imu_adapter->GetOldestObserved(); // the oldest imu + } else { + // here is the normal case + auto imu_it_1 = imu_it; + imu_it_1--; + InterpolateIMU(**imu_it_1, **imu_it, gps_timestamp_sec, imu_msg); + } + } else { + // give the newest imu, without extrapolation + *imu_msg = imu_adapter->GetLatestObserved(); + + if (fabs(imu_msg->header().timestamp_sec() - gps_timestamp_sec) > + FLAGS_report_gps_imu_time_diff_threshold) { + // 20ms threshold to report error + AERROR << "[FindMatchingIMU]: Cannot find Matching IMU. " + << "IMU messages too old" + << "Newest timestamp[" + << imu_adapter->GetLatestObserved().header().timestamp_sec() + << "], GPS timestamp[" << gps_timestamp_sec << "]"; + } + } + + return success; +} + +void RTKLocalization::InterpolateIMU(const Imu &imu1, const Imu &imu2, + const double timestamp_sec, Imu *imu_msg) { + if (timestamp_sec - imu1.header().timestamp_sec() < + FLAGS_timestamp_sec_tolerance) { + AERROR << "[InterpolateIMU]: the given time stamp[" << timestamp_sec + << "] is older than the 1st message[" + << imu1.header().timestamp_sec() << "]"; + *imu_msg = imu1; + } else if (timestamp_sec - imu2.header().timestamp_sec() > + FLAGS_timestamp_sec_tolerance) { + AERROR << "[InterpolateIMU]: the given time stamp[" << timestamp_sec + << "] is newer than the 2nd message[" + << imu2.header().timestamp_sec() << "]"; + *imu_msg = imu1; + } else { + *imu_msg = imu1; + imu_msg->mutable_header()->set_timestamp_sec(timestamp_sec); + + double time_diff = + imu2.header().timestamp_sec() - imu1.header().timestamp_sec(); + if (fabs(time_diff) >= 0.001) { + double frac1 = + (timestamp_sec - imu1.header().timestamp_sec()) / time_diff; + + if (imu1.has_imu() && imu1.imu().has_angular_velocity() && + imu2.has_imu() && imu2.imu().has_angular_velocity()) { + auto val = InterpolateXYZ(imu1.imu().angular_velocity(), + imu2.imu().angular_velocity(), frac1); + imu_msg->mutable_imu()->mutable_angular_velocity()->CopyFrom(val); + } + + if (imu1.has_imu() && imu1.imu().has_linear_acceleration() && + imu2.has_imu() && imu2.imu().has_linear_acceleration()) { + auto val = InterpolateXYZ(imu1.imu().linear_acceleration(), + imu2.imu().linear_acceleration(), frac1); + imu_msg->mutable_imu()->mutable_linear_acceleration()->CopyFrom(val); + } + } + } +} + +void RTKLocalization::PrepareLocalizationMsg( + LocalizationEstimate *localization) { + const auto &gps_msg = AdapterManager::GetGps()->GetLatestObserved(); + + bool imu_valid = true; + Imu imu_msg; + if (FLAGS_enable_gps_imu_interprolate) { + // find the matching gps and imu message + double gps_time_stamp = gps_msg.header().timestamp_sec(); + if (!FindMatchingIMU(gps_time_stamp, &imu_msg)) { + imu_valid = false; + } + } else { + imu_msg = AdapterManager::GetImu()->GetLatestObserved(); + } + + if (imu_valid && + fabs(gps_msg.header().timestamp_sec() - imu_msg.header().timestamp_sec() > + FLAGS_gps_imu_timestamp_sec_diff_tolerance)) { + // not the same time stamp, 20ms threshold + AERROR << "[PrepareLocalizationMsg]: time stamp of GPS[" + << gps_msg.header().timestamp_sec() + << "] is different from timestamp of IMU[" + << imu_msg.header().timestamp_sec() << "]"; + } + + ComposeLocalizationMsg(gps_msg, imu_msg, localization); +} + +void RTKLocalization::ComposeLocalizationMsg( + const ::apollo::localization::Gps &gps_msg, + const ::apollo::localization::Imu &imu_msg, + LocalizationEstimate *localization) { + localization->Clear(); + + // header + AdapterManager::FillLocalizationHeader(FLAGS_localization_module_name, + localization->mutable_header()); + if (FLAGS_enable_gps_timestamp) { + // copy time stamp, do NOT use Clock::Now() + localization->mutable_header()->set_timestamp_sec( + gps_msg.header().timestamp_sec()); + } + + // combine gps and imu + auto mutable_pose = localization->mutable_pose(); + if (gps_msg.has_localization()) { + const auto &pose = gps_msg.localization(); + + if (pose.has_position()) { + // position + // world frame -> map frame + mutable_pose->mutable_position()->set_x(pose.position().x() - + map_offset_[0]); + mutable_pose->mutable_position()->set_y(pose.position().y() - + map_offset_[1]); + mutable_pose->mutable_position()->set_z(pose.position().z() - + map_offset_[2]); + } + + // orientation + if (pose.has_orientation()) { + mutable_pose->mutable_orientation()->CopyFrom(pose.orientation()); + double heading = ::apollo::common::math::QuaternionToHeading( + pose.orientation().qw(), pose.orientation().qx(), + pose.orientation().qy(), pose.orientation().qz()); + mutable_pose->set_heading(heading); + } + // linear velocity + if (pose.has_linear_velocity()) { + mutable_pose->mutable_linear_velocity()->CopyFrom(pose.linear_velocity()); + } + } + + if (imu_msg.has_imu()) { + const auto &imu = imu_msg.imu(); + // linear acceleration + if (imu.has_linear_acceleration()) { + if (FLAGS_enable_map_reference_unify) { + if (localization->pose().has_orientation()) { + // linear_acceleration: + // convert from vehicle reference to map reference + Vector3d orig(imu.linear_acceleration().x(), + imu.linear_acceleration().y(), + imu.linear_acceleration().z()); + Vector3d vec = ::apollo::common::math::QuaternionRotate( + localization->pose().orientation(), orig); + mutable_pose->mutable_linear_acceleration()->set_x(vec[0]); + mutable_pose->mutable_linear_acceleration()->set_y(vec[1]); + mutable_pose->mutable_linear_acceleration()->set_z(vec[2]); + + // linear_acceleration_vfr + mutable_pose->mutable_linear_acceleration_vrf()->CopyFrom( + imu.linear_acceleration()); + + } else { + AERROR << "[PrepareLocalizationMsg]: " + << "fail to convert linear_acceleration"; + } + } else { + mutable_pose->mutable_linear_acceleration()->CopyFrom( + imu.linear_acceleration()); + } + } + + // angular velocity + if (imu.has_angular_velocity()) { + if (FLAGS_enable_map_reference_unify) { + if (localization->pose().has_orientation()) { + // angular_velocity: + // convert from vehicle reference to map reference + Vector3d orig(imu.angular_velocity().x(), imu.angular_velocity().y(), + imu.angular_velocity().z()); + Vector3d vec = ::apollo::common::math::QuaternionRotate( + localization->pose().orientation(), orig); + mutable_pose->mutable_angular_velocity()->set_x(vec[0]); + mutable_pose->mutable_angular_velocity()->set_y(vec[1]); + mutable_pose->mutable_angular_velocity()->set_z(vec[2]); + + // angular_velocity_vf + mutable_pose->mutable_angular_velocity_vrf()->CopyFrom( + imu.angular_velocity()); + } else { + AERROR << "[PrepareLocalizationMsg]: " + << "fail to convert angular_velocity"; + } + } else { + mutable_pose->mutable_angular_velocity()->CopyFrom( + imu.angular_velocity()); + } + } + } +} + +void RTKLocalization::PublishLocalization() { + LocalizationEstimate localization; + PrepareLocalizationMsg(&localization); + + // publish localization messages + AdapterManager::PublishLocalization(localization); + AINFO << "[OnTimer]: Localization message publish success!"; +} + +void RTKLocalization::RunWatchDog() { + if (!FLAGS_enable_watchdog) { + return; + } + + bool msg_lost = false; + + apollo::common::monitor::MonitorBuffer buffer(&monitor_); + + // check GPS time stamp against ROS timer + double gps_delay_sec = + apollo::common::time::ToSecond(Clock::Now()) - + AdapterManager::GetGps()->GetLatestObserved().header().timestamp_sec(); + int64_t gps_delay_cycle_cnt = + static_cast(gps_delay_sec * FLAGS_localization_publish_freq); + if (FLAGS_enable_gps_timestamp && + (gps_delay_cycle_cnt > FLAGS_report_threshold_err_num)) { + msg_lost = true; + + buffer.ERROR() << "Raw GPS Message Lost. GPS message is " + << gps_delay_cycle_cnt << " cycle " << gps_delay_sec + << " sec behind current time."; + buffer.PrintLog(); + } + + // check IMU time stamp against ROS timer + double imu_delay_sec = + apollo::common::time::ToSecond(Clock::Now()) - + AdapterManager::GetImu()->GetLatestObserved().header().timestamp_sec(); + int64_t imu_delay_cycle_cnt = + static_cast(imu_delay_sec * FLAGS_localization_publish_freq); + if (FLAGS_enable_gps_timestamp && + imu_delay_cycle_cnt > FLAGS_report_threshold_err_num) { + msg_lost = true; + + buffer.ERROR() << "Raw GPS Message Lost. IMU message is " + << imu_delay_cycle_cnt << " cycle " << imu_delay_sec + << " sec behind current time."; + buffer.PrintLog(); + } + + // to prevent it from beeping continuously + if (msg_lost && (last_reported_timestamp_sec_ < 1. || + apollo::common::time::ToSecond(Clock::Now()) > + last_reported_timestamp_sec_ + 1.)) { + AERROR << "gps/imu frame lost!"; + last_reported_timestamp_sec_ = apollo::common::time::ToSecond(Clock::Now()); + } +} + +} // namespace localization +} // namespace apollo diff --git a/apollo_msgs/CMakeLists.txt b/apollo_msgs/CMakeLists.txt new file mode 100644 index 0000000..9e3e8d7 --- /dev/null +++ b/apollo_msgs/CMakeLists.txt @@ -0,0 +1,81 @@ +cmake_minimum_required(VERSION 3.0.2) +project(apollo_msgs) + +add_compile_options(-std=c++17) +# set(CMAKE_BUILD_TYPE "Debug") +set(CMAKE_BUILD_TYPE "Release") + +# for proto message. +set(PROTO_LIB_NAME apollo_proto) +macro(SUBDIRLIST result curdir) + file(GLOB children RELATIVE ${curdir} ${curdir}/*) + set(dirlist "") + foreach(child ${children}) + if(IS_DIRECTORY ${curdir}/${child}) + LIST(APPEND dirlist ${child}) + endif() + endforeach() + set(${result} ${dirlist}) +endmacro() +set(PROTOBUF_PROTOC_EXECUTABLE protoc) +set(PROTO_HRDS) +set(PROTO_SRCS) +SUBDIRLIST(SUBDIRS ${PROJECT_SOURCE_DIR}/proto/${PROJECT_NAME}/proto) +foreach(subdir ${SUBDIRS}) + file(GLOB PROTO_FILES "${PROJECT_SOURCE_DIR}/proto/${PROJECT_NAME}/proto/${subdir}/*.proto") + message(STATUS "proto files: ${PROTO_FILES}") + set(proto_out_path ${PROJECT_SOURCE_DIR}/include) + file(REMOVE ${proto_out_path}) + file(MAKE_DIRECTORY ${proto_out_path}) + foreach(proto_file ${PROTO_FILES}) + get_filename_component(msg_path ${proto_file} ABSOLUTE) + get_filename_component(msg_name ${proto_file} NAME_WE) + list(APPEND PROTO_HRDS ${proto_out_path}/${PROJECT_NAME}/proto/${subdir}/${msg_name}.pb.h) + list(APPEND PROTO_SRCS ${proto_out_path}/${PROJECT_NAME}/proto/${subdir}/${msg_name}.pb.cc) + execute_process( + COMMAND ${PROTOBUF_PROTOC_EXECUTABLE} + # -I=${PROJECT_SOURCE_DIR}/proto/${subdir} + -I=${PROJECT_SOURCE_DIR}/proto + --cpp_out=${proto_out_path} ${msg_path} + # WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + ) + endforeach() + message(STATUS "proto srcs: ${PROTO_SRCS}") +endforeach() + +find_package(catkin REQUIRED COMPONENTS + roscpp +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROTO_LIB_NAME} + CATKIN_DEPENDS roscpp +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + /usr/include +) + +# proto message lib. +add_library(${PROTO_LIB_NAME} + ${PROTO_HRDS} + ${PROTO_SRCS} +) +target_link_libraries(${PROTO_LIB_NAME} + protobuf +) + +# install +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +install(TARGETS ${PROTO_LIB_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) diff --git a/apollo_msgs/README.md b/apollo_msgs/README.md new file mode 100644 index 0000000..6e5d336 --- /dev/null +++ b/apollo_msgs/README.md @@ -0,0 +1,3 @@ +# Msgs + +This module contains proto msgs file for Apollo. diff --git a/apollo_msgs/include/apollo_msgs/proto/canbus/chassis.pb.cc b/apollo_msgs/include/apollo_msgs/proto/canbus/chassis.pb.cc new file mode 100644 index 0000000..ae94267 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/canbus/chassis.pb.cc @@ -0,0 +1,1763 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/canbus/chassis.proto + +#include "apollo_msgs/proto/canbus/chassis.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Signal; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace apollo { +namespace canbus { +class SignalDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Signal_default_instance_; +class ChassisDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Chassis_default_instance_; +} // namespace canbus +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto { +static void InitDefaultsSignal() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Signal_default_instance_; + new (ptr) ::apollo::canbus::Signal(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Signal::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Signal = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsSignal}, {}}; + +static void InitDefaultsChassis() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Chassis_default_instance_; + new (ptr) ::apollo::canbus::Chassis(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Chassis::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_Chassis = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsChassis}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::scc_info_Signal.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Signal.base); + ::google::protobuf::internal::InitSCC(&scc_info_Chassis.base); +} + +::google::protobuf::Metadata file_level_metadata[2]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[4]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Signal, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Signal, turn_signal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Signal, high_beam_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Signal, low_beam_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Signal, horn_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Signal, emergency_light_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, engine_started_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, engine_rpm_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, speed_mps_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, odometer_m_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, fuel_range_m_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, throttle_percentage_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, brake_percentage_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, steering_percentage_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, steering_torque_nm_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, parking_brake_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, wiper_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, disengage_status_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, driving_mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, error_code_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, gear_location_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, steering_timestamp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, chassis_error_mask_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, signal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, high_beam_signal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, low_beam_signal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, left_turn_signal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, right_turn_signal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Chassis, horn_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::canbus::Signal)}, + { 10, -1, sizeof(::apollo::canbus::Chassis)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::canbus::_Signal_default_instance_), + reinterpret_cast(&::apollo::canbus::_Chassis_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/canbus/chassis.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 2); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n&apollo_msgs/proto/canbus/chassis.proto" + "\022\rapollo.canbus\032%apollo_msgs/proto/commo" + "n/header.proto\"\307\001\n\006Signal\0225\n\013turn_signal" + "\030\001 \001(\0162 .apollo.canbus.Signal.TurnSignal" + "\022\021\n\thigh_beam\030\002 \001(\010\022\020\n\010low_beam\030\003 \001(\010\022\014\n" + "\004horn\030\004 \001(\010\022\027\n\017emergency_light\030\005 \001(\010\":\n\n" + "TurnSignal\022\r\n\tTURN_NONE\020\000\022\r\n\tTURN_LEFT\020\001" + "\022\016\n\nTURN_RIGHT\020\002\"\334\010\n\007Chassis\022\026\n\016engine_s" + "tarted\030\003 \001(\010\022\022\n\nengine_rpm\030\004 \001(\002\022\021\n\tspee" + "d_mps\030\005 \001(\002\022\022\n\nodometer_m\030\006 \001(\002\022\024\n\014fuel_" + "range_m\030\007 \001(\005\022\033\n\023throttle_percentage\030\010 \001" + "(\002\022\030\n\020brake_percentage\030\t \001(\002\022\033\n\023steering" + "_percentage\030\013 \001(\002\022\032\n\022steering_torque_nm\030" + "\014 \001(\002\022\025\n\rparking_brake\030\r \001(\010\022\r\n\005wiper\030\023 " + "\001(\010\022\030\n\020disengage_status\030\024 \001(\010\0228\n\014driving" + "_mode\030\025 \001(\0162\".apollo.canbus.Chassis.Driv" + "ingMode\0224\n\nerror_code\030\026 \001(\0162 .apollo.can" + "bus.Chassis.ErrorCode\022:\n\rgear_location\030\027" + " \001(\0162#.apollo.canbus.Chassis.GearPositio" + "n\022\032\n\022steering_timestamp\030\030 \001(\001\022%\n\006header\030" + "\031 \001(\0132\025.apollo.common.Header\022\032\n\022chassis_" + "error_mask\030\032 \001(\005\022%\n\006signal\030\033 \001(\0132\025.apoll" + "o.canbus.Signal\022\030\n\020high_beam_signal\030\016 \001(" + "\010\022\027\n\017low_beam_signal\030\017 \001(\010\022\030\n\020left_turn_" + "signal\030\020 \001(\010\022\031\n\021right_turn_signal\030\021 \001(\010\022" + "\014\n\004horn\030\022 \001(\010\"y\n\013DrivingMode\022\023\n\017COMPLETE" + "_MANUAL\020\000\022\027\n\023COMPLETE_AUTO_DRIVE\020\001\022\023\n\017AU" + "TO_STEER_ONLY\020\002\022\023\n\017AUTO_SPEED_ONLY\020\003\022\022\n\016" + "EMERGENCY_MODE\020\004\"\216\001\n\tErrorCode\022\014\n\010NO_ERR" + "OR\020\000\022\025\n\021CMD_NOT_IN_PERIOD\020\001\022\021\n\rCHASSIS_E" + "RROR\020\002\022\027\n\023MANUAL_INTERVENTION\020\003\022\035\n\031CHASS" + "IS_CAN_NOT_IN_PERIOD\020\004\022\021\n\rUNKNOWN_ERROR\020" + "\005\"\203\001\n\014GearPosition\022\020\n\014GEAR_NEUTRAL\020\000\022\016\n\n" + "GEAR_DRIVE\020\001\022\020\n\014GEAR_REVERSE\020\002\022\020\n\014GEAR_P" + "ARKING\020\003\022\014\n\010GEAR_LOW\020\004\022\020\n\014GEAR_INVALID\020\005" + "\022\r\n\tGEAR_NONE\020\006b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 1423); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/canbus/chassis.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto +namespace apollo { +namespace canbus { +const ::google::protobuf::EnumDescriptor* Signal_TurnSignal_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::file_level_enum_descriptors[0]; +} +bool Signal_TurnSignal_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Signal_TurnSignal Signal::TURN_NONE; +const Signal_TurnSignal Signal::TURN_LEFT; +const Signal_TurnSignal Signal::TURN_RIGHT; +const Signal_TurnSignal Signal::TurnSignal_MIN; +const Signal_TurnSignal Signal::TurnSignal_MAX; +const int Signal::TurnSignal_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Chassis_DrivingMode_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::file_level_enum_descriptors[1]; +} +bool Chassis_DrivingMode_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Chassis_DrivingMode Chassis::COMPLETE_MANUAL; +const Chassis_DrivingMode Chassis::COMPLETE_AUTO_DRIVE; +const Chassis_DrivingMode Chassis::AUTO_STEER_ONLY; +const Chassis_DrivingMode Chassis::AUTO_SPEED_ONLY; +const Chassis_DrivingMode Chassis::EMERGENCY_MODE; +const Chassis_DrivingMode Chassis::DrivingMode_MIN; +const Chassis_DrivingMode Chassis::DrivingMode_MAX; +const int Chassis::DrivingMode_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Chassis_ErrorCode_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::file_level_enum_descriptors[2]; +} +bool Chassis_ErrorCode_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Chassis_ErrorCode Chassis::NO_ERROR; +const Chassis_ErrorCode Chassis::CMD_NOT_IN_PERIOD; +const Chassis_ErrorCode Chassis::CHASSIS_ERROR; +const Chassis_ErrorCode Chassis::MANUAL_INTERVENTION; +const Chassis_ErrorCode Chassis::CHASSIS_CAN_NOT_IN_PERIOD; +const Chassis_ErrorCode Chassis::UNKNOWN_ERROR; +const Chassis_ErrorCode Chassis::ErrorCode_MIN; +const Chassis_ErrorCode Chassis::ErrorCode_MAX; +const int Chassis::ErrorCode_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Chassis_GearPosition_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::file_level_enum_descriptors[3]; +} +bool Chassis_GearPosition_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + case 6: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Chassis_GearPosition Chassis::GEAR_NEUTRAL; +const Chassis_GearPosition Chassis::GEAR_DRIVE; +const Chassis_GearPosition Chassis::GEAR_REVERSE; +const Chassis_GearPosition Chassis::GEAR_PARKING; +const Chassis_GearPosition Chassis::GEAR_LOW; +const Chassis_GearPosition Chassis::GEAR_INVALID; +const Chassis_GearPosition Chassis::GEAR_NONE; +const Chassis_GearPosition Chassis::GearPosition_MIN; +const Chassis_GearPosition Chassis::GearPosition_MAX; +const int Chassis::GearPosition_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void Signal::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Signal::kTurnSignalFieldNumber; +const int Signal::kHighBeamFieldNumber; +const int Signal::kLowBeamFieldNumber; +const int Signal::kHornFieldNumber; +const int Signal::kEmergencyLightFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Signal::Signal() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::scc_info_Signal.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Signal) +} +Signal::Signal(const Signal& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&turn_signal_, &from.turn_signal_, + static_cast(reinterpret_cast(&emergency_light_) - + reinterpret_cast(&turn_signal_)) + sizeof(emergency_light_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Signal) +} + +void Signal::SharedCtor() { + ::memset(&turn_signal_, 0, static_cast( + reinterpret_cast(&emergency_light_) - + reinterpret_cast(&turn_signal_)) + sizeof(emergency_light_)); +} + +Signal::~Signal() { + // @@protoc_insertion_point(destructor:apollo.canbus.Signal) + SharedDtor(); +} + +void Signal::SharedDtor() { +} + +void Signal::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Signal::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Signal& Signal::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::scc_info_Signal.base); + return *internal_default_instance(); +} + + +void Signal::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Signal) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&turn_signal_, 0, static_cast( + reinterpret_cast(&emergency_light_) - + reinterpret_cast(&turn_signal_)) + sizeof(emergency_light_)); + _internal_metadata_.Clear(); +} + +bool Signal::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Signal) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.canbus.Signal.TurnSignal turn_signal = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_turn_signal(static_cast< ::apollo::canbus::Signal_TurnSignal >(value)); + } else { + goto handle_unusual; + } + break; + } + + // bool high_beam = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &high_beam_))); + } else { + goto handle_unusual; + } + break; + } + + // bool low_beam = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &low_beam_))); + } else { + goto handle_unusual; + } + break; + } + + // bool horn = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &horn_))); + } else { + goto handle_unusual; + } + break; + } + + // bool emergency_light = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &emergency_light_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Signal) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Signal) + return false; +#undef DO_ +} + +void Signal::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Signal) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.canbus.Signal.TurnSignal turn_signal = 1; + if (this->turn_signal() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->turn_signal(), output); + } + + // bool high_beam = 2; + if (this->high_beam() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->high_beam(), output); + } + + // bool low_beam = 3; + if (this->low_beam() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(3, this->low_beam(), output); + } + + // bool horn = 4; + if (this->horn() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(4, this->horn(), output); + } + + // bool emergency_light = 5; + if (this->emergency_light() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(5, this->emergency_light(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Signal) +} + +::google::protobuf::uint8* Signal::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Signal) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.canbus.Signal.TurnSignal turn_signal = 1; + if (this->turn_signal() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->turn_signal(), target); + } + + // bool high_beam = 2; + if (this->high_beam() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->high_beam(), target); + } + + // bool low_beam = 3; + if (this->low_beam() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(3, this->low_beam(), target); + } + + // bool horn = 4; + if (this->horn() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(4, this->horn(), target); + } + + // bool emergency_light = 5; + if (this->emergency_light() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(5, this->emergency_light(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Signal) + return target; +} + +size_t Signal::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Signal) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.canbus.Signal.TurnSignal turn_signal = 1; + if (this->turn_signal() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->turn_signal()); + } + + // bool high_beam = 2; + if (this->high_beam() != 0) { + total_size += 1 + 1; + } + + // bool low_beam = 3; + if (this->low_beam() != 0) { + total_size += 1 + 1; + } + + // bool horn = 4; + if (this->horn() != 0) { + total_size += 1 + 1; + } + + // bool emergency_light = 5; + if (this->emergency_light() != 0) { + total_size += 1 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Signal::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Signal) + GOOGLE_DCHECK_NE(&from, this); + const Signal* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Signal) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Signal) + MergeFrom(*source); + } +} + +void Signal::MergeFrom(const Signal& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Signal) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.turn_signal() != 0) { + set_turn_signal(from.turn_signal()); + } + if (from.high_beam() != 0) { + set_high_beam(from.high_beam()); + } + if (from.low_beam() != 0) { + set_low_beam(from.low_beam()); + } + if (from.horn() != 0) { + set_horn(from.horn()); + } + if (from.emergency_light() != 0) { + set_emergency_light(from.emergency_light()); + } +} + +void Signal::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Signal) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Signal::CopyFrom(const Signal& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Signal) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Signal::IsInitialized() const { + return true; +} + +void Signal::Swap(Signal* other) { + if (other == this) return; + InternalSwap(other); +} +void Signal::InternalSwap(Signal* other) { + using std::swap; + swap(turn_signal_, other->turn_signal_); + swap(high_beam_, other->high_beam_); + swap(low_beam_, other->low_beam_); + swap(horn_, other->horn_); + swap(emergency_light_, other->emergency_light_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Signal::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Chassis::InitAsDefaultInstance() { + ::apollo::canbus::_Chassis_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::canbus::_Chassis_default_instance_._instance.get_mutable()->signal_ = const_cast< ::apollo::canbus::Signal*>( + ::apollo::canbus::Signal::internal_default_instance()); +} +void Chassis::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Chassis::kEngineStartedFieldNumber; +const int Chassis::kEngineRpmFieldNumber; +const int Chassis::kSpeedMpsFieldNumber; +const int Chassis::kOdometerMFieldNumber; +const int Chassis::kFuelRangeMFieldNumber; +const int Chassis::kThrottlePercentageFieldNumber; +const int Chassis::kBrakePercentageFieldNumber; +const int Chassis::kSteeringPercentageFieldNumber; +const int Chassis::kSteeringTorqueNmFieldNumber; +const int Chassis::kParkingBrakeFieldNumber; +const int Chassis::kWiperFieldNumber; +const int Chassis::kDisengageStatusFieldNumber; +const int Chassis::kDrivingModeFieldNumber; +const int Chassis::kErrorCodeFieldNumber; +const int Chassis::kGearLocationFieldNumber; +const int Chassis::kSteeringTimestampFieldNumber; +const int Chassis::kHeaderFieldNumber; +const int Chassis::kChassisErrorMaskFieldNumber; +const int Chassis::kSignalFieldNumber; +const int Chassis::kHighBeamSignalFieldNumber; +const int Chassis::kLowBeamSignalFieldNumber; +const int Chassis::kLeftTurnSignalFieldNumber; +const int Chassis::kRightTurnSignalFieldNumber; +const int Chassis::kHornFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Chassis::Chassis() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::scc_info_Chassis.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Chassis) +} +Chassis::Chassis(const Chassis& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + if (from.has_signal()) { + signal_ = new ::apollo::canbus::Signal(*from.signal_); + } else { + signal_ = NULL; + } + ::memcpy(&engine_rpm_, &from.engine_rpm_, + static_cast(reinterpret_cast(&chassis_error_mask_) - + reinterpret_cast(&engine_rpm_)) + sizeof(chassis_error_mask_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Chassis) +} + +void Chassis::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&chassis_error_mask_) - + reinterpret_cast(&header_)) + sizeof(chassis_error_mask_)); +} + +Chassis::~Chassis() { + // @@protoc_insertion_point(destructor:apollo.canbus.Chassis) + SharedDtor(); +} + +void Chassis::SharedDtor() { + if (this != internal_default_instance()) delete header_; + if (this != internal_default_instance()) delete signal_; +} + +void Chassis::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Chassis::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Chassis& Chassis::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::scc_info_Chassis.base); + return *internal_default_instance(); +} + + +void Chassis::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Chassis) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + if (GetArenaNoVirtual() == NULL && signal_ != NULL) { + delete signal_; + } + signal_ = NULL; + ::memset(&engine_rpm_, 0, static_cast( + reinterpret_cast(&chassis_error_mask_) - + reinterpret_cast(&engine_rpm_)) + sizeof(chassis_error_mask_)); + _internal_metadata_.Clear(); +} + +bool Chassis::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Chassis) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool engine_started = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &engine_started_))); + } else { + goto handle_unusual; + } + break; + } + + // float engine_rpm = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(37u /* 37 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( + input, &engine_rpm_))); + } else { + goto handle_unusual; + } + break; + } + + // float speed_mps = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(45u /* 45 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( + input, &speed_mps_))); + } else { + goto handle_unusual; + } + break; + } + + // float odometer_m = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(53u /* 53 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( + input, &odometer_m_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 fuel_range_m = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &fuel_range_m_))); + } else { + goto handle_unusual; + } + break; + } + + // float throttle_percentage = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(69u /* 69 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( + input, &throttle_percentage_))); + } else { + goto handle_unusual; + } + break; + } + + // float brake_percentage = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(77u /* 77 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( + input, &brake_percentage_))); + } else { + goto handle_unusual; + } + break; + } + + // float steering_percentage = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(93u /* 93 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( + input, &steering_percentage_))); + } else { + goto handle_unusual; + } + break; + } + + // float steering_torque_nm = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(101u /* 101 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>( + input, &steering_torque_nm_))); + } else { + goto handle_unusual; + } + break; + } + + // bool parking_brake = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(104u /* 104 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &parking_brake_))); + } else { + goto handle_unusual; + } + break; + } + + // bool high_beam_signal = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(112u /* 112 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &high_beam_signal_))); + } else { + goto handle_unusual; + } + break; + } + + // bool low_beam_signal = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(120u /* 120 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &low_beam_signal_))); + } else { + goto handle_unusual; + } + break; + } + + // bool left_turn_signal = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(128u /* 128 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &left_turn_signal_))); + } else { + goto handle_unusual; + } + break; + } + + // bool right_turn_signal = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(136u /* 136 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &right_turn_signal_))); + } else { + goto handle_unusual; + } + break; + } + + // bool horn = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(144u /* 144 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &horn_))); + } else { + goto handle_unusual; + } + break; + } + + // bool wiper = 19; + case 19: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(152u /* 152 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &wiper_))); + } else { + goto handle_unusual; + } + break; + } + + // bool disengage_status = 20; + case 20: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(160u /* 160 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &disengage_status_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 21; + case 21: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(168u /* 168 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_driving_mode(static_cast< ::apollo::canbus::Chassis_DrivingMode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.ErrorCode error_code = 22; + case 22: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(176u /* 176 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_error_code(static_cast< ::apollo::canbus::Chassis_ErrorCode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.GearPosition gear_location = 23; + case 23: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(184u /* 184 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_gear_location(static_cast< ::apollo::canbus::Chassis_GearPosition >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double steering_timestamp = 24; + case 24: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(193u /* 193 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steering_timestamp_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Header header = 25; + case 25: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(202u /* 202 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // int32 chassis_error_mask = 26; + case 26: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(208u /* 208 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &chassis_error_mask_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Signal signal = 27; + case 27: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(218u /* 218 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_signal())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Chassis) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Chassis) + return false; +#undef DO_ +} + +void Chassis::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Chassis) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool engine_started = 3; + if (this->engine_started() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(3, this->engine_started(), output); + } + + // float engine_rpm = 4; + if (this->engine_rpm() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->engine_rpm(), output); + } + + // float speed_mps = 5; + if (this->speed_mps() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteFloat(5, this->speed_mps(), output); + } + + // float odometer_m = 6; + if (this->odometer_m() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteFloat(6, this->odometer_m(), output); + } + + // int32 fuel_range_m = 7; + if (this->fuel_range_m() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(7, this->fuel_range_m(), output); + } + + // float throttle_percentage = 8; + if (this->throttle_percentage() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteFloat(8, this->throttle_percentage(), output); + } + + // float brake_percentage = 9; + if (this->brake_percentage() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteFloat(9, this->brake_percentage(), output); + } + + // float steering_percentage = 11; + if (this->steering_percentage() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteFloat(11, this->steering_percentage(), output); + } + + // float steering_torque_nm = 12; + if (this->steering_torque_nm() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteFloat(12, this->steering_torque_nm(), output); + } + + // bool parking_brake = 13; + if (this->parking_brake() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(13, this->parking_brake(), output); + } + + // bool high_beam_signal = 14; + if (this->high_beam_signal() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(14, this->high_beam_signal(), output); + } + + // bool low_beam_signal = 15; + if (this->low_beam_signal() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(15, this->low_beam_signal(), output); + } + + // bool left_turn_signal = 16; + if (this->left_turn_signal() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(16, this->left_turn_signal(), output); + } + + // bool right_turn_signal = 17; + if (this->right_turn_signal() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(17, this->right_turn_signal(), output); + } + + // bool horn = 18; + if (this->horn() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(18, this->horn(), output); + } + + // bool wiper = 19; + if (this->wiper() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(19, this->wiper(), output); + } + + // bool disengage_status = 20; + if (this->disengage_status() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(20, this->disengage_status(), output); + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 21; + if (this->driving_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 21, this->driving_mode(), output); + } + + // .apollo.canbus.Chassis.ErrorCode error_code = 22; + if (this->error_code() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 22, this->error_code(), output); + } + + // .apollo.canbus.Chassis.GearPosition gear_location = 23; + if (this->gear_location() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 23, this->gear_location(), output); + } + + // double steering_timestamp = 24; + if (this->steering_timestamp() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(24, this->steering_timestamp(), output); + } + + // .apollo.common.Header header = 25; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 25, this->_internal_header(), output); + } + + // int32 chassis_error_mask = 26; + if (this->chassis_error_mask() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(26, this->chassis_error_mask(), output); + } + + // .apollo.canbus.Signal signal = 27; + if (this->has_signal()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 27, this->_internal_signal(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Chassis) +} + +::google::protobuf::uint8* Chassis::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Chassis) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool engine_started = 3; + if (this->engine_started() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(3, this->engine_started(), target); + } + + // float engine_rpm = 4; + if (this->engine_rpm() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->engine_rpm(), target); + } + + // float speed_mps = 5; + if (this->speed_mps() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(5, this->speed_mps(), target); + } + + // float odometer_m = 6; + if (this->odometer_m() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(6, this->odometer_m(), target); + } + + // int32 fuel_range_m = 7; + if (this->fuel_range_m() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(7, this->fuel_range_m(), target); + } + + // float throttle_percentage = 8; + if (this->throttle_percentage() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(8, this->throttle_percentage(), target); + } + + // float brake_percentage = 9; + if (this->brake_percentage() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(9, this->brake_percentage(), target); + } + + // float steering_percentage = 11; + if (this->steering_percentage() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(11, this->steering_percentage(), target); + } + + // float steering_torque_nm = 12; + if (this->steering_torque_nm() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(12, this->steering_torque_nm(), target); + } + + // bool parking_brake = 13; + if (this->parking_brake() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(13, this->parking_brake(), target); + } + + // bool high_beam_signal = 14; + if (this->high_beam_signal() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(14, this->high_beam_signal(), target); + } + + // bool low_beam_signal = 15; + if (this->low_beam_signal() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(15, this->low_beam_signal(), target); + } + + // bool left_turn_signal = 16; + if (this->left_turn_signal() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(16, this->left_turn_signal(), target); + } + + // bool right_turn_signal = 17; + if (this->right_turn_signal() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(17, this->right_turn_signal(), target); + } + + // bool horn = 18; + if (this->horn() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(18, this->horn(), target); + } + + // bool wiper = 19; + if (this->wiper() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(19, this->wiper(), target); + } + + // bool disengage_status = 20; + if (this->disengage_status() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(20, this->disengage_status(), target); + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 21; + if (this->driving_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 21, this->driving_mode(), target); + } + + // .apollo.canbus.Chassis.ErrorCode error_code = 22; + if (this->error_code() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 22, this->error_code(), target); + } + + // .apollo.canbus.Chassis.GearPosition gear_location = 23; + if (this->gear_location() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 23, this->gear_location(), target); + } + + // double steering_timestamp = 24; + if (this->steering_timestamp() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(24, this->steering_timestamp(), target); + } + + // .apollo.common.Header header = 25; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 25, this->_internal_header(), deterministic, target); + } + + // int32 chassis_error_mask = 26; + if (this->chassis_error_mask() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(26, this->chassis_error_mask(), target); + } + + // .apollo.canbus.Signal signal = 27; + if (this->has_signal()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 27, this->_internal_signal(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Chassis) + return target; +} + +size_t Chassis::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Chassis) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 25; + if (this->has_header()) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.canbus.Signal signal = 27; + if (this->has_signal()) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *signal_); + } + + // float engine_rpm = 4; + if (this->engine_rpm() != 0) { + total_size += 1 + 4; + } + + // float speed_mps = 5; + if (this->speed_mps() != 0) { + total_size += 1 + 4; + } + + // float odometer_m = 6; + if (this->odometer_m() != 0) { + total_size += 1 + 4; + } + + // int32 fuel_range_m = 7; + if (this->fuel_range_m() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->fuel_range_m()); + } + + // float throttle_percentage = 8; + if (this->throttle_percentage() != 0) { + total_size += 1 + 4; + } + + // float brake_percentage = 9; + if (this->brake_percentage() != 0) { + total_size += 1 + 4; + } + + // float steering_percentage = 11; + if (this->steering_percentage() != 0) { + total_size += 1 + 4; + } + + // float steering_torque_nm = 12; + if (this->steering_torque_nm() != 0) { + total_size += 1 + 4; + } + + // bool engine_started = 3; + if (this->engine_started() != 0) { + total_size += 1 + 1; + } + + // bool parking_brake = 13; + if (this->parking_brake() != 0) { + total_size += 1 + 1; + } + + // bool wiper = 19; + if (this->wiper() != 0) { + total_size += 2 + 1; + } + + // bool disengage_status = 20; + if (this->disengage_status() != 0) { + total_size += 2 + 1; + } + + // bool high_beam_signal = 14; + if (this->high_beam_signal() != 0) { + total_size += 1 + 1; + } + + // bool low_beam_signal = 15; + if (this->low_beam_signal() != 0) { + total_size += 1 + 1; + } + + // bool left_turn_signal = 16; + if (this->left_turn_signal() != 0) { + total_size += 2 + 1; + } + + // bool right_turn_signal = 17; + if (this->right_turn_signal() != 0) { + total_size += 2 + 1; + } + + // bool horn = 18; + if (this->horn() != 0) { + total_size += 2 + 1; + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 21; + if (this->driving_mode() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->driving_mode()); + } + + // .apollo.canbus.Chassis.ErrorCode error_code = 22; + if (this->error_code() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->error_code()); + } + + // .apollo.canbus.Chassis.GearPosition gear_location = 23; + if (this->gear_location() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->gear_location()); + } + + // double steering_timestamp = 24; + if (this->steering_timestamp() != 0) { + total_size += 2 + 8; + } + + // int32 chassis_error_mask = 26; + if (this->chassis_error_mask() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->chassis_error_mask()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Chassis::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Chassis) + GOOGLE_DCHECK_NE(&from, this); + const Chassis* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Chassis) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Chassis) + MergeFrom(*source); + } +} + +void Chassis::MergeFrom(const Chassis& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Chassis) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.has_signal()) { + mutable_signal()->::apollo::canbus::Signal::MergeFrom(from.signal()); + } + if (from.engine_rpm() != 0) { + set_engine_rpm(from.engine_rpm()); + } + if (from.speed_mps() != 0) { + set_speed_mps(from.speed_mps()); + } + if (from.odometer_m() != 0) { + set_odometer_m(from.odometer_m()); + } + if (from.fuel_range_m() != 0) { + set_fuel_range_m(from.fuel_range_m()); + } + if (from.throttle_percentage() != 0) { + set_throttle_percentage(from.throttle_percentage()); + } + if (from.brake_percentage() != 0) { + set_brake_percentage(from.brake_percentage()); + } + if (from.steering_percentage() != 0) { + set_steering_percentage(from.steering_percentage()); + } + if (from.steering_torque_nm() != 0) { + set_steering_torque_nm(from.steering_torque_nm()); + } + if (from.engine_started() != 0) { + set_engine_started(from.engine_started()); + } + if (from.parking_brake() != 0) { + set_parking_brake(from.parking_brake()); + } + if (from.wiper() != 0) { + set_wiper(from.wiper()); + } + if (from.disengage_status() != 0) { + set_disengage_status(from.disengage_status()); + } + if (from.high_beam_signal() != 0) { + set_high_beam_signal(from.high_beam_signal()); + } + if (from.low_beam_signal() != 0) { + set_low_beam_signal(from.low_beam_signal()); + } + if (from.left_turn_signal() != 0) { + set_left_turn_signal(from.left_turn_signal()); + } + if (from.right_turn_signal() != 0) { + set_right_turn_signal(from.right_turn_signal()); + } + if (from.horn() != 0) { + set_horn(from.horn()); + } + if (from.driving_mode() != 0) { + set_driving_mode(from.driving_mode()); + } + if (from.error_code() != 0) { + set_error_code(from.error_code()); + } + if (from.gear_location() != 0) { + set_gear_location(from.gear_location()); + } + if (from.steering_timestamp() != 0) { + set_steering_timestamp(from.steering_timestamp()); + } + if (from.chassis_error_mask() != 0) { + set_chassis_error_mask(from.chassis_error_mask()); + } +} + +void Chassis::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Chassis) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Chassis::CopyFrom(const Chassis& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Chassis) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Chassis::IsInitialized() const { + return true; +} + +void Chassis::Swap(Chassis* other) { + if (other == this) return; + InternalSwap(other); +} +void Chassis::InternalSwap(Chassis* other) { + using std::swap; + swap(header_, other->header_); + swap(signal_, other->signal_); + swap(engine_rpm_, other->engine_rpm_); + swap(speed_mps_, other->speed_mps_); + swap(odometer_m_, other->odometer_m_); + swap(fuel_range_m_, other->fuel_range_m_); + swap(throttle_percentage_, other->throttle_percentage_); + swap(brake_percentage_, other->brake_percentage_); + swap(steering_percentage_, other->steering_percentage_); + swap(steering_torque_nm_, other->steering_torque_nm_); + swap(engine_started_, other->engine_started_); + swap(parking_brake_, other->parking_brake_); + swap(wiper_, other->wiper_); + swap(disengage_status_, other->disengage_status_); + swap(high_beam_signal_, other->high_beam_signal_); + swap(low_beam_signal_, other->low_beam_signal_); + swap(left_turn_signal_, other->left_turn_signal_); + swap(right_turn_signal_, other->right_turn_signal_); + swap(horn_, other->horn_); + swap(driving_mode_, other->driving_mode_); + swap(error_code_, other->error_code_); + swap(gear_location_, other->gear_location_); + swap(steering_timestamp_, other->steering_timestamp_); + swap(chassis_error_mask_, other->chassis_error_mask_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Chassis::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace canbus +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Signal* Arena::CreateMaybeMessage< ::apollo::canbus::Signal >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Signal >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Chassis* Arena::CreateMaybeMessage< ::apollo::canbus::Chassis >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Chassis >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/canbus/chassis.pb.h b/apollo_msgs/include/apollo_msgs/proto/canbus/chassis.pb.h new file mode 100644 index 0000000..abdfecd --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/canbus/chassis.pb.h @@ -0,0 +1,1238 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/canbus/chassis.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/common/header.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[2]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto +namespace apollo { +namespace canbus { +class Chassis; +class ChassisDefaultTypeInternal; +extern ChassisDefaultTypeInternal _Chassis_default_instance_; +class Signal; +class SignalDefaultTypeInternal; +extern SignalDefaultTypeInternal _Signal_default_instance_; +} // namespace canbus +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::canbus::Chassis* Arena::CreateMaybeMessage<::apollo::canbus::Chassis>(Arena*); +template<> ::apollo::canbus::Signal* Arena::CreateMaybeMessage<::apollo::canbus::Signal>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace canbus { + +enum Signal_TurnSignal { + Signal_TurnSignal_TURN_NONE = 0, + Signal_TurnSignal_TURN_LEFT = 1, + Signal_TurnSignal_TURN_RIGHT = 2, + Signal_TurnSignal_Signal_TurnSignal_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Signal_TurnSignal_Signal_TurnSignal_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Signal_TurnSignal_IsValid(int value); +const Signal_TurnSignal Signal_TurnSignal_TurnSignal_MIN = Signal_TurnSignal_TURN_NONE; +const Signal_TurnSignal Signal_TurnSignal_TurnSignal_MAX = Signal_TurnSignal_TURN_RIGHT; +const int Signal_TurnSignal_TurnSignal_ARRAYSIZE = Signal_TurnSignal_TurnSignal_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Signal_TurnSignal_descriptor(); +inline const ::std::string& Signal_TurnSignal_Name(Signal_TurnSignal value) { + return ::google::protobuf::internal::NameOfEnum( + Signal_TurnSignal_descriptor(), value); +} +inline bool Signal_TurnSignal_Parse( + const ::std::string& name, Signal_TurnSignal* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Signal_TurnSignal_descriptor(), name, value); +} +enum Chassis_DrivingMode { + Chassis_DrivingMode_COMPLETE_MANUAL = 0, + Chassis_DrivingMode_COMPLETE_AUTO_DRIVE = 1, + Chassis_DrivingMode_AUTO_STEER_ONLY = 2, + Chassis_DrivingMode_AUTO_SPEED_ONLY = 3, + Chassis_DrivingMode_EMERGENCY_MODE = 4, + Chassis_DrivingMode_Chassis_DrivingMode_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Chassis_DrivingMode_Chassis_DrivingMode_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Chassis_DrivingMode_IsValid(int value); +const Chassis_DrivingMode Chassis_DrivingMode_DrivingMode_MIN = Chassis_DrivingMode_COMPLETE_MANUAL; +const Chassis_DrivingMode Chassis_DrivingMode_DrivingMode_MAX = Chassis_DrivingMode_EMERGENCY_MODE; +const int Chassis_DrivingMode_DrivingMode_ARRAYSIZE = Chassis_DrivingMode_DrivingMode_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Chassis_DrivingMode_descriptor(); +inline const ::std::string& Chassis_DrivingMode_Name(Chassis_DrivingMode value) { + return ::google::protobuf::internal::NameOfEnum( + Chassis_DrivingMode_descriptor(), value); +} +inline bool Chassis_DrivingMode_Parse( + const ::std::string& name, Chassis_DrivingMode* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Chassis_DrivingMode_descriptor(), name, value); +} +enum Chassis_ErrorCode { + Chassis_ErrorCode_NO_ERROR = 0, + Chassis_ErrorCode_CMD_NOT_IN_PERIOD = 1, + Chassis_ErrorCode_CHASSIS_ERROR = 2, + Chassis_ErrorCode_MANUAL_INTERVENTION = 3, + Chassis_ErrorCode_CHASSIS_CAN_NOT_IN_PERIOD = 4, + Chassis_ErrorCode_UNKNOWN_ERROR = 5, + Chassis_ErrorCode_Chassis_ErrorCode_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Chassis_ErrorCode_Chassis_ErrorCode_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Chassis_ErrorCode_IsValid(int value); +const Chassis_ErrorCode Chassis_ErrorCode_ErrorCode_MIN = Chassis_ErrorCode_NO_ERROR; +const Chassis_ErrorCode Chassis_ErrorCode_ErrorCode_MAX = Chassis_ErrorCode_UNKNOWN_ERROR; +const int Chassis_ErrorCode_ErrorCode_ARRAYSIZE = Chassis_ErrorCode_ErrorCode_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Chassis_ErrorCode_descriptor(); +inline const ::std::string& Chassis_ErrorCode_Name(Chassis_ErrorCode value) { + return ::google::protobuf::internal::NameOfEnum( + Chassis_ErrorCode_descriptor(), value); +} +inline bool Chassis_ErrorCode_Parse( + const ::std::string& name, Chassis_ErrorCode* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Chassis_ErrorCode_descriptor(), name, value); +} +enum Chassis_GearPosition { + Chassis_GearPosition_GEAR_NEUTRAL = 0, + Chassis_GearPosition_GEAR_DRIVE = 1, + Chassis_GearPosition_GEAR_REVERSE = 2, + Chassis_GearPosition_GEAR_PARKING = 3, + Chassis_GearPosition_GEAR_LOW = 4, + Chassis_GearPosition_GEAR_INVALID = 5, + Chassis_GearPosition_GEAR_NONE = 6, + Chassis_GearPosition_Chassis_GearPosition_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Chassis_GearPosition_Chassis_GearPosition_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Chassis_GearPosition_IsValid(int value); +const Chassis_GearPosition Chassis_GearPosition_GearPosition_MIN = Chassis_GearPosition_GEAR_NEUTRAL; +const Chassis_GearPosition Chassis_GearPosition_GearPosition_MAX = Chassis_GearPosition_GEAR_NONE; +const int Chassis_GearPosition_GearPosition_ARRAYSIZE = Chassis_GearPosition_GearPosition_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Chassis_GearPosition_descriptor(); +inline const ::std::string& Chassis_GearPosition_Name(Chassis_GearPosition value) { + return ::google::protobuf::internal::NameOfEnum( + Chassis_GearPosition_descriptor(), value); +} +inline bool Chassis_GearPosition_Parse( + const ::std::string& name, Chassis_GearPosition* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Chassis_GearPosition_descriptor(), name, value); +} +// =================================================================== + +class Signal : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Signal) */ { + public: + Signal(); + virtual ~Signal(); + + Signal(const Signal& from); + + inline Signal& operator=(const Signal& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Signal(Signal&& from) noexcept + : Signal() { + *this = ::std::move(from); + } + + inline Signal& operator=(Signal&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Signal& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Signal* internal_default_instance() { + return reinterpret_cast( + &_Signal_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Signal* other); + friend void swap(Signal& a, Signal& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Signal* New() const final { + return CreateMaybeMessage(NULL); + } + + Signal* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Signal& from); + void MergeFrom(const Signal& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Signal* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef Signal_TurnSignal TurnSignal; + static const TurnSignal TURN_NONE = + Signal_TurnSignal_TURN_NONE; + static const TurnSignal TURN_LEFT = + Signal_TurnSignal_TURN_LEFT; + static const TurnSignal TURN_RIGHT = + Signal_TurnSignal_TURN_RIGHT; + static inline bool TurnSignal_IsValid(int value) { + return Signal_TurnSignal_IsValid(value); + } + static const TurnSignal TurnSignal_MIN = + Signal_TurnSignal_TurnSignal_MIN; + static const TurnSignal TurnSignal_MAX = + Signal_TurnSignal_TurnSignal_MAX; + static const int TurnSignal_ARRAYSIZE = + Signal_TurnSignal_TurnSignal_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + TurnSignal_descriptor() { + return Signal_TurnSignal_descriptor(); + } + static inline const ::std::string& TurnSignal_Name(TurnSignal value) { + return Signal_TurnSignal_Name(value); + } + static inline bool TurnSignal_Parse(const ::std::string& name, + TurnSignal* value) { + return Signal_TurnSignal_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.canbus.Signal.TurnSignal turn_signal = 1; + void clear_turn_signal(); + static const int kTurnSignalFieldNumber = 1; + ::apollo::canbus::Signal_TurnSignal turn_signal() const; + void set_turn_signal(::apollo::canbus::Signal_TurnSignal value); + + // bool high_beam = 2; + void clear_high_beam(); + static const int kHighBeamFieldNumber = 2; + bool high_beam() const; + void set_high_beam(bool value); + + // bool low_beam = 3; + void clear_low_beam(); + static const int kLowBeamFieldNumber = 3; + bool low_beam() const; + void set_low_beam(bool value); + + // bool horn = 4; + void clear_horn(); + static const int kHornFieldNumber = 4; + bool horn() const; + void set_horn(bool value); + + // bool emergency_light = 5; + void clear_emergency_light(); + static const int kEmergencyLightFieldNumber = 5; + bool emergency_light() const; + void set_emergency_light(bool value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Signal) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + int turn_signal_; + bool high_beam_; + bool low_beam_; + bool horn_; + bool emergency_light_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Chassis : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Chassis) */ { + public: + Chassis(); + virtual ~Chassis(); + + Chassis(const Chassis& from); + + inline Chassis& operator=(const Chassis& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Chassis(Chassis&& from) noexcept + : Chassis() { + *this = ::std::move(from); + } + + inline Chassis& operator=(Chassis&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Chassis& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Chassis* internal_default_instance() { + return reinterpret_cast( + &_Chassis_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(Chassis* other); + friend void swap(Chassis& a, Chassis& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Chassis* New() const final { + return CreateMaybeMessage(NULL); + } + + Chassis* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Chassis& from); + void MergeFrom(const Chassis& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Chassis* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef Chassis_DrivingMode DrivingMode; + static const DrivingMode COMPLETE_MANUAL = + Chassis_DrivingMode_COMPLETE_MANUAL; + static const DrivingMode COMPLETE_AUTO_DRIVE = + Chassis_DrivingMode_COMPLETE_AUTO_DRIVE; + static const DrivingMode AUTO_STEER_ONLY = + Chassis_DrivingMode_AUTO_STEER_ONLY; + static const DrivingMode AUTO_SPEED_ONLY = + Chassis_DrivingMode_AUTO_SPEED_ONLY; + static const DrivingMode EMERGENCY_MODE = + Chassis_DrivingMode_EMERGENCY_MODE; + static inline bool DrivingMode_IsValid(int value) { + return Chassis_DrivingMode_IsValid(value); + } + static const DrivingMode DrivingMode_MIN = + Chassis_DrivingMode_DrivingMode_MIN; + static const DrivingMode DrivingMode_MAX = + Chassis_DrivingMode_DrivingMode_MAX; + static const int DrivingMode_ARRAYSIZE = + Chassis_DrivingMode_DrivingMode_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + DrivingMode_descriptor() { + return Chassis_DrivingMode_descriptor(); + } + static inline const ::std::string& DrivingMode_Name(DrivingMode value) { + return Chassis_DrivingMode_Name(value); + } + static inline bool DrivingMode_Parse(const ::std::string& name, + DrivingMode* value) { + return Chassis_DrivingMode_Parse(name, value); + } + + typedef Chassis_ErrorCode ErrorCode; + static const ErrorCode NO_ERROR = + Chassis_ErrorCode_NO_ERROR; + static const ErrorCode CMD_NOT_IN_PERIOD = + Chassis_ErrorCode_CMD_NOT_IN_PERIOD; + static const ErrorCode CHASSIS_ERROR = + Chassis_ErrorCode_CHASSIS_ERROR; + static const ErrorCode MANUAL_INTERVENTION = + Chassis_ErrorCode_MANUAL_INTERVENTION; + static const ErrorCode CHASSIS_CAN_NOT_IN_PERIOD = + Chassis_ErrorCode_CHASSIS_CAN_NOT_IN_PERIOD; + static const ErrorCode UNKNOWN_ERROR = + Chassis_ErrorCode_UNKNOWN_ERROR; + static inline bool ErrorCode_IsValid(int value) { + return Chassis_ErrorCode_IsValid(value); + } + static const ErrorCode ErrorCode_MIN = + Chassis_ErrorCode_ErrorCode_MIN; + static const ErrorCode ErrorCode_MAX = + Chassis_ErrorCode_ErrorCode_MAX; + static const int ErrorCode_ARRAYSIZE = + Chassis_ErrorCode_ErrorCode_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + ErrorCode_descriptor() { + return Chassis_ErrorCode_descriptor(); + } + static inline const ::std::string& ErrorCode_Name(ErrorCode value) { + return Chassis_ErrorCode_Name(value); + } + static inline bool ErrorCode_Parse(const ::std::string& name, + ErrorCode* value) { + return Chassis_ErrorCode_Parse(name, value); + } + + typedef Chassis_GearPosition GearPosition; + static const GearPosition GEAR_NEUTRAL = + Chassis_GearPosition_GEAR_NEUTRAL; + static const GearPosition GEAR_DRIVE = + Chassis_GearPosition_GEAR_DRIVE; + static const GearPosition GEAR_REVERSE = + Chassis_GearPosition_GEAR_REVERSE; + static const GearPosition GEAR_PARKING = + Chassis_GearPosition_GEAR_PARKING; + static const GearPosition GEAR_LOW = + Chassis_GearPosition_GEAR_LOW; + static const GearPosition GEAR_INVALID = + Chassis_GearPosition_GEAR_INVALID; + static const GearPosition GEAR_NONE = + Chassis_GearPosition_GEAR_NONE; + static inline bool GearPosition_IsValid(int value) { + return Chassis_GearPosition_IsValid(value); + } + static const GearPosition GearPosition_MIN = + Chassis_GearPosition_GearPosition_MIN; + static const GearPosition GearPosition_MAX = + Chassis_GearPosition_GearPosition_MAX; + static const int GearPosition_ARRAYSIZE = + Chassis_GearPosition_GearPosition_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + GearPosition_descriptor() { + return Chassis_GearPosition_descriptor(); + } + static inline const ::std::string& GearPosition_Name(GearPosition value) { + return Chassis_GearPosition_Name(value); + } + static inline bool GearPosition_Parse(const ::std::string& name, + GearPosition* value) { + return Chassis_GearPosition_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 25; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 25; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.canbus.Signal signal = 27; + bool has_signal() const; + void clear_signal(); + static const int kSignalFieldNumber = 27; + private: + const ::apollo::canbus::Signal& _internal_signal() const; + public: + const ::apollo::canbus::Signal& signal() const; + ::apollo::canbus::Signal* release_signal(); + ::apollo::canbus::Signal* mutable_signal(); + void set_allocated_signal(::apollo::canbus::Signal* signal); + + // float engine_rpm = 4; + void clear_engine_rpm(); + static const int kEngineRpmFieldNumber = 4; + float engine_rpm() const; + void set_engine_rpm(float value); + + // float speed_mps = 5; + void clear_speed_mps(); + static const int kSpeedMpsFieldNumber = 5; + float speed_mps() const; + void set_speed_mps(float value); + + // float odometer_m = 6; + void clear_odometer_m(); + static const int kOdometerMFieldNumber = 6; + float odometer_m() const; + void set_odometer_m(float value); + + // int32 fuel_range_m = 7; + void clear_fuel_range_m(); + static const int kFuelRangeMFieldNumber = 7; + ::google::protobuf::int32 fuel_range_m() const; + void set_fuel_range_m(::google::protobuf::int32 value); + + // float throttle_percentage = 8; + void clear_throttle_percentage(); + static const int kThrottlePercentageFieldNumber = 8; + float throttle_percentage() const; + void set_throttle_percentage(float value); + + // float brake_percentage = 9; + void clear_brake_percentage(); + static const int kBrakePercentageFieldNumber = 9; + float brake_percentage() const; + void set_brake_percentage(float value); + + // float steering_percentage = 11; + void clear_steering_percentage(); + static const int kSteeringPercentageFieldNumber = 11; + float steering_percentage() const; + void set_steering_percentage(float value); + + // float steering_torque_nm = 12; + void clear_steering_torque_nm(); + static const int kSteeringTorqueNmFieldNumber = 12; + float steering_torque_nm() const; + void set_steering_torque_nm(float value); + + // bool engine_started = 3; + void clear_engine_started(); + static const int kEngineStartedFieldNumber = 3; + bool engine_started() const; + void set_engine_started(bool value); + + // bool parking_brake = 13; + void clear_parking_brake(); + static const int kParkingBrakeFieldNumber = 13; + bool parking_brake() const; + void set_parking_brake(bool value); + + // bool wiper = 19; + void clear_wiper(); + static const int kWiperFieldNumber = 19; + bool wiper() const; + void set_wiper(bool value); + + // bool disengage_status = 20; + void clear_disengage_status(); + static const int kDisengageStatusFieldNumber = 20; + bool disengage_status() const; + void set_disengage_status(bool value); + + // bool high_beam_signal = 14; + void clear_high_beam_signal(); + static const int kHighBeamSignalFieldNumber = 14; + bool high_beam_signal() const; + void set_high_beam_signal(bool value); + + // bool low_beam_signal = 15; + void clear_low_beam_signal(); + static const int kLowBeamSignalFieldNumber = 15; + bool low_beam_signal() const; + void set_low_beam_signal(bool value); + + // bool left_turn_signal = 16; + void clear_left_turn_signal(); + static const int kLeftTurnSignalFieldNumber = 16; + bool left_turn_signal() const; + void set_left_turn_signal(bool value); + + // bool right_turn_signal = 17; + void clear_right_turn_signal(); + static const int kRightTurnSignalFieldNumber = 17; + bool right_turn_signal() const; + void set_right_turn_signal(bool value); + + // bool horn = 18; + void clear_horn(); + static const int kHornFieldNumber = 18; + bool horn() const; + void set_horn(bool value); + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 21; + void clear_driving_mode(); + static const int kDrivingModeFieldNumber = 21; + ::apollo::canbus::Chassis_DrivingMode driving_mode() const; + void set_driving_mode(::apollo::canbus::Chassis_DrivingMode value); + + // .apollo.canbus.Chassis.ErrorCode error_code = 22; + void clear_error_code(); + static const int kErrorCodeFieldNumber = 22; + ::apollo::canbus::Chassis_ErrorCode error_code() const; + void set_error_code(::apollo::canbus::Chassis_ErrorCode value); + + // .apollo.canbus.Chassis.GearPosition gear_location = 23; + void clear_gear_location(); + static const int kGearLocationFieldNumber = 23; + ::apollo::canbus::Chassis_GearPosition gear_location() const; + void set_gear_location(::apollo::canbus::Chassis_GearPosition value); + + // double steering_timestamp = 24; + void clear_steering_timestamp(); + static const int kSteeringTimestampFieldNumber = 24; + double steering_timestamp() const; + void set_steering_timestamp(double value); + + // int32 chassis_error_mask = 26; + void clear_chassis_error_mask(); + static const int kChassisErrorMaskFieldNumber = 26; + ::google::protobuf::int32 chassis_error_mask() const; + void set_chassis_error_mask(::google::protobuf::int32 value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Chassis) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + ::apollo::canbus::Signal* signal_; + float engine_rpm_; + float speed_mps_; + float odometer_m_; + ::google::protobuf::int32 fuel_range_m_; + float throttle_percentage_; + float brake_percentage_; + float steering_percentage_; + float steering_torque_nm_; + bool engine_started_; + bool parking_brake_; + bool wiper_; + bool disengage_status_; + bool high_beam_signal_; + bool low_beam_signal_; + bool left_turn_signal_; + bool right_turn_signal_; + bool horn_; + int driving_mode_; + int error_code_; + int gear_location_; + double steering_timestamp_; + ::google::protobuf::int32 chassis_error_mask_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Signal + +// .apollo.canbus.Signal.TurnSignal turn_signal = 1; +inline void Signal::clear_turn_signal() { + turn_signal_ = 0; +} +inline ::apollo::canbus::Signal_TurnSignal Signal::turn_signal() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Signal.turn_signal) + return static_cast< ::apollo::canbus::Signal_TurnSignal >(turn_signal_); +} +inline void Signal::set_turn_signal(::apollo::canbus::Signal_TurnSignal value) { + + turn_signal_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Signal.turn_signal) +} + +// bool high_beam = 2; +inline void Signal::clear_high_beam() { + high_beam_ = false; +} +inline bool Signal::high_beam() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Signal.high_beam) + return high_beam_; +} +inline void Signal::set_high_beam(bool value) { + + high_beam_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Signal.high_beam) +} + +// bool low_beam = 3; +inline void Signal::clear_low_beam() { + low_beam_ = false; +} +inline bool Signal::low_beam() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Signal.low_beam) + return low_beam_; +} +inline void Signal::set_low_beam(bool value) { + + low_beam_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Signal.low_beam) +} + +// bool horn = 4; +inline void Signal::clear_horn() { + horn_ = false; +} +inline bool Signal::horn() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Signal.horn) + return horn_; +} +inline void Signal::set_horn(bool value) { + + horn_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Signal.horn) +} + +// bool emergency_light = 5; +inline void Signal::clear_emergency_light() { + emergency_light_ = false; +} +inline bool Signal::emergency_light() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Signal.emergency_light) + return emergency_light_; +} +inline void Signal::set_emergency_light(bool value) { + + emergency_light_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Signal.emergency_light) +} + +// ------------------------------------------------------------------- + +// Chassis + +// bool engine_started = 3; +inline void Chassis::clear_engine_started() { + engine_started_ = false; +} +inline bool Chassis::engine_started() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.engine_started) + return engine_started_; +} +inline void Chassis::set_engine_started(bool value) { + + engine_started_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.engine_started) +} + +// float engine_rpm = 4; +inline void Chassis::clear_engine_rpm() { + engine_rpm_ = 0; +} +inline float Chassis::engine_rpm() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.engine_rpm) + return engine_rpm_; +} +inline void Chassis::set_engine_rpm(float value) { + + engine_rpm_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.engine_rpm) +} + +// float speed_mps = 5; +inline void Chassis::clear_speed_mps() { + speed_mps_ = 0; +} +inline float Chassis::speed_mps() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.speed_mps) + return speed_mps_; +} +inline void Chassis::set_speed_mps(float value) { + + speed_mps_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.speed_mps) +} + +// float odometer_m = 6; +inline void Chassis::clear_odometer_m() { + odometer_m_ = 0; +} +inline float Chassis::odometer_m() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.odometer_m) + return odometer_m_; +} +inline void Chassis::set_odometer_m(float value) { + + odometer_m_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.odometer_m) +} + +// int32 fuel_range_m = 7; +inline void Chassis::clear_fuel_range_m() { + fuel_range_m_ = 0; +} +inline ::google::protobuf::int32 Chassis::fuel_range_m() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.fuel_range_m) + return fuel_range_m_; +} +inline void Chassis::set_fuel_range_m(::google::protobuf::int32 value) { + + fuel_range_m_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.fuel_range_m) +} + +// float throttle_percentage = 8; +inline void Chassis::clear_throttle_percentage() { + throttle_percentage_ = 0; +} +inline float Chassis::throttle_percentage() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.throttle_percentage) + return throttle_percentage_; +} +inline void Chassis::set_throttle_percentage(float value) { + + throttle_percentage_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.throttle_percentage) +} + +// float brake_percentage = 9; +inline void Chassis::clear_brake_percentage() { + brake_percentage_ = 0; +} +inline float Chassis::brake_percentage() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.brake_percentage) + return brake_percentage_; +} +inline void Chassis::set_brake_percentage(float value) { + + brake_percentage_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.brake_percentage) +} + +// float steering_percentage = 11; +inline void Chassis::clear_steering_percentage() { + steering_percentage_ = 0; +} +inline float Chassis::steering_percentage() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.steering_percentage) + return steering_percentage_; +} +inline void Chassis::set_steering_percentage(float value) { + + steering_percentage_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.steering_percentage) +} + +// float steering_torque_nm = 12; +inline void Chassis::clear_steering_torque_nm() { + steering_torque_nm_ = 0; +} +inline float Chassis::steering_torque_nm() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.steering_torque_nm) + return steering_torque_nm_; +} +inline void Chassis::set_steering_torque_nm(float value) { + + steering_torque_nm_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.steering_torque_nm) +} + +// bool parking_brake = 13; +inline void Chassis::clear_parking_brake() { + parking_brake_ = false; +} +inline bool Chassis::parking_brake() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.parking_brake) + return parking_brake_; +} +inline void Chassis::set_parking_brake(bool value) { + + parking_brake_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.parking_brake) +} + +// bool wiper = 19; +inline void Chassis::clear_wiper() { + wiper_ = false; +} +inline bool Chassis::wiper() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.wiper) + return wiper_; +} +inline void Chassis::set_wiper(bool value) { + + wiper_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.wiper) +} + +// bool disengage_status = 20; +inline void Chassis::clear_disengage_status() { + disengage_status_ = false; +} +inline bool Chassis::disengage_status() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.disengage_status) + return disengage_status_; +} +inline void Chassis::set_disengage_status(bool value) { + + disengage_status_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.disengage_status) +} + +// .apollo.canbus.Chassis.DrivingMode driving_mode = 21; +inline void Chassis::clear_driving_mode() { + driving_mode_ = 0; +} +inline ::apollo::canbus::Chassis_DrivingMode Chassis::driving_mode() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.driving_mode) + return static_cast< ::apollo::canbus::Chassis_DrivingMode >(driving_mode_); +} +inline void Chassis::set_driving_mode(::apollo::canbus::Chassis_DrivingMode value) { + + driving_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.driving_mode) +} + +// .apollo.canbus.Chassis.ErrorCode error_code = 22; +inline void Chassis::clear_error_code() { + error_code_ = 0; +} +inline ::apollo::canbus::Chassis_ErrorCode Chassis::error_code() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.error_code) + return static_cast< ::apollo::canbus::Chassis_ErrorCode >(error_code_); +} +inline void Chassis::set_error_code(::apollo::canbus::Chassis_ErrorCode value) { + + error_code_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.error_code) +} + +// .apollo.canbus.Chassis.GearPosition gear_location = 23; +inline void Chassis::clear_gear_location() { + gear_location_ = 0; +} +inline ::apollo::canbus::Chassis_GearPosition Chassis::gear_location() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.gear_location) + return static_cast< ::apollo::canbus::Chassis_GearPosition >(gear_location_); +} +inline void Chassis::set_gear_location(::apollo::canbus::Chassis_GearPosition value) { + + gear_location_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.gear_location) +} + +// double steering_timestamp = 24; +inline void Chassis::clear_steering_timestamp() { + steering_timestamp_ = 0; +} +inline double Chassis::steering_timestamp() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.steering_timestamp) + return steering_timestamp_; +} +inline void Chassis::set_steering_timestamp(double value) { + + steering_timestamp_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.steering_timestamp) +} + +// .apollo.common.Header header = 25; +inline bool Chassis::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& Chassis::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& Chassis::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* Chassis::release_header() { + // @@protoc_insertion_point(field_release:apollo.canbus.Chassis.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* Chassis::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.Chassis.header) + return header_; +} +inline void Chassis::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.Chassis.header) +} + +// int32 chassis_error_mask = 26; +inline void Chassis::clear_chassis_error_mask() { + chassis_error_mask_ = 0; +} +inline ::google::protobuf::int32 Chassis::chassis_error_mask() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.chassis_error_mask) + return chassis_error_mask_; +} +inline void Chassis::set_chassis_error_mask(::google::protobuf::int32 value) { + + chassis_error_mask_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.chassis_error_mask) +} + +// .apollo.canbus.Signal signal = 27; +inline bool Chassis::has_signal() const { + return this != internal_default_instance() && signal_ != NULL; +} +inline void Chassis::clear_signal() { + if (GetArenaNoVirtual() == NULL && signal_ != NULL) { + delete signal_; + } + signal_ = NULL; +} +inline const ::apollo::canbus::Signal& Chassis::_internal_signal() const { + return *signal_; +} +inline const ::apollo::canbus::Signal& Chassis::signal() const { + const ::apollo::canbus::Signal* p = signal_; + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.signal) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Signal_default_instance_); +} +inline ::apollo::canbus::Signal* Chassis::release_signal() { + // @@protoc_insertion_point(field_release:apollo.canbus.Chassis.signal) + + ::apollo::canbus::Signal* temp = signal_; + signal_ = NULL; + return temp; +} +inline ::apollo::canbus::Signal* Chassis::mutable_signal() { + + if (signal_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Signal>(GetArenaNoVirtual()); + signal_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.Chassis.signal) + return signal_; +} +inline void Chassis::set_allocated_signal(::apollo::canbus::Signal* signal) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete signal_; + } + if (signal) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + signal = ::google::protobuf::internal::GetOwnedMessage( + message_arena, signal, submessage_arena); + } + + } else { + + } + signal_ = signal; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.Chassis.signal) +} + +// bool high_beam_signal = 14; +inline void Chassis::clear_high_beam_signal() { + high_beam_signal_ = false; +} +inline bool Chassis::high_beam_signal() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.high_beam_signal) + return high_beam_signal_; +} +inline void Chassis::set_high_beam_signal(bool value) { + + high_beam_signal_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.high_beam_signal) +} + +// bool low_beam_signal = 15; +inline void Chassis::clear_low_beam_signal() { + low_beam_signal_ = false; +} +inline bool Chassis::low_beam_signal() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.low_beam_signal) + return low_beam_signal_; +} +inline void Chassis::set_low_beam_signal(bool value) { + + low_beam_signal_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.low_beam_signal) +} + +// bool left_turn_signal = 16; +inline void Chassis::clear_left_turn_signal() { + left_turn_signal_ = false; +} +inline bool Chassis::left_turn_signal() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.left_turn_signal) + return left_turn_signal_; +} +inline void Chassis::set_left_turn_signal(bool value) { + + left_turn_signal_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.left_turn_signal) +} + +// bool right_turn_signal = 17; +inline void Chassis::clear_right_turn_signal() { + right_turn_signal_ = false; +} +inline bool Chassis::right_turn_signal() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.right_turn_signal) + return right_turn_signal_; +} +inline void Chassis::set_right_turn_signal(bool value) { + + right_turn_signal_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.right_turn_signal) +} + +// bool horn = 18; +inline void Chassis::clear_horn() { + horn_ = false; +} +inline bool Chassis::horn() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Chassis.horn) + return horn_; +} +inline void Chassis::set_horn(bool value) { + + horn_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Chassis.horn) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace canbus +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::canbus::Signal_TurnSignal> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Signal_TurnSignal>() { + return ::apollo::canbus::Signal_TurnSignal_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Chassis_DrivingMode> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Chassis_DrivingMode>() { + return ::apollo::canbus::Chassis_DrivingMode_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Chassis_ErrorCode> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Chassis_ErrorCode>() { + return ::apollo::canbus::Chassis_ErrorCode_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Chassis_GearPosition> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Chassis_GearPosition>() { + return ::apollo::canbus::Chassis_GearPosition_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/canbus/chassis_detail.pb.cc b/apollo_msgs/include/apollo_msgs/proto/canbus/chassis_detail.pb.cc new file mode 100644 index 0000000..62c4a96 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/canbus/chassis_detail.pb.cc @@ -0,0 +1,12819 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/canbus/chassis_detail.proto + +#include "apollo_msgs/proto/canbus/chassis_detail.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_BasicInfo; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Battery; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Brake; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_CheckResponseSignal; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Deceleration; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Ems; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Epb; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Eps; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Esp; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Gas; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Gear; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Light; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Safety; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_VehicleSpd; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto +namespace apollo { +namespace canbus { +class ChassisDetailDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ChassisDetail_default_instance_; +class CheckResponseSignalDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _CheckResponseSignal_default_instance_; +class BatteryDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Battery_default_instance_; +class LightDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Light_default_instance_; +class EpsDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Eps_default_instance_; +class VehicleSpdDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _VehicleSpd_default_instance_; +class DecelerationDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Deceleration_default_instance_; +class BrakeDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Brake_default_instance_; +class EpbDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Epb_default_instance_; +class GasDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Gas_default_instance_; +class EspDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Esp_default_instance_; +class EmsDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Ems_default_instance_; +class GearDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Gear_default_instance_; +class SafetyDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Safety_default_instance_; +class BasicInfoDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _BasicInfo_default_instance_; +} // namespace canbus +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto { +static void InitDefaultsChassisDetail() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_ChassisDetail_default_instance_; + new (ptr) ::apollo::canbus::ChassisDetail(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::ChassisDetail::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<14> scc_info_ChassisDetail = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 14, InitDefaultsChassisDetail}, { + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_BasicInfo.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Safety.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Gear.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Ems.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Esp.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Gas.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Epb.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Brake.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Deceleration.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_VehicleSpd.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Eps.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Light.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Battery.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_CheckResponseSignal.base,}}; + +static void InitDefaultsCheckResponseSignal() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_CheckResponseSignal_default_instance_; + new (ptr) ::apollo::canbus::CheckResponseSignal(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::CheckResponseSignal::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_CheckResponseSignal = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsCheckResponseSignal}, {}}; + +static void InitDefaultsBattery() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Battery_default_instance_; + new (ptr) ::apollo::canbus::Battery(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Battery::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Battery = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsBattery}, {}}; + +static void InitDefaultsLight() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Light_default_instance_; + new (ptr) ::apollo::canbus::Light(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Light::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Light = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsLight}, {}}; + +static void InitDefaultsEps() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Eps_default_instance_; + new (ptr) ::apollo::canbus::Eps(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Eps::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Eps = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsEps}, {}}; + +static void InitDefaultsVehicleSpd() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_VehicleSpd_default_instance_; + new (ptr) ::apollo::canbus::VehicleSpd(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::VehicleSpd::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_VehicleSpd = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsVehicleSpd}, {}}; + +static void InitDefaultsDeceleration() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Deceleration_default_instance_; + new (ptr) ::apollo::canbus::Deceleration(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Deceleration::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Deceleration = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsDeceleration}, {}}; + +static void InitDefaultsBrake() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Brake_default_instance_; + new (ptr) ::apollo::canbus::Brake(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Brake::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Brake = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsBrake}, {}}; + +static void InitDefaultsEpb() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Epb_default_instance_; + new (ptr) ::apollo::canbus::Epb(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Epb::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Epb = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsEpb}, {}}; + +static void InitDefaultsGas() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Gas_default_instance_; + new (ptr) ::apollo::canbus::Gas(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Gas::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Gas = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsGas}, {}}; + +static void InitDefaultsEsp() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Esp_default_instance_; + new (ptr) ::apollo::canbus::Esp(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Esp::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Esp = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsEsp}, {}}; + +static void InitDefaultsEms() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Ems_default_instance_; + new (ptr) ::apollo::canbus::Ems(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Ems::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Ems = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsEms}, {}}; + +static void InitDefaultsGear() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Gear_default_instance_; + new (ptr) ::apollo::canbus::Gear(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Gear::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Gear = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsGear}, {}}; + +static void InitDefaultsSafety() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_Safety_default_instance_; + new (ptr) ::apollo::canbus::Safety(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::Safety::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Safety = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsSafety}, {}}; + +static void InitDefaultsBasicInfo() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::canbus::_BasicInfo_default_instance_; + new (ptr) ::apollo::canbus::BasicInfo(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::canbus::BasicInfo::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_BasicInfo = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsBasicInfo}, {}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_ChassisDetail.base); + ::google::protobuf::internal::InitSCC(&scc_info_CheckResponseSignal.base); + ::google::protobuf::internal::InitSCC(&scc_info_Battery.base); + ::google::protobuf::internal::InitSCC(&scc_info_Light.base); + ::google::protobuf::internal::InitSCC(&scc_info_Eps.base); + ::google::protobuf::internal::InitSCC(&scc_info_VehicleSpd.base); + ::google::protobuf::internal::InitSCC(&scc_info_Deceleration.base); + ::google::protobuf::internal::InitSCC(&scc_info_Brake.base); + ::google::protobuf::internal::InitSCC(&scc_info_Epb.base); + ::google::protobuf::internal::InitSCC(&scc_info_Gas.base); + ::google::protobuf::internal::InitSCC(&scc_info_Esp.base); + ::google::protobuf::internal::InitSCC(&scc_info_Ems.base); + ::google::protobuf::internal::InitSCC(&scc_info_Gear.base); + ::google::protobuf::internal::InitSCC(&scc_info_Safety.base); + ::google::protobuf::internal::InitSCC(&scc_info_BasicInfo.base); +} + +::google::protobuf::Metadata file_level_metadata[15]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[14]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, car_type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, basic_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, safety_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, gear_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, ems_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, esp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, gas_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, epb_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, brake_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, deceleration_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, vehicle_spd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, eps_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, light_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, battery_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::ChassisDetail, check_response_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::CheckResponseSignal, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::CheckResponseSignal, is_eps_online_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::CheckResponseSignal, is_epb_online_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::CheckResponseSignal, is_esp_online_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::CheckResponseSignal, is_vtog_online_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::CheckResponseSignal, is_scu_online_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::CheckResponseSignal, is_switch_online_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::CheckResponseSignal, is_vcu_online_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Battery, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Battery, battery_percent_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Battery, fuel_level_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, turn_light_type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, lamp_type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, is_brake_lamp_on_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, is_auto_light_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, wiper_gear_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, lotion_gear_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, is_horn_on_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, lincoln_lamp_type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, lincoln_wiper_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Light, lincoln_ambient_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, is_eps_fail_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, eps_control_state_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, eps_driver_hand_torq_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, is_steering_angle_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, steering_angle_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, steering_angle_spd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, is_trimming_status_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, is_calibration_status_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, is_failure_status_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, allow_enter_autonomous_mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, current_driving_mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, steering_angle_cmd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, vehicle_speed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, epas_torque_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, steering_enabled_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, driver_override_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, driver_activity_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, watchdog_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, channel_1_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, channel_2_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, calibration_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, connector_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, timestamp_65_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, major_version_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, minor_version_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Eps, build_number_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, is_vehicle_standstill_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, is_vehicle_spd_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, vehicle_spd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, is_wheel_spd_rr_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, wheel_direction_rr_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, wheel_spd_rr_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, is_wheel_spd_rl_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, wheel_direction_rl_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, wheel_spd_rl_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, is_wheel_spd_fr_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, wheel_direction_fr_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, wheel_spd_fr_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, is_wheel_spd_fl_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, wheel_direction_fl_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, wheel_spd_fl_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, is_yaw_rate_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, yaw_rate_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, yaw_rate_offset_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, is_ax_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, ax_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, ax_offset_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, is_ay_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, ay_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, ay_offset_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, lat_acc_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, long_acc_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, vert_acc_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, roll_rate_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, acc_est_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::VehicleSpd, timestamp_sec_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Deceleration, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Deceleration, is_deceleration_available_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Deceleration, is_deceleration_active_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Deceleration, deceleration_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Deceleration, is_evb_fail_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Deceleration, evb_pressure_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Deceleration, brake_pressure_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Deceleration, brake_pressure_spd_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, is_brake_pedal_pressed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, is_brake_force_exist_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, is_brake_over_heat_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, is_hand_brake_on_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, brake_pedal_position_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, is_brake_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, brake_input_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, brake_cmd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, brake_output_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, boo_input_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, boo_cmd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, boo_output_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, watchdog_applying_brakes_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, watchdog_source_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, brake_enabled_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, driver_override_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, driver_activity_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, watchdog_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, channel_1_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, channel_2_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, boo_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, connector_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, brake_torque_req_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, hsa_status_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, brake_torque_act_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, hsa_mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, wheel_torque_act_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, major_version_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, minor_version_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Brake, build_number_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Epb, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Epb, is_epb_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Epb, is_epb_released_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Epb, epb_status_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Epb, parking_brake_status_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, is_gas_pedal_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, is_gas_pedal_pressed_more_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, gas_pedal_position_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, is_gas_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, throttle_input_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, throttle_cmd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, throttle_output_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, watchdog_source_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, throttle_enabled_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, driver_override_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, driver_activity_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, watchdog_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, channel_1_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, channel_2_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, connector_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, accelerator_pedal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, accelerator_pedal_rate_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, major_version_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, minor_version_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gas, build_number_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_esp_acc_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_esp_on_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_esp_active_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_abs_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_abs_active_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_tcsvdc_fail_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_abs_enabled_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_stab_active_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_stab_enabled_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_trac_active_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Esp, is_trac_enabled_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, is_engine_acc_available_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, is_engine_acc_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, engine_state_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, max_engine_torq_percent_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, min_engine_torq_percent_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, base_engine_torq_constant_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, is_engine_speed_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, engine_speed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, engine_torque_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, is_over_engine_torque_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Ems, engine_rpm_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gear, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gear, is_shift_position_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gear, gear_state_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gear, driver_override_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gear, gear_cmd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Gear, canbus_fault_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_driver_car_door_close_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_driver_buckled_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, emergency_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, has_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_motor_invertor_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_system_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_power_battery_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_motor_invertor_over_temperature_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_small_battery_charge_discharge_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, driving_mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_passenger_door_open_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_rearleft_door_open_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_rearright_door_open_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_hood_open_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_trunk_open_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_passenger_detected_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_passenger_airbag_enabled_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, is_passenger_buckled_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, front_left_tire_press_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, front_right_tire_press_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, rear_left_tire_press_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, rear_right_tire_press_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::Safety, car_driving_mode_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, is_auto_mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, power_state_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, is_air_bag_deployed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, odo_meter_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, drive_range_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, is_system_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, is_human_interrupt_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_on_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_off_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_res_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_cancel_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_on_off_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_res_cancel_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_inc_spd_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_dec_spd_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_inc_gap_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, acc_dec_gap_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, lka_button_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, canbus_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, latitude_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, longitude_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, gps_valid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, year_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, month_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, day_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, hours_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, minutes_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, seconds_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, compass_direction_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, pdop_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, is_gps_fault_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, is_inferred_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, altitude_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, heading_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, hdop_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, vdop_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, quality_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, num_satellites_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::canbus::BasicInfo, gps_speed_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::canbus::ChassisDetail)}, + { 20, -1, sizeof(::apollo::canbus::CheckResponseSignal)}, + { 32, -1, sizeof(::apollo::canbus::Battery)}, + { 39, -1, sizeof(::apollo::canbus::Light)}, + { 54, -1, sizeof(::apollo::canbus::Eps)}, + { 85, -1, sizeof(::apollo::canbus::VehicleSpd)}, + { 120, -1, sizeof(::apollo::canbus::Deceleration)}, + { 132, -1, sizeof(::apollo::canbus::Brake)}, + { 167, -1, sizeof(::apollo::canbus::Epb)}, + { 176, -1, sizeof(::apollo::canbus::Gas)}, + { 201, -1, sizeof(::apollo::canbus::Esp)}, + { 217, -1, sizeof(::apollo::canbus::Ems)}, + { 233, -1, sizeof(::apollo::canbus::Gear)}, + { 243, -1, sizeof(::apollo::canbus::Safety)}, + { 271, -1, sizeof(::apollo::canbus::BasicInfo)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::canbus::_ChassisDetail_default_instance_), + reinterpret_cast(&::apollo::canbus::_CheckResponseSignal_default_instance_), + reinterpret_cast(&::apollo::canbus::_Battery_default_instance_), + reinterpret_cast(&::apollo::canbus::_Light_default_instance_), + reinterpret_cast(&::apollo::canbus::_Eps_default_instance_), + reinterpret_cast(&::apollo::canbus::_VehicleSpd_default_instance_), + reinterpret_cast(&::apollo::canbus::_Deceleration_default_instance_), + reinterpret_cast(&::apollo::canbus::_Brake_default_instance_), + reinterpret_cast(&::apollo::canbus::_Epb_default_instance_), + reinterpret_cast(&::apollo::canbus::_Gas_default_instance_), + reinterpret_cast(&::apollo::canbus::_Esp_default_instance_), + reinterpret_cast(&::apollo::canbus::_Ems_default_instance_), + reinterpret_cast(&::apollo::canbus::_Gear_default_instance_), + reinterpret_cast(&::apollo::canbus::_Safety_default_instance_), + reinterpret_cast(&::apollo::canbus::_BasicInfo_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/canbus/chassis_detail.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 15); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n-apollo_msgs/proto/canbus/chassis_detai" + "l.proto\022\rapollo.canbus\032&apollo_msgs/prot" + "o/canbus/chassis.proto\"\235\005\n\rChassisDetail" + "\0223\n\010car_type\030\001 \001(\0162!.apollo.canbus.Chass" + "isDetail.Type\022\'\n\005basic\030\002 \001(\0132\030.apollo.ca" + "nbus.BasicInfo\022%\n\006safety\030\003 \001(\0132\025.apollo." + "canbus.Safety\022!\n\004gear\030\004 \001(\0132\023.apollo.can" + "bus.Gear\022\037\n\003ems\030\005 \001(\0132\022.apollo.canbus.Em" + "s\022\037\n\003esp\030\006 \001(\0132\022.apollo.canbus.Esp\022\037\n\003ga" + "s\030\007 \001(\0132\022.apollo.canbus.Gas\022\037\n\003epb\030\010 \001(\013" + "2\022.apollo.canbus.Epb\022#\n\005brake\030\t \001(\0132\024.ap" + "ollo.canbus.Brake\0221\n\014deceleration\030\n \001(\0132" + "\033.apollo.canbus.Deceleration\022.\n\013vehicle_" + "spd\030\013 \001(\0132\031.apollo.canbus.VehicleSpd\022\037\n\003" + "eps\030\014 \001(\0132\022.apollo.canbus.Eps\022#\n\005light\030\r" + " \001(\0132\024.apollo.canbus.Light\022\'\n\007battery\030\016 " + "\001(\0132\026.apollo.canbus.Battery\022:\n\016check_res" + "ponse\030\017 \001(\0132\".apollo.canbus.CheckRespons" + "eSignal\"-\n\004Type\022\017\n\013QIRUI_EQ_15\020\000\022\024\n\020CHAN" + "GAN_RUICHENG\020\001\"\272\001\n\023CheckResponseSignal\022\025" + "\n\ris_eps_online\030\001 \001(\010\022\025\n\ris_epb_online\030\002" + " \001(\010\022\025\n\ris_esp_online\030\003 \001(\010\022\026\n\016is_vtog_o" + "nline\030\004 \001(\010\022\025\n\ris_scu_online\030\005 \001(\010\022\030\n\020is" + "_switch_online\030\006 \001(\010\022\025\n\ris_vcu_online\030\007 " + "\001(\010\"6\n\007Battery\022\027\n\017battery_percent\030\001 \001(\001\022" + "\022\n\nfuel_level\030\002 \001(\001\"\244\t\n\005Light\022;\n\017turn_li" + "ght_type\030\001 \001(\0162\".apollo.canbus.Light.Tur" + "nLightType\0220\n\tlamp_type\030\002 \001(\0162\035.apollo.c" + "anbus.Light.LampType\022\030\n\020is_brake_lamp_on" + "\030\003 \001(\010\022\025\n\ris_auto_light\030\004 \001(\010\022\022\n\nwiper_g" + "ear\030\005 \001(\005\022\023\n\013lotion_gear\030\006 \001(\005\022\022\n\nis_hor" + "n_on\030\007 \001(\010\022\?\n\021lincoln_lamp_type\030\010 \001(\0162$." + "apollo.canbus.Light.LincolnLampType\022<\n\rl" + "incoln_wiper\030\t \001(\0162%.apollo.canbus.Light" + ".LincolnWiperType\022@\n\017lincoln_ambient\030\n \001" + "(\0162\'.apollo.canbus.Light.LincolnAmbientT" + "ype\"[\n\rTurnLightType\022\022\n\016TURN_LIGHT_OFF\020\000" + "\022\020\n\014TURN_LEFT_ON\020\001\022\021\n\rTURN_RIGHT_ON\020\002\022\021\n" + "\rTURN_LIGHT_ON\020\003\";\n\010LampType\022\014\n\010BEAM_OFF" + "\020\000\022\020\n\014HIGH_BEAM_ON\020\001\022\017\n\013LOW_BEAM_ON\020\002\"Y\n" + "\017LincolnLampType\022\r\n\tBEAM_NULL\020\000\022\026\n\022BEAM_" + "FLASH_TO_PASS\020\001\022\r\n\tBEAM_HIGH\020\002\022\020\n\014BEAM_I" + "NVALID\020\003\"\334\002\n\020LincolnWiperType\022\r\n\tWIPER_O" + "FF\020\000\022\022\n\016WIPER_AUTO_OFF\020\001\022\024\n\020WIPER_OFF_MO" + "VING\020\002\022\024\n\020WIPER_MANUAL_OFF\020\003\022\023\n\017WIPER_MA" + "NUAL_ON\020\004\022\024\n\020WIPER_MANUAL_LOW\020\005\022\025\n\021WIPER" + "_MANUAL_HIGH\020\006\022\024\n\020WIPER_MIST_FLICK\020\007\022\016\n\n" + "WIPER_WASH\020\010\022\022\n\016WIPER_AUTO_LOW\020\t\022\023\n\017WIPE" + "R_AUTO_HIGH\020\n\022\027\n\023WIPER_COURTESY_WIPE\020\013\022\025" + "\n\021WIPER_AUTO_ADJUST\020\014\022\022\n\016WIPER_RESERVED\020" + "\r\022\021\n\rWIPER_STALLED\020\016\022\021\n\rWIPER_NO_DATA\020\017\"" + "\250\001\n\022LincolnAmbientType\022\020\n\014AMBIENT_DARK\020\000" + "\022\021\n\rAMBIENT_LIGHT\020\001\022\024\n\020AMBIENT_TWILIGHT\020" + "\002\022\025\n\021AMBIENT_TUNNEL_ON\020\003\022\026\n\022AMBIENT_TUNN" + "EL_OFF\020\004\022\023\n\017AMBIENT_INVALID\020\005\022\023\n\017AMBIENT" + "_NO_DATA\020\007\"\205\006\n\003Eps\022\023\n\013is_eps_fail\030\001 \001(\010\022" + "2\n\021eps_control_state\030\002 \001(\0162\027.apollo.canb" + "us.Eps.Type\022\034\n\024eps_driver_hand_torq\030\003 \001(" + "\001\022\037\n\027is_steering_angle_valid\030\004 \001(\010\022\026\n\016st" + "eering_angle\030\005 \001(\001\022\032\n\022steering_angle_spd" + "\030\006 \001(\001\022\032\n\022is_trimming_status\030\007 \001(\010\022\035\n\025is" + "_calibration_status\030\010 \001(\010\022\031\n\021is_failure_" + "status\030\t \001(\010\022#\n\033allow_enter_autonomous_m" + "ode\030\n \001(\005\022\034\n\024current_driving_mode\030\013 \001(\005\022" + "\032\n\022steering_angle_cmd\030\014 \001(\001\022\025\n\rvehicle_s" + "peed\030\r \001(\001\022\023\n\013epas_torque\030\016 \001(\001\022\030\n\020steer" + "ing_enabled\030\017 \001(\010\022\027\n\017driver_override\030\020 \001" + "(\010\022\027\n\017driver_activity\030\021 \001(\010\022\026\n\016watchdog_" + "fault\030\022 \001(\010\022\027\n\017channel_1_fault\030\023 \001(\010\022\027\n\017" + "channel_2_fault\030\024 \001(\010\022\031\n\021calibration_fau" + "lt\030\025 \001(\010\022\027\n\017connector_fault\030\026 \001(\010\022\024\n\014tim" + "estamp_65\030\027 \001(\001\022\025\n\rmajor_version\030\030 \001(\005\022\025" + "\n\rminor_version\030\031 \001(\005\022\024\n\014build_number\030\032 " + "\001(\005\"=\n\004Type\022\021\n\rNOT_AVAILABLE\020\000\022\t\n\005READY\020" + "\001\022\n\n\006ACTIVE\020\002\022\013\n\007INVALID\020\003\"\200\007\n\nVehicleSp" + "d\022\035\n\025is_vehicle_standstill\030\001 \001(\010\022\034\n\024is_v" + "ehicle_spd_valid\030\002 \001(\010\022\023\n\013vehicle_spd\030\003 " + "\001(\001\022\035\n\025is_wheel_spd_rr_valid\030\004 \001(\010\022:\n\022wh" + "eel_direction_rr\030\005 \001(\0162\036.apollo.canbus.V" + "ehicleSpd.Type\022\024\n\014wheel_spd_rr\030\006 \001(\001\022\035\n\025" + "is_wheel_spd_rl_valid\030\007 \001(\010\022:\n\022wheel_dir" + "ection_rl\030\010 \001(\0162\036.apollo.canbus.VehicleS" + "pd.Type\022\024\n\014wheel_spd_rl\030\t \001(\001\022\035\n\025is_whee" + "l_spd_fr_valid\030\n \001(\010\022:\n\022wheel_direction_" + "fr\030\013 \001(\0162\036.apollo.canbus.VehicleSpd.Type" + "\022\024\n\014wheel_spd_fr\030\014 \001(\001\022\035\n\025is_wheel_spd_f" + "l_valid\030\r \001(\010\022:\n\022wheel_direction_fl\030\016 \001(" + "\0162\036.apollo.canbus.VehicleSpd.Type\022\024\n\014whe" + "el_spd_fl\030\017 \001(\001\022\031\n\021is_yaw_rate_valid\030\020 \001" + "(\010\022\020\n\010yaw_rate\030\021 \001(\001\022\027\n\017yaw_rate_offset\030" + "\022 \001(\001\022\023\n\013is_ax_valid\030\023 \001(\010\022\n\n\002ax\030\024 \001(\001\022\021" + "\n\tax_offset\030\025 \001(\001\022\023\n\013is_ay_valid\030\026 \001(\010\022\n" + "\n\002ay\030\027 \001(\001\022\021\n\tay_offset\030\030 \001(\001\022\017\n\007lat_acc" + "\030\031 \001(\001\022\020\n\010long_acc\030\032 \001(\001\022\020\n\010vert_acc\030\033 \001" + "(\001\022\021\n\troll_rate\030\034 \001(\001\022\017\n\007acc_est\030\035 \001(\001\022\025" + "\n\rtimestamp_sec\030\036 \001(\001\">\n\004Type\022\013\n\007FORWARD" + "\020\000\022\014\n\010BACKWARD\020\001\022\016\n\nSTANDSTILL\020\002\022\013\n\007INVA" + "LID\020\003\"\306\001\n\014Deceleration\022!\n\031is_deceleratio" + "n_available\030\001 \001(\010\022\036\n\026is_deceleration_act" + "ive\030\002 \001(\010\022\024\n\014deceleration\030\003 \001(\001\022\023\n\013is_ev" + "b_fail\030\004 \001(\001\022\024\n\014evb_pressure\030\005 \001(\001\022\026\n\016br" + "ake_pressure\030\006 \001(\001\022\032\n\022brake_pressure_spd" + "\030\007 \001(\001\"\257\010\n\005Brake\022\036\n\026is_brake_pedal_press" + "ed\030\001 \001(\010\022\034\n\024is_brake_force_exist\030\002 \001(\010\022\032" + "\n\022is_brake_over_heat\030\003 \001(\010\022\030\n\020is_hand_br" + "ake_on\030\004 \001(\010\022\034\n\024brake_pedal_position\030\005 \001" + "(\001\022\026\n\016is_brake_valid\030\006 \001(\010\022\023\n\013brake_inpu" + "t\030\007 \001(\001\022\021\n\tbrake_cmd\030\010 \001(\001\022\024\n\014brake_outp" + "ut\030\t \001(\001\022\021\n\tboo_input\030\n \001(\010\022\017\n\007boo_cmd\030\013" + " \001(\010\022\022\n\nboo_output\030\014 \001(\010\022 \n\030watchdog_app" + "lying_brakes\030\r \001(\010\022\027\n\017watchdog_source\030\016 " + "\001(\005\022\025\n\rbrake_enabled\030\017 \001(\010\022\027\n\017driver_ove" + "rride\030\020 \001(\010\022\027\n\017driver_activity\030\021 \001(\010\022\026\n\016" + "watchdog_fault\030\022 \001(\010\022\027\n\017channel_1_fault\030" + "\023 \001(\010\022\027\n\017channel_2_fault\030\024 \001(\010\022\021\n\tboo_fa" + "ult\030\025 \001(\010\022\027\n\017connector_fault\030\026 \001(\010\022\030\n\020br" + "ake_torque_req\030\027 \001(\005\0226\n\nhsa_status\030\030 \001(\016" + "2\".apollo.canbus.Brake.HSAStatusType\022\030\n\020" + "brake_torque_act\030\031 \001(\005\0222\n\010hsa_mode\030\032 \001(\016" + "2 .apollo.canbus.Brake.HSAModeType\022\030\n\020wh" + "eel_torque_act\030\033 \001(\005\022\025\n\rmajor_version\030\034 " + "\001(\005\022\025\n\rminor_version\030\035 \001(\005\022\024\n\014build_numb" + "er\030\036 \001(\005\"\273\001\n\rHSAStatusType\022\020\n\014HSA_INACTI" + "VE\020\000\022\030\n\024HSA_FINDING_GRADIENT\020\001\022\026\n\022HSA_AC" + "TIVE_PRESSED\020\002\022\027\n\023HSA_ACTIVE_RELEASED\020\003\022" + "\024\n\020HSA_FAST_RELEASE\020\004\022\024\n\020HSA_SLOW_RELEAS" + "E\020\005\022\016\n\nHSA_FAILED\020\006\022\021\n\rHSA_UNDEFINED\020\007\"P" + "\n\013HSAModeType\022\013\n\007HSA_OFF\020\000\022\014\n\010HSA_AUTO\020\001" + "\022\016\n\nHSA_MANUAL\020\002\022\026\n\022HSA_MODE_UNDEFINED\020\003" + "\"\333\001\n\003Epb\022\024\n\014is_epb_error\030\001 \001(\010\022\027\n\017is_epb" + "_released\030\002 \001(\010\022\022\n\nepb_status\030\003 \001(\005\022;\n\024p" + "arking_brake_status\030\004 \001(\0162\035.apollo.canbu" + "s.Epb.PBrakeType\"T\n\nPBrakeType\022\016\n\nPBRAKE" + "_OFF\020\000\022\025\n\021PBRAKE_TRANSITION\020\001\022\r\n\tPBRAKE_" + "ON\020\002\022\020\n\014PBRAKE_FAULT\020\003\"\204\004\n\003Gas\022\032\n\022is_gas" + "_pedal_error\030\001 \001(\010\022!\n\031is_gas_pedal_press" + "ed_more\030\002 \001(\010\022\032\n\022gas_pedal_position\030\003 \001(" + "\001\022\024\n\014is_gas_valid\030\004 \001(\010\022\026\n\016throttle_inpu" + "t\030\005 \001(\001\022\024\n\014throttle_cmd\030\006 \001(\001\022\027\n\017throttl" + "e_output\030\007 \001(\001\022\027\n\017watchdog_source\030\010 \001(\005\022" + "\030\n\020throttle_enabled\030\t \001(\010\022\027\n\017driver_over" + "ride\030\n \001(\010\022\027\n\017driver_activity\030\013 \001(\010\022\026\n\016w" + "atchdog_fault\030\014 \001(\010\022\027\n\017channel_1_fault\030\r" + " \001(\010\022\027\n\017channel_2_fault\030\016 \001(\010\022\027\n\017connect" + "or_fault\030\017 \001(\010\022\031\n\021accelerator_pedal\030\020 \001(" + "\001\022\036\n\026accelerator_pedal_rate\030\021 \001(\001\022\025\n\rmaj" + "or_version\030\022 \001(\005\022\025\n\rminor_version\030\023 \001(\005\022" + "\024\n\014build_number\030\024 \001(\005\"\210\002\n\003Esp\022\030\n\020is_esp_" + "acc_error\030\001 \001(\010\022\021\n\tis_esp_on\030\002 \001(\010\022\025\n\ris" + "_esp_active\030\003 \001(\010\022\024\n\014is_abs_error\030\004 \001(\010\022" + "\025\n\ris_abs_active\030\005 \001(\010\022\026\n\016is_tcsvdc_fail" + "\030\006 \001(\010\022\026\n\016is_abs_enabled\030\007 \001(\010\022\026\n\016is_sta" + "b_active\030\010 \001(\010\022\027\n\017is_stab_enabled\030\t \001(\010\022" + "\026\n\016is_trac_active\030\n \001(\010\022\027\n\017is_trac_enabl" + "ed\030\013 \001(\010\"\215\003\n\003Ems\022\037\n\027is_engine_acc_availa" + "ble\030\001 \001(\010\022\033\n\023is_engine_acc_error\030\002 \001(\010\022-" + "\n\014engine_state\030\003 \001(\0162\027.apollo.canbus.Ems" + ".Type\022\037\n\027max_engine_torq_percent\030\004 \001(\001\022\037" + "\n\027min_engine_torq_percent\030\005 \001(\001\022!\n\031base_" + "engine_torq_constant\030\006 \001(\005\022\035\n\025is_engine_" + "speed_error\030\007 \001(\010\022\024\n\014engine_speed\030\010 \001(\001\022" + "\025\n\rengine_torque\030\t \001(\005\022\035\n\025is_over_engine" + "_torque\030\n \001(\010\022\022\n\nengine_rpm\030\013 \001(\001\"5\n\004Typ" + "e\022\010\n\004STOP\020\000\022\t\n\005CRANK\020\001\022\013\n\007RUNNING\020\002\022\013\n\007I" + "NVALID\020\003\"\306\001\n\004Gear\022\037\n\027is_shift_position_v" + "alid\030\001 \001(\010\0227\n\ngear_state\030\002 \001(\0162#.apollo." + "canbus.Chassis.GearPosition\022\027\n\017driver_ov" + "erride\030\003 \001(\010\0225\n\010gear_cmd\030\004 \001(\0162#.apollo." + "canbus.Chassis.GearPosition\022\024\n\014canbus_fa" + "ult\030\005 \001(\010\"\347\005\n\006Safety\022 \n\030is_driver_car_do" + "or_close\030\001 \001(\010\022\031\n\021is_driver_buckled\030\002 \001(" + "\010\022\030\n\020emergency_button\030\003 \001(\005\022\021\n\thas_error" + "\030\004 \001(\010\022\037\n\027is_motor_invertor_fault\030\005 \001(\010\022" + "\027\n\017is_system_fault\030\006 \001(\010\022\036\n\026is_power_bat" + "tery_fault\030\007 \001(\010\022*\n\"is_motor_invertor_ov" + "er_temperature\030\010 \001(\010\022/\n\'is_small_battery" + "_charge_discharge_fault\030\t \001(\010\022\024\n\014driving" + "_mode\030\n \001(\005\022\036\n\026is_passenger_door_open\030\013 " + "\001(\010\022\035\n\025is_rearleft_door_open\030\014 \001(\010\022\036\n\026is" + "_rearright_door_open\030\r \001(\010\022\024\n\014is_hood_op" + "en\030\016 \001(\010\022\025\n\ris_trunk_open\030\017 \001(\010\022\035\n\025is_pa" + "ssenger_detected\030\020 \001(\010\022#\n\033is_passenger_a" + "irbag_enabled\030\021 \001(\010\022\034\n\024is_passenger_buck" + "led\030\022 \001(\010\022\035\n\025front_left_tire_press\030\023 \001(\005" + "\022\036\n\026front_right_tire_press\030\024 \001(\005\022\034\n\024rear" + "_left_tire_press\030\025 \001(\005\022\035\n\025rear_right_tir" + "e_press\030\026 \001(\005\022<\n\020car_driving_mode\030\027 \001(\0162" + "\".apollo.canbus.Chassis.DrivingMode\"\211\010\n\t" + "BasicInfo\022\024\n\014is_auto_mode\030\001 \001(\010\0222\n\013power" + "_state\030\002 \001(\0162\035.apollo.canbus.BasicInfo.T" + "ype\022\033\n\023is_air_bag_deployed\030\003 \001(\010\022\021\n\todo_" + "meter\030\004 \001(\001\022\023\n\013drive_range\030\005 \001(\001\022\027\n\017is_s" + "ystem_error\030\006 \001(\010\022\032\n\022is_human_interrupt\030" + "\007 \001(\010\022\025\n\racc_on_button\030\010 \001(\010\022\026\n\016acc_off_" + "button\030\t \001(\010\022\026\n\016acc_res_button\030\n \001(\010\022\031\n\021" + "acc_cancel_button\030\013 \001(\010\022\031\n\021acc_on_off_bu" + "tton\030\014 \001(\010\022\035\n\025acc_res_cancel_button\030\r \001(" + "\010\022\032\n\022acc_inc_spd_button\030\016 \001(\010\022\032\n\022acc_dec" + "_spd_button\030\017 \001(\010\022\032\n\022acc_inc_gap_button\030" + "\020 \001(\010\022\032\n\022acc_dec_gap_button\030\021 \001(\010\022\022\n\nlka" + "_button\030\022 \001(\010\022\024\n\014canbus_fault\030\023 \001(\010\022\020\n\010l" + "atitude\030\024 \001(\001\022\021\n\tlongitude\030\025 \001(\001\022\021\n\tgps_" + "valid\030\026 \001(\010\022\014\n\004year\030\027 \001(\005\022\r\n\005month\030\030 \001(\005" + "\022\013\n\003day\030\031 \001(\005\022\r\n\005hours\030\032 \001(\005\022\017\n\007minutes\030" + "\033 \001(\005\022\017\n\007seconds\030\034 \001(\005\022\031\n\021compass_direct" + "ion\030\035 \001(\001\022\014\n\004pdop\030\036 \001(\001\022\024\n\014is_gps_fault\030" + "\037 \001(\010\022\023\n\013is_inferred\030 \001(\010\022\020\n\010altitude\030!" + " \001(\001\022\017\n\007heading\030\" \001(\001\022\014\n\004hdop\030# \001(\001\022\014\n\004v" + "dop\030$ \001(\001\0224\n\007quality\030% \001(\0162#.apollo.canb" + "us.BasicInfo.GpsQuality\022\026\n\016num_satellite" + "s\030& \001(\005\022\021\n\tgps_speed\030\' \001(\001\"8\n\004Type\022\007\n\003OF" + "F\020\000\022\007\n\003ACC\020\001\022\006\n\002ON\020\002\022\t\n\005START\020\003\022\013\n\007INVAL" + "ID\020\004\"A\n\nGpsQuality\022\n\n\006FIX_NO\020\000\022\n\n\006FIX_2D" + "\020\001\022\n\n\006FIX_3D\020\002\022\017\n\013FIX_INVALID\020\003b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 8559); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/canbus/chassis_detail.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto +namespace apollo { +namespace canbus { +const ::google::protobuf::EnumDescriptor* ChassisDetail_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[0]; +} +bool ChassisDetail_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const ChassisDetail_Type ChassisDetail::QIRUI_EQ_15; +const ChassisDetail_Type ChassisDetail::CHANGAN_RUICHENG; +const ChassisDetail_Type ChassisDetail::Type_MIN; +const ChassisDetail_Type ChassisDetail::Type_MAX; +const int ChassisDetail::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Light_TurnLightType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[1]; +} +bool Light_TurnLightType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Light_TurnLightType Light::TURN_LIGHT_OFF; +const Light_TurnLightType Light::TURN_LEFT_ON; +const Light_TurnLightType Light::TURN_RIGHT_ON; +const Light_TurnLightType Light::TURN_LIGHT_ON; +const Light_TurnLightType Light::TurnLightType_MIN; +const Light_TurnLightType Light::TurnLightType_MAX; +const int Light::TurnLightType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Light_LampType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[2]; +} +bool Light_LampType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Light_LampType Light::BEAM_OFF; +const Light_LampType Light::HIGH_BEAM_ON; +const Light_LampType Light::LOW_BEAM_ON; +const Light_LampType Light::LampType_MIN; +const Light_LampType Light::LampType_MAX; +const int Light::LampType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Light_LincolnLampType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[3]; +} +bool Light_LincolnLampType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Light_LincolnLampType Light::BEAM_NULL; +const Light_LincolnLampType Light::BEAM_FLASH_TO_PASS; +const Light_LincolnLampType Light::BEAM_HIGH; +const Light_LincolnLampType Light::BEAM_INVALID; +const Light_LincolnLampType Light::LincolnLampType_MIN; +const Light_LincolnLampType Light::LincolnLampType_MAX; +const int Light::LincolnLampType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Light_LincolnWiperType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[4]; +} +bool Light_LincolnWiperType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + case 6: + case 7: + case 8: + case 9: + case 10: + case 11: + case 12: + case 13: + case 14: + case 15: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Light_LincolnWiperType Light::WIPER_OFF; +const Light_LincolnWiperType Light::WIPER_AUTO_OFF; +const Light_LincolnWiperType Light::WIPER_OFF_MOVING; +const Light_LincolnWiperType Light::WIPER_MANUAL_OFF; +const Light_LincolnWiperType Light::WIPER_MANUAL_ON; +const Light_LincolnWiperType Light::WIPER_MANUAL_LOW; +const Light_LincolnWiperType Light::WIPER_MANUAL_HIGH; +const Light_LincolnWiperType Light::WIPER_MIST_FLICK; +const Light_LincolnWiperType Light::WIPER_WASH; +const Light_LincolnWiperType Light::WIPER_AUTO_LOW; +const Light_LincolnWiperType Light::WIPER_AUTO_HIGH; +const Light_LincolnWiperType Light::WIPER_COURTESY_WIPE; +const Light_LincolnWiperType Light::WIPER_AUTO_ADJUST; +const Light_LincolnWiperType Light::WIPER_RESERVED; +const Light_LincolnWiperType Light::WIPER_STALLED; +const Light_LincolnWiperType Light::WIPER_NO_DATA; +const Light_LincolnWiperType Light::LincolnWiperType_MIN; +const Light_LincolnWiperType Light::LincolnWiperType_MAX; +const int Light::LincolnWiperType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Light_LincolnAmbientType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[5]; +} +bool Light_LincolnAmbientType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + case 7: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Light_LincolnAmbientType Light::AMBIENT_DARK; +const Light_LincolnAmbientType Light::AMBIENT_LIGHT; +const Light_LincolnAmbientType Light::AMBIENT_TWILIGHT; +const Light_LincolnAmbientType Light::AMBIENT_TUNNEL_ON; +const Light_LincolnAmbientType Light::AMBIENT_TUNNEL_OFF; +const Light_LincolnAmbientType Light::AMBIENT_INVALID; +const Light_LincolnAmbientType Light::AMBIENT_NO_DATA; +const Light_LincolnAmbientType Light::LincolnAmbientType_MIN; +const Light_LincolnAmbientType Light::LincolnAmbientType_MAX; +const int Light::LincolnAmbientType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Eps_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[6]; +} +bool Eps_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Eps_Type Eps::NOT_AVAILABLE; +const Eps_Type Eps::READY; +const Eps_Type Eps::ACTIVE; +const Eps_Type Eps::INVALID; +const Eps_Type Eps::Type_MIN; +const Eps_Type Eps::Type_MAX; +const int Eps::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* VehicleSpd_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[7]; +} +bool VehicleSpd_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const VehicleSpd_Type VehicleSpd::FORWARD; +const VehicleSpd_Type VehicleSpd::BACKWARD; +const VehicleSpd_Type VehicleSpd::STANDSTILL; +const VehicleSpd_Type VehicleSpd::INVALID; +const VehicleSpd_Type VehicleSpd::Type_MIN; +const VehicleSpd_Type VehicleSpd::Type_MAX; +const int VehicleSpd::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Brake_HSAStatusType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[8]; +} +bool Brake_HSAStatusType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + case 6: + case 7: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Brake_HSAStatusType Brake::HSA_INACTIVE; +const Brake_HSAStatusType Brake::HSA_FINDING_GRADIENT; +const Brake_HSAStatusType Brake::HSA_ACTIVE_PRESSED; +const Brake_HSAStatusType Brake::HSA_ACTIVE_RELEASED; +const Brake_HSAStatusType Brake::HSA_FAST_RELEASE; +const Brake_HSAStatusType Brake::HSA_SLOW_RELEASE; +const Brake_HSAStatusType Brake::HSA_FAILED; +const Brake_HSAStatusType Brake::HSA_UNDEFINED; +const Brake_HSAStatusType Brake::HSAStatusType_MIN; +const Brake_HSAStatusType Brake::HSAStatusType_MAX; +const int Brake::HSAStatusType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Brake_HSAModeType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[9]; +} +bool Brake_HSAModeType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Brake_HSAModeType Brake::HSA_OFF; +const Brake_HSAModeType Brake::HSA_AUTO; +const Brake_HSAModeType Brake::HSA_MANUAL; +const Brake_HSAModeType Brake::HSA_MODE_UNDEFINED; +const Brake_HSAModeType Brake::HSAModeType_MIN; +const Brake_HSAModeType Brake::HSAModeType_MAX; +const int Brake::HSAModeType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Epb_PBrakeType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[10]; +} +bool Epb_PBrakeType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Epb_PBrakeType Epb::PBRAKE_OFF; +const Epb_PBrakeType Epb::PBRAKE_TRANSITION; +const Epb_PBrakeType Epb::PBRAKE_ON; +const Epb_PBrakeType Epb::PBRAKE_FAULT; +const Epb_PBrakeType Epb::PBrakeType_MIN; +const Epb_PBrakeType Epb::PBrakeType_MAX; +const int Epb::PBrakeType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* Ems_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[11]; +} +bool Ems_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Ems_Type Ems::STOP; +const Ems_Type Ems::CRANK; +const Ems_Type Ems::RUNNING; +const Ems_Type Ems::INVALID; +const Ems_Type Ems::Type_MIN; +const Ems_Type Ems::Type_MAX; +const int Ems::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* BasicInfo_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[12]; +} +bool BasicInfo_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const BasicInfo_Type BasicInfo::OFF; +const BasicInfo_Type BasicInfo::ACC; +const BasicInfo_Type BasicInfo::ON; +const BasicInfo_Type BasicInfo::START; +const BasicInfo_Type BasicInfo::INVALID; +const BasicInfo_Type BasicInfo::Type_MIN; +const BasicInfo_Type BasicInfo::Type_MAX; +const int BasicInfo::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* BasicInfo_GpsQuality_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_enum_descriptors[13]; +} +bool BasicInfo_GpsQuality_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const BasicInfo_GpsQuality BasicInfo::FIX_NO; +const BasicInfo_GpsQuality BasicInfo::FIX_2D; +const BasicInfo_GpsQuality BasicInfo::FIX_3D; +const BasicInfo_GpsQuality BasicInfo::FIX_INVALID; +const BasicInfo_GpsQuality BasicInfo::GpsQuality_MIN; +const BasicInfo_GpsQuality BasicInfo::GpsQuality_MAX; +const int BasicInfo::GpsQuality_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void ChassisDetail::InitAsDefaultInstance() { + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->basic_ = const_cast< ::apollo::canbus::BasicInfo*>( + ::apollo::canbus::BasicInfo::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->safety_ = const_cast< ::apollo::canbus::Safety*>( + ::apollo::canbus::Safety::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->gear_ = const_cast< ::apollo::canbus::Gear*>( + ::apollo::canbus::Gear::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->ems_ = const_cast< ::apollo::canbus::Ems*>( + ::apollo::canbus::Ems::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->esp_ = const_cast< ::apollo::canbus::Esp*>( + ::apollo::canbus::Esp::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->gas_ = const_cast< ::apollo::canbus::Gas*>( + ::apollo::canbus::Gas::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->epb_ = const_cast< ::apollo::canbus::Epb*>( + ::apollo::canbus::Epb::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->brake_ = const_cast< ::apollo::canbus::Brake*>( + ::apollo::canbus::Brake::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->deceleration_ = const_cast< ::apollo::canbus::Deceleration*>( + ::apollo::canbus::Deceleration::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->vehicle_spd_ = const_cast< ::apollo::canbus::VehicleSpd*>( + ::apollo::canbus::VehicleSpd::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->eps_ = const_cast< ::apollo::canbus::Eps*>( + ::apollo::canbus::Eps::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->light_ = const_cast< ::apollo::canbus::Light*>( + ::apollo::canbus::Light::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->battery_ = const_cast< ::apollo::canbus::Battery*>( + ::apollo::canbus::Battery::internal_default_instance()); + ::apollo::canbus::_ChassisDetail_default_instance_._instance.get_mutable()->check_response_ = const_cast< ::apollo::canbus::CheckResponseSignal*>( + ::apollo::canbus::CheckResponseSignal::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ChassisDetail::kCarTypeFieldNumber; +const int ChassisDetail::kBasicFieldNumber; +const int ChassisDetail::kSafetyFieldNumber; +const int ChassisDetail::kGearFieldNumber; +const int ChassisDetail::kEmsFieldNumber; +const int ChassisDetail::kEspFieldNumber; +const int ChassisDetail::kGasFieldNumber; +const int ChassisDetail::kEpbFieldNumber; +const int ChassisDetail::kBrakeFieldNumber; +const int ChassisDetail::kDecelerationFieldNumber; +const int ChassisDetail::kVehicleSpdFieldNumber; +const int ChassisDetail::kEpsFieldNumber; +const int ChassisDetail::kLightFieldNumber; +const int ChassisDetail::kBatteryFieldNumber; +const int ChassisDetail::kCheckResponseFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ChassisDetail::ChassisDetail() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_ChassisDetail.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.ChassisDetail) +} +ChassisDetail::ChassisDetail(const ChassisDetail& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_basic()) { + basic_ = new ::apollo::canbus::BasicInfo(*from.basic_); + } else { + basic_ = NULL; + } + if (from.has_safety()) { + safety_ = new ::apollo::canbus::Safety(*from.safety_); + } else { + safety_ = NULL; + } + if (from.has_gear()) { + gear_ = new ::apollo::canbus::Gear(*from.gear_); + } else { + gear_ = NULL; + } + if (from.has_ems()) { + ems_ = new ::apollo::canbus::Ems(*from.ems_); + } else { + ems_ = NULL; + } + if (from.has_esp()) { + esp_ = new ::apollo::canbus::Esp(*from.esp_); + } else { + esp_ = NULL; + } + if (from.has_gas()) { + gas_ = new ::apollo::canbus::Gas(*from.gas_); + } else { + gas_ = NULL; + } + if (from.has_epb()) { + epb_ = new ::apollo::canbus::Epb(*from.epb_); + } else { + epb_ = NULL; + } + if (from.has_brake()) { + brake_ = new ::apollo::canbus::Brake(*from.brake_); + } else { + brake_ = NULL; + } + if (from.has_deceleration()) { + deceleration_ = new ::apollo::canbus::Deceleration(*from.deceleration_); + } else { + deceleration_ = NULL; + } + if (from.has_vehicle_spd()) { + vehicle_spd_ = new ::apollo::canbus::VehicleSpd(*from.vehicle_spd_); + } else { + vehicle_spd_ = NULL; + } + if (from.has_eps()) { + eps_ = new ::apollo::canbus::Eps(*from.eps_); + } else { + eps_ = NULL; + } + if (from.has_light()) { + light_ = new ::apollo::canbus::Light(*from.light_); + } else { + light_ = NULL; + } + if (from.has_battery()) { + battery_ = new ::apollo::canbus::Battery(*from.battery_); + } else { + battery_ = NULL; + } + if (from.has_check_response()) { + check_response_ = new ::apollo::canbus::CheckResponseSignal(*from.check_response_); + } else { + check_response_ = NULL; + } + car_type_ = from.car_type_; + // @@protoc_insertion_point(copy_constructor:apollo.canbus.ChassisDetail) +} + +void ChassisDetail::SharedCtor() { + ::memset(&basic_, 0, static_cast( + reinterpret_cast(&car_type_) - + reinterpret_cast(&basic_)) + sizeof(car_type_)); +} + +ChassisDetail::~ChassisDetail() { + // @@protoc_insertion_point(destructor:apollo.canbus.ChassisDetail) + SharedDtor(); +} + +void ChassisDetail::SharedDtor() { + if (this != internal_default_instance()) delete basic_; + if (this != internal_default_instance()) delete safety_; + if (this != internal_default_instance()) delete gear_; + if (this != internal_default_instance()) delete ems_; + if (this != internal_default_instance()) delete esp_; + if (this != internal_default_instance()) delete gas_; + if (this != internal_default_instance()) delete epb_; + if (this != internal_default_instance()) delete brake_; + if (this != internal_default_instance()) delete deceleration_; + if (this != internal_default_instance()) delete vehicle_spd_; + if (this != internal_default_instance()) delete eps_; + if (this != internal_default_instance()) delete light_; + if (this != internal_default_instance()) delete battery_; + if (this != internal_default_instance()) delete check_response_; +} + +void ChassisDetail::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ChassisDetail::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ChassisDetail& ChassisDetail::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_ChassisDetail.base); + return *internal_default_instance(); +} + + +void ChassisDetail::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.ChassisDetail) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && basic_ != NULL) { + delete basic_; + } + basic_ = NULL; + if (GetArenaNoVirtual() == NULL && safety_ != NULL) { + delete safety_; + } + safety_ = NULL; + if (GetArenaNoVirtual() == NULL && gear_ != NULL) { + delete gear_; + } + gear_ = NULL; + if (GetArenaNoVirtual() == NULL && ems_ != NULL) { + delete ems_; + } + ems_ = NULL; + if (GetArenaNoVirtual() == NULL && esp_ != NULL) { + delete esp_; + } + esp_ = NULL; + if (GetArenaNoVirtual() == NULL && gas_ != NULL) { + delete gas_; + } + gas_ = NULL; + if (GetArenaNoVirtual() == NULL && epb_ != NULL) { + delete epb_; + } + epb_ = NULL; + if (GetArenaNoVirtual() == NULL && brake_ != NULL) { + delete brake_; + } + brake_ = NULL; + if (GetArenaNoVirtual() == NULL && deceleration_ != NULL) { + delete deceleration_; + } + deceleration_ = NULL; + if (GetArenaNoVirtual() == NULL && vehicle_spd_ != NULL) { + delete vehicle_spd_; + } + vehicle_spd_ = NULL; + if (GetArenaNoVirtual() == NULL && eps_ != NULL) { + delete eps_; + } + eps_ = NULL; + if (GetArenaNoVirtual() == NULL && light_ != NULL) { + delete light_; + } + light_ = NULL; + if (GetArenaNoVirtual() == NULL && battery_ != NULL) { + delete battery_; + } + battery_ = NULL; + if (GetArenaNoVirtual() == NULL && check_response_ != NULL) { + delete check_response_; + } + check_response_ = NULL; + car_type_ = 0; + _internal_metadata_.Clear(); +} + +bool ChassisDetail::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.ChassisDetail) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.canbus.ChassisDetail.Type car_type = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_car_type(static_cast< ::apollo::canbus::ChassisDetail_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.BasicInfo basic = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_basic())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Safety safety = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_safety())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Gear gear = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_gear())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Ems ems = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_ems())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Esp esp = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(50u /* 50 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_esp())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Gas gas = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(58u /* 58 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_gas())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Epb epb = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(66u /* 66 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_epb())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Brake brake = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(74u /* 74 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_brake())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Deceleration deceleration = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(82u /* 82 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_deceleration())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.VehicleSpd vehicle_spd = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(90u /* 90 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_vehicle_spd())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Eps eps = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(98u /* 98 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_eps())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Light light = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(106u /* 106 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_light())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Battery battery = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(114u /* 114 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_battery())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.CheckResponseSignal check_response = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(122u /* 122 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_check_response())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.ChassisDetail) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.ChassisDetail) + return false; +#undef DO_ +} + +void ChassisDetail::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.ChassisDetail) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.canbus.ChassisDetail.Type car_type = 1; + if (this->car_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->car_type(), output); + } + + // .apollo.canbus.BasicInfo basic = 2; + if (this->has_basic()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_basic(), output); + } + + // .apollo.canbus.Safety safety = 3; + if (this->has_safety()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_safety(), output); + } + + // .apollo.canbus.Gear gear = 4; + if (this->has_gear()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_gear(), output); + } + + // .apollo.canbus.Ems ems = 5; + if (this->has_ems()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, this->_internal_ems(), output); + } + + // .apollo.canbus.Esp esp = 6; + if (this->has_esp()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 6, this->_internal_esp(), output); + } + + // .apollo.canbus.Gas gas = 7; + if (this->has_gas()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 7, this->_internal_gas(), output); + } + + // .apollo.canbus.Epb epb = 8; + if (this->has_epb()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 8, this->_internal_epb(), output); + } + + // .apollo.canbus.Brake brake = 9; + if (this->has_brake()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 9, this->_internal_brake(), output); + } + + // .apollo.canbus.Deceleration deceleration = 10; + if (this->has_deceleration()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 10, this->_internal_deceleration(), output); + } + + // .apollo.canbus.VehicleSpd vehicle_spd = 11; + if (this->has_vehicle_spd()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 11, this->_internal_vehicle_spd(), output); + } + + // .apollo.canbus.Eps eps = 12; + if (this->has_eps()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 12, this->_internal_eps(), output); + } + + // .apollo.canbus.Light light = 13; + if (this->has_light()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 13, this->_internal_light(), output); + } + + // .apollo.canbus.Battery battery = 14; + if (this->has_battery()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 14, this->_internal_battery(), output); + } + + // .apollo.canbus.CheckResponseSignal check_response = 15; + if (this->has_check_response()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 15, this->_internal_check_response(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.ChassisDetail) +} + +::google::protobuf::uint8* ChassisDetail::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.ChassisDetail) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.canbus.ChassisDetail.Type car_type = 1; + if (this->car_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->car_type(), target); + } + + // .apollo.canbus.BasicInfo basic = 2; + if (this->has_basic()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_basic(), deterministic, target); + } + + // .apollo.canbus.Safety safety = 3; + if (this->has_safety()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_safety(), deterministic, target); + } + + // .apollo.canbus.Gear gear = 4; + if (this->has_gear()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_gear(), deterministic, target); + } + + // .apollo.canbus.Ems ems = 5; + if (this->has_ems()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->_internal_ems(), deterministic, target); + } + + // .apollo.canbus.Esp esp = 6; + if (this->has_esp()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 6, this->_internal_esp(), deterministic, target); + } + + // .apollo.canbus.Gas gas = 7; + if (this->has_gas()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 7, this->_internal_gas(), deterministic, target); + } + + // .apollo.canbus.Epb epb = 8; + if (this->has_epb()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 8, this->_internal_epb(), deterministic, target); + } + + // .apollo.canbus.Brake brake = 9; + if (this->has_brake()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 9, this->_internal_brake(), deterministic, target); + } + + // .apollo.canbus.Deceleration deceleration = 10; + if (this->has_deceleration()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 10, this->_internal_deceleration(), deterministic, target); + } + + // .apollo.canbus.VehicleSpd vehicle_spd = 11; + if (this->has_vehicle_spd()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 11, this->_internal_vehicle_spd(), deterministic, target); + } + + // .apollo.canbus.Eps eps = 12; + if (this->has_eps()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 12, this->_internal_eps(), deterministic, target); + } + + // .apollo.canbus.Light light = 13; + if (this->has_light()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 13, this->_internal_light(), deterministic, target); + } + + // .apollo.canbus.Battery battery = 14; + if (this->has_battery()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 14, this->_internal_battery(), deterministic, target); + } + + // .apollo.canbus.CheckResponseSignal check_response = 15; + if (this->has_check_response()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 15, this->_internal_check_response(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.ChassisDetail) + return target; +} + +size_t ChassisDetail::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.ChassisDetail) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.canbus.BasicInfo basic = 2; + if (this->has_basic()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *basic_); + } + + // .apollo.canbus.Safety safety = 3; + if (this->has_safety()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *safety_); + } + + // .apollo.canbus.Gear gear = 4; + if (this->has_gear()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *gear_); + } + + // .apollo.canbus.Ems ems = 5; + if (this->has_ems()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *ems_); + } + + // .apollo.canbus.Esp esp = 6; + if (this->has_esp()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *esp_); + } + + // .apollo.canbus.Gas gas = 7; + if (this->has_gas()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *gas_); + } + + // .apollo.canbus.Epb epb = 8; + if (this->has_epb()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *epb_); + } + + // .apollo.canbus.Brake brake = 9; + if (this->has_brake()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *brake_); + } + + // .apollo.canbus.Deceleration deceleration = 10; + if (this->has_deceleration()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *deceleration_); + } + + // .apollo.canbus.VehicleSpd vehicle_spd = 11; + if (this->has_vehicle_spd()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *vehicle_spd_); + } + + // .apollo.canbus.Eps eps = 12; + if (this->has_eps()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *eps_); + } + + // .apollo.canbus.Light light = 13; + if (this->has_light()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *light_); + } + + // .apollo.canbus.Battery battery = 14; + if (this->has_battery()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *battery_); + } + + // .apollo.canbus.CheckResponseSignal check_response = 15; + if (this->has_check_response()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *check_response_); + } + + // .apollo.canbus.ChassisDetail.Type car_type = 1; + if (this->car_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->car_type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ChassisDetail::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.ChassisDetail) + GOOGLE_DCHECK_NE(&from, this); + const ChassisDetail* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.ChassisDetail) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.ChassisDetail) + MergeFrom(*source); + } +} + +void ChassisDetail::MergeFrom(const ChassisDetail& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.ChassisDetail) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_basic()) { + mutable_basic()->::apollo::canbus::BasicInfo::MergeFrom(from.basic()); + } + if (from.has_safety()) { + mutable_safety()->::apollo::canbus::Safety::MergeFrom(from.safety()); + } + if (from.has_gear()) { + mutable_gear()->::apollo::canbus::Gear::MergeFrom(from.gear()); + } + if (from.has_ems()) { + mutable_ems()->::apollo::canbus::Ems::MergeFrom(from.ems()); + } + if (from.has_esp()) { + mutable_esp()->::apollo::canbus::Esp::MergeFrom(from.esp()); + } + if (from.has_gas()) { + mutable_gas()->::apollo::canbus::Gas::MergeFrom(from.gas()); + } + if (from.has_epb()) { + mutable_epb()->::apollo::canbus::Epb::MergeFrom(from.epb()); + } + if (from.has_brake()) { + mutable_brake()->::apollo::canbus::Brake::MergeFrom(from.brake()); + } + if (from.has_deceleration()) { + mutable_deceleration()->::apollo::canbus::Deceleration::MergeFrom(from.deceleration()); + } + if (from.has_vehicle_spd()) { + mutable_vehicle_spd()->::apollo::canbus::VehicleSpd::MergeFrom(from.vehicle_spd()); + } + if (from.has_eps()) { + mutable_eps()->::apollo::canbus::Eps::MergeFrom(from.eps()); + } + if (from.has_light()) { + mutable_light()->::apollo::canbus::Light::MergeFrom(from.light()); + } + if (from.has_battery()) { + mutable_battery()->::apollo::canbus::Battery::MergeFrom(from.battery()); + } + if (from.has_check_response()) { + mutable_check_response()->::apollo::canbus::CheckResponseSignal::MergeFrom(from.check_response()); + } + if (from.car_type() != 0) { + set_car_type(from.car_type()); + } +} + +void ChassisDetail::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.ChassisDetail) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ChassisDetail::CopyFrom(const ChassisDetail& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.ChassisDetail) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ChassisDetail::IsInitialized() const { + return true; +} + +void ChassisDetail::Swap(ChassisDetail* other) { + if (other == this) return; + InternalSwap(other); +} +void ChassisDetail::InternalSwap(ChassisDetail* other) { + using std::swap; + swap(basic_, other->basic_); + swap(safety_, other->safety_); + swap(gear_, other->gear_); + swap(ems_, other->ems_); + swap(esp_, other->esp_); + swap(gas_, other->gas_); + swap(epb_, other->epb_); + swap(brake_, other->brake_); + swap(deceleration_, other->deceleration_); + swap(vehicle_spd_, other->vehicle_spd_); + swap(eps_, other->eps_); + swap(light_, other->light_); + swap(battery_, other->battery_); + swap(check_response_, other->check_response_); + swap(car_type_, other->car_type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ChassisDetail::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void CheckResponseSignal::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int CheckResponseSignal::kIsEpsOnlineFieldNumber; +const int CheckResponseSignal::kIsEpbOnlineFieldNumber; +const int CheckResponseSignal::kIsEspOnlineFieldNumber; +const int CheckResponseSignal::kIsVtogOnlineFieldNumber; +const int CheckResponseSignal::kIsScuOnlineFieldNumber; +const int CheckResponseSignal::kIsSwitchOnlineFieldNumber; +const int CheckResponseSignal::kIsVcuOnlineFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +CheckResponseSignal::CheckResponseSignal() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_CheckResponseSignal.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.CheckResponseSignal) +} +CheckResponseSignal::CheckResponseSignal(const CheckResponseSignal& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&is_eps_online_, &from.is_eps_online_, + static_cast(reinterpret_cast(&is_vcu_online_) - + reinterpret_cast(&is_eps_online_)) + sizeof(is_vcu_online_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.CheckResponseSignal) +} + +void CheckResponseSignal::SharedCtor() { + ::memset(&is_eps_online_, 0, static_cast( + reinterpret_cast(&is_vcu_online_) - + reinterpret_cast(&is_eps_online_)) + sizeof(is_vcu_online_)); +} + +CheckResponseSignal::~CheckResponseSignal() { + // @@protoc_insertion_point(destructor:apollo.canbus.CheckResponseSignal) + SharedDtor(); +} + +void CheckResponseSignal::SharedDtor() { +} + +void CheckResponseSignal::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* CheckResponseSignal::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const CheckResponseSignal& CheckResponseSignal::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_CheckResponseSignal.base); + return *internal_default_instance(); +} + + +void CheckResponseSignal::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.CheckResponseSignal) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&is_eps_online_, 0, static_cast( + reinterpret_cast(&is_vcu_online_) - + reinterpret_cast(&is_eps_online_)) + sizeof(is_vcu_online_)); + _internal_metadata_.Clear(); +} + +bool CheckResponseSignal::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.CheckResponseSignal) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_eps_online = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_eps_online_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_epb_online = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_epb_online_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_esp_online = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_esp_online_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_vtog_online = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_vtog_online_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_scu_online = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_scu_online_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_switch_online = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 48 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_switch_online_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_vcu_online = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_vcu_online_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.CheckResponseSignal) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.CheckResponseSignal) + return false; +#undef DO_ +} + +void CheckResponseSignal::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.CheckResponseSignal) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_eps_online = 1; + if (this->is_eps_online() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_eps_online(), output); + } + + // bool is_epb_online = 2; + if (this->is_epb_online() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_epb_online(), output); + } + + // bool is_esp_online = 3; + if (this->is_esp_online() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(3, this->is_esp_online(), output); + } + + // bool is_vtog_online = 4; + if (this->is_vtog_online() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(4, this->is_vtog_online(), output); + } + + // bool is_scu_online = 5; + if (this->is_scu_online() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(5, this->is_scu_online(), output); + } + + // bool is_switch_online = 6; + if (this->is_switch_online() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(6, this->is_switch_online(), output); + } + + // bool is_vcu_online = 7; + if (this->is_vcu_online() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(7, this->is_vcu_online(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.CheckResponseSignal) +} + +::google::protobuf::uint8* CheckResponseSignal::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.CheckResponseSignal) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_eps_online = 1; + if (this->is_eps_online() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_eps_online(), target); + } + + // bool is_epb_online = 2; + if (this->is_epb_online() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_epb_online(), target); + } + + // bool is_esp_online = 3; + if (this->is_esp_online() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(3, this->is_esp_online(), target); + } + + // bool is_vtog_online = 4; + if (this->is_vtog_online() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(4, this->is_vtog_online(), target); + } + + // bool is_scu_online = 5; + if (this->is_scu_online() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(5, this->is_scu_online(), target); + } + + // bool is_switch_online = 6; + if (this->is_switch_online() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(6, this->is_switch_online(), target); + } + + // bool is_vcu_online = 7; + if (this->is_vcu_online() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(7, this->is_vcu_online(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.CheckResponseSignal) + return target; +} + +size_t CheckResponseSignal::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.CheckResponseSignal) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // bool is_eps_online = 1; + if (this->is_eps_online() != 0) { + total_size += 1 + 1; + } + + // bool is_epb_online = 2; + if (this->is_epb_online() != 0) { + total_size += 1 + 1; + } + + // bool is_esp_online = 3; + if (this->is_esp_online() != 0) { + total_size += 1 + 1; + } + + // bool is_vtog_online = 4; + if (this->is_vtog_online() != 0) { + total_size += 1 + 1; + } + + // bool is_scu_online = 5; + if (this->is_scu_online() != 0) { + total_size += 1 + 1; + } + + // bool is_switch_online = 6; + if (this->is_switch_online() != 0) { + total_size += 1 + 1; + } + + // bool is_vcu_online = 7; + if (this->is_vcu_online() != 0) { + total_size += 1 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void CheckResponseSignal::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.CheckResponseSignal) + GOOGLE_DCHECK_NE(&from, this); + const CheckResponseSignal* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.CheckResponseSignal) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.CheckResponseSignal) + MergeFrom(*source); + } +} + +void CheckResponseSignal::MergeFrom(const CheckResponseSignal& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.CheckResponseSignal) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.is_eps_online() != 0) { + set_is_eps_online(from.is_eps_online()); + } + if (from.is_epb_online() != 0) { + set_is_epb_online(from.is_epb_online()); + } + if (from.is_esp_online() != 0) { + set_is_esp_online(from.is_esp_online()); + } + if (from.is_vtog_online() != 0) { + set_is_vtog_online(from.is_vtog_online()); + } + if (from.is_scu_online() != 0) { + set_is_scu_online(from.is_scu_online()); + } + if (from.is_switch_online() != 0) { + set_is_switch_online(from.is_switch_online()); + } + if (from.is_vcu_online() != 0) { + set_is_vcu_online(from.is_vcu_online()); + } +} + +void CheckResponseSignal::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.CheckResponseSignal) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void CheckResponseSignal::CopyFrom(const CheckResponseSignal& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.CheckResponseSignal) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool CheckResponseSignal::IsInitialized() const { + return true; +} + +void CheckResponseSignal::Swap(CheckResponseSignal* other) { + if (other == this) return; + InternalSwap(other); +} +void CheckResponseSignal::InternalSwap(CheckResponseSignal* other) { + using std::swap; + swap(is_eps_online_, other->is_eps_online_); + swap(is_epb_online_, other->is_epb_online_); + swap(is_esp_online_, other->is_esp_online_); + swap(is_vtog_online_, other->is_vtog_online_); + swap(is_scu_online_, other->is_scu_online_); + swap(is_switch_online_, other->is_switch_online_); + swap(is_vcu_online_, other->is_vcu_online_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata CheckResponseSignal::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Battery::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Battery::kBatteryPercentFieldNumber; +const int Battery::kFuelLevelFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Battery::Battery() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Battery.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Battery) +} +Battery::Battery(const Battery& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&battery_percent_, &from.battery_percent_, + static_cast(reinterpret_cast(&fuel_level_) - + reinterpret_cast(&battery_percent_)) + sizeof(fuel_level_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Battery) +} + +void Battery::SharedCtor() { + ::memset(&battery_percent_, 0, static_cast( + reinterpret_cast(&fuel_level_) - + reinterpret_cast(&battery_percent_)) + sizeof(fuel_level_)); +} + +Battery::~Battery() { + // @@protoc_insertion_point(destructor:apollo.canbus.Battery) + SharedDtor(); +} + +void Battery::SharedDtor() { +} + +void Battery::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Battery::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Battery& Battery::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Battery.base); + return *internal_default_instance(); +} + + +void Battery::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Battery) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&battery_percent_, 0, static_cast( + reinterpret_cast(&fuel_level_) - + reinterpret_cast(&battery_percent_)) + sizeof(fuel_level_)); + _internal_metadata_.Clear(); +} + +bool Battery::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Battery) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double battery_percent = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &battery_percent_))); + } else { + goto handle_unusual; + } + break; + } + + // double fuel_level = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &fuel_level_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Battery) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Battery) + return false; +#undef DO_ +} + +void Battery::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Battery) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double battery_percent = 1; + if (this->battery_percent() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->battery_percent(), output); + } + + // double fuel_level = 2; + if (this->fuel_level() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->fuel_level(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Battery) +} + +::google::protobuf::uint8* Battery::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Battery) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double battery_percent = 1; + if (this->battery_percent() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->battery_percent(), target); + } + + // double fuel_level = 2; + if (this->fuel_level() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->fuel_level(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Battery) + return target; +} + +size_t Battery::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Battery) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double battery_percent = 1; + if (this->battery_percent() != 0) { + total_size += 1 + 8; + } + + // double fuel_level = 2; + if (this->fuel_level() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Battery::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Battery) + GOOGLE_DCHECK_NE(&from, this); + const Battery* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Battery) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Battery) + MergeFrom(*source); + } +} + +void Battery::MergeFrom(const Battery& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Battery) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.battery_percent() != 0) { + set_battery_percent(from.battery_percent()); + } + if (from.fuel_level() != 0) { + set_fuel_level(from.fuel_level()); + } +} + +void Battery::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Battery) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Battery::CopyFrom(const Battery& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Battery) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Battery::IsInitialized() const { + return true; +} + +void Battery::Swap(Battery* other) { + if (other == this) return; + InternalSwap(other); +} +void Battery::InternalSwap(Battery* other) { + using std::swap; + swap(battery_percent_, other->battery_percent_); + swap(fuel_level_, other->fuel_level_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Battery::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Light::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Light::kTurnLightTypeFieldNumber; +const int Light::kLampTypeFieldNumber; +const int Light::kIsBrakeLampOnFieldNumber; +const int Light::kIsAutoLightFieldNumber; +const int Light::kWiperGearFieldNumber; +const int Light::kLotionGearFieldNumber; +const int Light::kIsHornOnFieldNumber; +const int Light::kLincolnLampTypeFieldNumber; +const int Light::kLincolnWiperFieldNumber; +const int Light::kLincolnAmbientFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Light::Light() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Light.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Light) +} +Light::Light(const Light& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&turn_light_type_, &from.turn_light_type_, + static_cast(reinterpret_cast(&lincoln_ambient_) - + reinterpret_cast(&turn_light_type_)) + sizeof(lincoln_ambient_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Light) +} + +void Light::SharedCtor() { + ::memset(&turn_light_type_, 0, static_cast( + reinterpret_cast(&lincoln_ambient_) - + reinterpret_cast(&turn_light_type_)) + sizeof(lincoln_ambient_)); +} + +Light::~Light() { + // @@protoc_insertion_point(destructor:apollo.canbus.Light) + SharedDtor(); +} + +void Light::SharedDtor() { +} + +void Light::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Light::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Light& Light::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Light.base); + return *internal_default_instance(); +} + + +void Light::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Light) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&turn_light_type_, 0, static_cast( + reinterpret_cast(&lincoln_ambient_) - + reinterpret_cast(&turn_light_type_)) + sizeof(lincoln_ambient_)); + _internal_metadata_.Clear(); +} + +bool Light::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Light) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.canbus.Light.TurnLightType turn_light_type = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_turn_light_type(static_cast< ::apollo::canbus::Light_TurnLightType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Light.LampType lamp_type = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_lamp_type(static_cast< ::apollo::canbus::Light_LampType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // bool is_brake_lamp_on = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_brake_lamp_on_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_auto_light = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_auto_light_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 wiper_gear = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &wiper_gear_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 lotion_gear = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 48 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &lotion_gear_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_horn_on = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_horn_on_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Light.LincolnLampType lincoln_lamp_type = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_lincoln_lamp_type(static_cast< ::apollo::canbus::Light_LincolnLampType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Light.LincolnWiperType lincoln_wiper = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(72u /* 72 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_lincoln_wiper(static_cast< ::apollo::canbus::Light_LincolnWiperType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Light.LincolnAmbientType lincoln_ambient = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_lincoln_ambient(static_cast< ::apollo::canbus::Light_LincolnAmbientType >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Light) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Light) + return false; +#undef DO_ +} + +void Light::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Light) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.canbus.Light.TurnLightType turn_light_type = 1; + if (this->turn_light_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->turn_light_type(), output); + } + + // .apollo.canbus.Light.LampType lamp_type = 2; + if (this->lamp_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->lamp_type(), output); + } + + // bool is_brake_lamp_on = 3; + if (this->is_brake_lamp_on() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(3, this->is_brake_lamp_on(), output); + } + + // bool is_auto_light = 4; + if (this->is_auto_light() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(4, this->is_auto_light(), output); + } + + // int32 wiper_gear = 5; + if (this->wiper_gear() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(5, this->wiper_gear(), output); + } + + // int32 lotion_gear = 6; + if (this->lotion_gear() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(6, this->lotion_gear(), output); + } + + // bool is_horn_on = 7; + if (this->is_horn_on() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(7, this->is_horn_on(), output); + } + + // .apollo.canbus.Light.LincolnLampType lincoln_lamp_type = 8; + if (this->lincoln_lamp_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 8, this->lincoln_lamp_type(), output); + } + + // .apollo.canbus.Light.LincolnWiperType lincoln_wiper = 9; + if (this->lincoln_wiper() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 9, this->lincoln_wiper(), output); + } + + // .apollo.canbus.Light.LincolnAmbientType lincoln_ambient = 10; + if (this->lincoln_ambient() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 10, this->lincoln_ambient(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Light) +} + +::google::protobuf::uint8* Light::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Light) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.canbus.Light.TurnLightType turn_light_type = 1; + if (this->turn_light_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->turn_light_type(), target); + } + + // .apollo.canbus.Light.LampType lamp_type = 2; + if (this->lamp_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->lamp_type(), target); + } + + // bool is_brake_lamp_on = 3; + if (this->is_brake_lamp_on() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(3, this->is_brake_lamp_on(), target); + } + + // bool is_auto_light = 4; + if (this->is_auto_light() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(4, this->is_auto_light(), target); + } + + // int32 wiper_gear = 5; + if (this->wiper_gear() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(5, this->wiper_gear(), target); + } + + // int32 lotion_gear = 6; + if (this->lotion_gear() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(6, this->lotion_gear(), target); + } + + // bool is_horn_on = 7; + if (this->is_horn_on() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(7, this->is_horn_on(), target); + } + + // .apollo.canbus.Light.LincolnLampType lincoln_lamp_type = 8; + if (this->lincoln_lamp_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 8, this->lincoln_lamp_type(), target); + } + + // .apollo.canbus.Light.LincolnWiperType lincoln_wiper = 9; + if (this->lincoln_wiper() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 9, this->lincoln_wiper(), target); + } + + // .apollo.canbus.Light.LincolnAmbientType lincoln_ambient = 10; + if (this->lincoln_ambient() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 10, this->lincoln_ambient(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Light) + return target; +} + +size_t Light::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Light) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.canbus.Light.TurnLightType turn_light_type = 1; + if (this->turn_light_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->turn_light_type()); + } + + // .apollo.canbus.Light.LampType lamp_type = 2; + if (this->lamp_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->lamp_type()); + } + + // bool is_brake_lamp_on = 3; + if (this->is_brake_lamp_on() != 0) { + total_size += 1 + 1; + } + + // bool is_auto_light = 4; + if (this->is_auto_light() != 0) { + total_size += 1 + 1; + } + + // bool is_horn_on = 7; + if (this->is_horn_on() != 0) { + total_size += 1 + 1; + } + + // int32 wiper_gear = 5; + if (this->wiper_gear() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->wiper_gear()); + } + + // int32 lotion_gear = 6; + if (this->lotion_gear() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->lotion_gear()); + } + + // .apollo.canbus.Light.LincolnLampType lincoln_lamp_type = 8; + if (this->lincoln_lamp_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->lincoln_lamp_type()); + } + + // .apollo.canbus.Light.LincolnWiperType lincoln_wiper = 9; + if (this->lincoln_wiper() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->lincoln_wiper()); + } + + // .apollo.canbus.Light.LincolnAmbientType lincoln_ambient = 10; + if (this->lincoln_ambient() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->lincoln_ambient()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Light::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Light) + GOOGLE_DCHECK_NE(&from, this); + const Light* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Light) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Light) + MergeFrom(*source); + } +} + +void Light::MergeFrom(const Light& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Light) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.turn_light_type() != 0) { + set_turn_light_type(from.turn_light_type()); + } + if (from.lamp_type() != 0) { + set_lamp_type(from.lamp_type()); + } + if (from.is_brake_lamp_on() != 0) { + set_is_brake_lamp_on(from.is_brake_lamp_on()); + } + if (from.is_auto_light() != 0) { + set_is_auto_light(from.is_auto_light()); + } + if (from.is_horn_on() != 0) { + set_is_horn_on(from.is_horn_on()); + } + if (from.wiper_gear() != 0) { + set_wiper_gear(from.wiper_gear()); + } + if (from.lotion_gear() != 0) { + set_lotion_gear(from.lotion_gear()); + } + if (from.lincoln_lamp_type() != 0) { + set_lincoln_lamp_type(from.lincoln_lamp_type()); + } + if (from.lincoln_wiper() != 0) { + set_lincoln_wiper(from.lincoln_wiper()); + } + if (from.lincoln_ambient() != 0) { + set_lincoln_ambient(from.lincoln_ambient()); + } +} + +void Light::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Light) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Light::CopyFrom(const Light& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Light) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Light::IsInitialized() const { + return true; +} + +void Light::Swap(Light* other) { + if (other == this) return; + InternalSwap(other); +} +void Light::InternalSwap(Light* other) { + using std::swap; + swap(turn_light_type_, other->turn_light_type_); + swap(lamp_type_, other->lamp_type_); + swap(is_brake_lamp_on_, other->is_brake_lamp_on_); + swap(is_auto_light_, other->is_auto_light_); + swap(is_horn_on_, other->is_horn_on_); + swap(wiper_gear_, other->wiper_gear_); + swap(lotion_gear_, other->lotion_gear_); + swap(lincoln_lamp_type_, other->lincoln_lamp_type_); + swap(lincoln_wiper_, other->lincoln_wiper_); + swap(lincoln_ambient_, other->lincoln_ambient_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Light::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Eps::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Eps::kIsEpsFailFieldNumber; +const int Eps::kEpsControlStateFieldNumber; +const int Eps::kEpsDriverHandTorqFieldNumber; +const int Eps::kIsSteeringAngleValidFieldNumber; +const int Eps::kSteeringAngleFieldNumber; +const int Eps::kSteeringAngleSpdFieldNumber; +const int Eps::kIsTrimmingStatusFieldNumber; +const int Eps::kIsCalibrationStatusFieldNumber; +const int Eps::kIsFailureStatusFieldNumber; +const int Eps::kAllowEnterAutonomousModeFieldNumber; +const int Eps::kCurrentDrivingModeFieldNumber; +const int Eps::kSteeringAngleCmdFieldNumber; +const int Eps::kVehicleSpeedFieldNumber; +const int Eps::kEpasTorqueFieldNumber; +const int Eps::kSteeringEnabledFieldNumber; +const int Eps::kDriverOverrideFieldNumber; +const int Eps::kDriverActivityFieldNumber; +const int Eps::kWatchdogFaultFieldNumber; +const int Eps::kChannel1FaultFieldNumber; +const int Eps::kChannel2FaultFieldNumber; +const int Eps::kCalibrationFaultFieldNumber; +const int Eps::kConnectorFaultFieldNumber; +const int Eps::kTimestamp65FieldNumber; +const int Eps::kMajorVersionFieldNumber; +const int Eps::kMinorVersionFieldNumber; +const int Eps::kBuildNumberFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Eps::Eps() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Eps.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Eps) +} +Eps::Eps(const Eps& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&eps_driver_hand_torq_, &from.eps_driver_hand_torq_, + static_cast(reinterpret_cast(&build_number_) - + reinterpret_cast(&eps_driver_hand_torq_)) + sizeof(build_number_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Eps) +} + +void Eps::SharedCtor() { + ::memset(&eps_driver_hand_torq_, 0, static_cast( + reinterpret_cast(&build_number_) - + reinterpret_cast(&eps_driver_hand_torq_)) + sizeof(build_number_)); +} + +Eps::~Eps() { + // @@protoc_insertion_point(destructor:apollo.canbus.Eps) + SharedDtor(); +} + +void Eps::SharedDtor() { +} + +void Eps::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Eps::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Eps& Eps::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Eps.base); + return *internal_default_instance(); +} + + +void Eps::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Eps) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&eps_driver_hand_torq_, 0, static_cast( + reinterpret_cast(&build_number_) - + reinterpret_cast(&eps_driver_hand_torq_)) + sizeof(build_number_)); + _internal_metadata_.Clear(); +} + +bool Eps::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Eps) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_eps_fail = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_eps_fail_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Eps.Type eps_control_state = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_eps_control_state(static_cast< ::apollo::canbus::Eps_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double eps_driver_hand_torq = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &eps_driver_hand_torq_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_steering_angle_valid = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_steering_angle_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // double steering_angle = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steering_angle_))); + } else { + goto handle_unusual; + } + break; + } + + // double steering_angle_spd = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steering_angle_spd_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_trimming_status = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_trimming_status_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_calibration_status = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_calibration_status_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_failure_status = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(72u /* 72 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_failure_status_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 allow_enter_autonomous_mode = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &allow_enter_autonomous_mode_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 current_driving_mode = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(88u /* 88 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, ¤t_driving_mode_))); + } else { + goto handle_unusual; + } + break; + } + + // double steering_angle_cmd = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steering_angle_cmd_))); + } else { + goto handle_unusual; + } + break; + } + + // double vehicle_speed = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(105u /* 105 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &vehicle_speed_))); + } else { + goto handle_unusual; + } + break; + } + + // double epas_torque = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(113u /* 113 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &epas_torque_))); + } else { + goto handle_unusual; + } + break; + } + + // bool steering_enabled = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(120u /* 120 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &steering_enabled_))); + } else { + goto handle_unusual; + } + break; + } + + // bool driver_override = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(128u /* 128 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &driver_override_))); + } else { + goto handle_unusual; + } + break; + } + + // bool driver_activity = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(136u /* 136 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &driver_activity_))); + } else { + goto handle_unusual; + } + break; + } + + // bool watchdog_fault = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(144u /* 144 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &watchdog_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool channel_1_fault = 19; + case 19: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(152u /* 152 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &channel_1_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool channel_2_fault = 20; + case 20: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(160u /* 160 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &channel_2_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool calibration_fault = 21; + case 21: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(168u /* 168 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &calibration_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool connector_fault = 22; + case 22: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(176u /* 176 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &connector_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // double timestamp_65 = 23; + case 23: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(185u /* 185 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, ×tamp_65_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 major_version = 24; + case 24: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(192u /* 192 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &major_version_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 minor_version = 25; + case 25: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(200u /* 200 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &minor_version_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 build_number = 26; + case 26: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(208u /* 208 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &build_number_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Eps) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Eps) + return false; +#undef DO_ +} + +void Eps::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Eps) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_eps_fail = 1; + if (this->is_eps_fail() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_eps_fail(), output); + } + + // .apollo.canbus.Eps.Type eps_control_state = 2; + if (this->eps_control_state() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->eps_control_state(), output); + } + + // double eps_driver_hand_torq = 3; + if (this->eps_driver_hand_torq() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->eps_driver_hand_torq(), output); + } + + // bool is_steering_angle_valid = 4; + if (this->is_steering_angle_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(4, this->is_steering_angle_valid(), output); + } + + // double steering_angle = 5; + if (this->steering_angle() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->steering_angle(), output); + } + + // double steering_angle_spd = 6; + if (this->steering_angle_spd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->steering_angle_spd(), output); + } + + // bool is_trimming_status = 7; + if (this->is_trimming_status() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(7, this->is_trimming_status(), output); + } + + // bool is_calibration_status = 8; + if (this->is_calibration_status() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(8, this->is_calibration_status(), output); + } + + // bool is_failure_status = 9; + if (this->is_failure_status() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(9, this->is_failure_status(), output); + } + + // int32 allow_enter_autonomous_mode = 10; + if (this->allow_enter_autonomous_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(10, this->allow_enter_autonomous_mode(), output); + } + + // int32 current_driving_mode = 11; + if (this->current_driving_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(11, this->current_driving_mode(), output); + } + + // double steering_angle_cmd = 12; + if (this->steering_angle_cmd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(12, this->steering_angle_cmd(), output); + } + + // double vehicle_speed = 13; + if (this->vehicle_speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(13, this->vehicle_speed(), output); + } + + // double epas_torque = 14; + if (this->epas_torque() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(14, this->epas_torque(), output); + } + + // bool steering_enabled = 15; + if (this->steering_enabled() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(15, this->steering_enabled(), output); + } + + // bool driver_override = 16; + if (this->driver_override() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(16, this->driver_override(), output); + } + + // bool driver_activity = 17; + if (this->driver_activity() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(17, this->driver_activity(), output); + } + + // bool watchdog_fault = 18; + if (this->watchdog_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(18, this->watchdog_fault(), output); + } + + // bool channel_1_fault = 19; + if (this->channel_1_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(19, this->channel_1_fault(), output); + } + + // bool channel_2_fault = 20; + if (this->channel_2_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(20, this->channel_2_fault(), output); + } + + // bool calibration_fault = 21; + if (this->calibration_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(21, this->calibration_fault(), output); + } + + // bool connector_fault = 22; + if (this->connector_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(22, this->connector_fault(), output); + } + + // double timestamp_65 = 23; + if (this->timestamp_65() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(23, this->timestamp_65(), output); + } + + // int32 major_version = 24; + if (this->major_version() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(24, this->major_version(), output); + } + + // int32 minor_version = 25; + if (this->minor_version() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(25, this->minor_version(), output); + } + + // int32 build_number = 26; + if (this->build_number() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(26, this->build_number(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Eps) +} + +::google::protobuf::uint8* Eps::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Eps) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_eps_fail = 1; + if (this->is_eps_fail() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_eps_fail(), target); + } + + // .apollo.canbus.Eps.Type eps_control_state = 2; + if (this->eps_control_state() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->eps_control_state(), target); + } + + // double eps_driver_hand_torq = 3; + if (this->eps_driver_hand_torq() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->eps_driver_hand_torq(), target); + } + + // bool is_steering_angle_valid = 4; + if (this->is_steering_angle_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(4, this->is_steering_angle_valid(), target); + } + + // double steering_angle = 5; + if (this->steering_angle() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->steering_angle(), target); + } + + // double steering_angle_spd = 6; + if (this->steering_angle_spd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->steering_angle_spd(), target); + } + + // bool is_trimming_status = 7; + if (this->is_trimming_status() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(7, this->is_trimming_status(), target); + } + + // bool is_calibration_status = 8; + if (this->is_calibration_status() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(8, this->is_calibration_status(), target); + } + + // bool is_failure_status = 9; + if (this->is_failure_status() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(9, this->is_failure_status(), target); + } + + // int32 allow_enter_autonomous_mode = 10; + if (this->allow_enter_autonomous_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(10, this->allow_enter_autonomous_mode(), target); + } + + // int32 current_driving_mode = 11; + if (this->current_driving_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(11, this->current_driving_mode(), target); + } + + // double steering_angle_cmd = 12; + if (this->steering_angle_cmd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(12, this->steering_angle_cmd(), target); + } + + // double vehicle_speed = 13; + if (this->vehicle_speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(13, this->vehicle_speed(), target); + } + + // double epas_torque = 14; + if (this->epas_torque() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(14, this->epas_torque(), target); + } + + // bool steering_enabled = 15; + if (this->steering_enabled() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(15, this->steering_enabled(), target); + } + + // bool driver_override = 16; + if (this->driver_override() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(16, this->driver_override(), target); + } + + // bool driver_activity = 17; + if (this->driver_activity() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(17, this->driver_activity(), target); + } + + // bool watchdog_fault = 18; + if (this->watchdog_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(18, this->watchdog_fault(), target); + } + + // bool channel_1_fault = 19; + if (this->channel_1_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(19, this->channel_1_fault(), target); + } + + // bool channel_2_fault = 20; + if (this->channel_2_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(20, this->channel_2_fault(), target); + } + + // bool calibration_fault = 21; + if (this->calibration_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(21, this->calibration_fault(), target); + } + + // bool connector_fault = 22; + if (this->connector_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(22, this->connector_fault(), target); + } + + // double timestamp_65 = 23; + if (this->timestamp_65() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(23, this->timestamp_65(), target); + } + + // int32 major_version = 24; + if (this->major_version() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(24, this->major_version(), target); + } + + // int32 minor_version = 25; + if (this->minor_version() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(25, this->minor_version(), target); + } + + // int32 build_number = 26; + if (this->build_number() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(26, this->build_number(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Eps) + return target; +} + +size_t Eps::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Eps) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double eps_driver_hand_torq = 3; + if (this->eps_driver_hand_torq() != 0) { + total_size += 1 + 8; + } + + // .apollo.canbus.Eps.Type eps_control_state = 2; + if (this->eps_control_state() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->eps_control_state()); + } + + // bool is_eps_fail = 1; + if (this->is_eps_fail() != 0) { + total_size += 1 + 1; + } + + // bool is_steering_angle_valid = 4; + if (this->is_steering_angle_valid() != 0) { + total_size += 1 + 1; + } + + // bool is_trimming_status = 7; + if (this->is_trimming_status() != 0) { + total_size += 1 + 1; + } + + // bool is_calibration_status = 8; + if (this->is_calibration_status() != 0) { + total_size += 1 + 1; + } + + // double steering_angle = 5; + if (this->steering_angle() != 0) { + total_size += 1 + 8; + } + + // double steering_angle_spd = 6; + if (this->steering_angle_spd() != 0) { + total_size += 1 + 8; + } + + // int32 allow_enter_autonomous_mode = 10; + if (this->allow_enter_autonomous_mode() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->allow_enter_autonomous_mode()); + } + + // int32 current_driving_mode = 11; + if (this->current_driving_mode() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->current_driving_mode()); + } + + // double steering_angle_cmd = 12; + if (this->steering_angle_cmd() != 0) { + total_size += 1 + 8; + } + + // double vehicle_speed = 13; + if (this->vehicle_speed() != 0) { + total_size += 1 + 8; + } + + // double epas_torque = 14; + if (this->epas_torque() != 0) { + total_size += 1 + 8; + } + + // bool is_failure_status = 9; + if (this->is_failure_status() != 0) { + total_size += 1 + 1; + } + + // bool steering_enabled = 15; + if (this->steering_enabled() != 0) { + total_size += 1 + 1; + } + + // bool driver_override = 16; + if (this->driver_override() != 0) { + total_size += 2 + 1; + } + + // bool driver_activity = 17; + if (this->driver_activity() != 0) { + total_size += 2 + 1; + } + + // bool watchdog_fault = 18; + if (this->watchdog_fault() != 0) { + total_size += 2 + 1; + } + + // bool channel_1_fault = 19; + if (this->channel_1_fault() != 0) { + total_size += 2 + 1; + } + + // bool channel_2_fault = 20; + if (this->channel_2_fault() != 0) { + total_size += 2 + 1; + } + + // bool calibration_fault = 21; + if (this->calibration_fault() != 0) { + total_size += 2 + 1; + } + + // double timestamp_65 = 23; + if (this->timestamp_65() != 0) { + total_size += 2 + 8; + } + + // bool connector_fault = 22; + if (this->connector_fault() != 0) { + total_size += 2 + 1; + } + + // int32 major_version = 24; + if (this->major_version() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->major_version()); + } + + // int32 minor_version = 25; + if (this->minor_version() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->minor_version()); + } + + // int32 build_number = 26; + if (this->build_number() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->build_number()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Eps::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Eps) + GOOGLE_DCHECK_NE(&from, this); + const Eps* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Eps) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Eps) + MergeFrom(*source); + } +} + +void Eps::MergeFrom(const Eps& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Eps) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.eps_driver_hand_torq() != 0) { + set_eps_driver_hand_torq(from.eps_driver_hand_torq()); + } + if (from.eps_control_state() != 0) { + set_eps_control_state(from.eps_control_state()); + } + if (from.is_eps_fail() != 0) { + set_is_eps_fail(from.is_eps_fail()); + } + if (from.is_steering_angle_valid() != 0) { + set_is_steering_angle_valid(from.is_steering_angle_valid()); + } + if (from.is_trimming_status() != 0) { + set_is_trimming_status(from.is_trimming_status()); + } + if (from.is_calibration_status() != 0) { + set_is_calibration_status(from.is_calibration_status()); + } + if (from.steering_angle() != 0) { + set_steering_angle(from.steering_angle()); + } + if (from.steering_angle_spd() != 0) { + set_steering_angle_spd(from.steering_angle_spd()); + } + if (from.allow_enter_autonomous_mode() != 0) { + set_allow_enter_autonomous_mode(from.allow_enter_autonomous_mode()); + } + if (from.current_driving_mode() != 0) { + set_current_driving_mode(from.current_driving_mode()); + } + if (from.steering_angle_cmd() != 0) { + set_steering_angle_cmd(from.steering_angle_cmd()); + } + if (from.vehicle_speed() != 0) { + set_vehicle_speed(from.vehicle_speed()); + } + if (from.epas_torque() != 0) { + set_epas_torque(from.epas_torque()); + } + if (from.is_failure_status() != 0) { + set_is_failure_status(from.is_failure_status()); + } + if (from.steering_enabled() != 0) { + set_steering_enabled(from.steering_enabled()); + } + if (from.driver_override() != 0) { + set_driver_override(from.driver_override()); + } + if (from.driver_activity() != 0) { + set_driver_activity(from.driver_activity()); + } + if (from.watchdog_fault() != 0) { + set_watchdog_fault(from.watchdog_fault()); + } + if (from.channel_1_fault() != 0) { + set_channel_1_fault(from.channel_1_fault()); + } + if (from.channel_2_fault() != 0) { + set_channel_2_fault(from.channel_2_fault()); + } + if (from.calibration_fault() != 0) { + set_calibration_fault(from.calibration_fault()); + } + if (from.timestamp_65() != 0) { + set_timestamp_65(from.timestamp_65()); + } + if (from.connector_fault() != 0) { + set_connector_fault(from.connector_fault()); + } + if (from.major_version() != 0) { + set_major_version(from.major_version()); + } + if (from.minor_version() != 0) { + set_minor_version(from.minor_version()); + } + if (from.build_number() != 0) { + set_build_number(from.build_number()); + } +} + +void Eps::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Eps) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Eps::CopyFrom(const Eps& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Eps) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Eps::IsInitialized() const { + return true; +} + +void Eps::Swap(Eps* other) { + if (other == this) return; + InternalSwap(other); +} +void Eps::InternalSwap(Eps* other) { + using std::swap; + swap(eps_driver_hand_torq_, other->eps_driver_hand_torq_); + swap(eps_control_state_, other->eps_control_state_); + swap(is_eps_fail_, other->is_eps_fail_); + swap(is_steering_angle_valid_, other->is_steering_angle_valid_); + swap(is_trimming_status_, other->is_trimming_status_); + swap(is_calibration_status_, other->is_calibration_status_); + swap(steering_angle_, other->steering_angle_); + swap(steering_angle_spd_, other->steering_angle_spd_); + swap(allow_enter_autonomous_mode_, other->allow_enter_autonomous_mode_); + swap(current_driving_mode_, other->current_driving_mode_); + swap(steering_angle_cmd_, other->steering_angle_cmd_); + swap(vehicle_speed_, other->vehicle_speed_); + swap(epas_torque_, other->epas_torque_); + swap(is_failure_status_, other->is_failure_status_); + swap(steering_enabled_, other->steering_enabled_); + swap(driver_override_, other->driver_override_); + swap(driver_activity_, other->driver_activity_); + swap(watchdog_fault_, other->watchdog_fault_); + swap(channel_1_fault_, other->channel_1_fault_); + swap(channel_2_fault_, other->channel_2_fault_); + swap(calibration_fault_, other->calibration_fault_); + swap(timestamp_65_, other->timestamp_65_); + swap(connector_fault_, other->connector_fault_); + swap(major_version_, other->major_version_); + swap(minor_version_, other->minor_version_); + swap(build_number_, other->build_number_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Eps::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void VehicleSpd::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int VehicleSpd::kIsVehicleStandstillFieldNumber; +const int VehicleSpd::kIsVehicleSpdValidFieldNumber; +const int VehicleSpd::kVehicleSpdFieldNumber; +const int VehicleSpd::kIsWheelSpdRrValidFieldNumber; +const int VehicleSpd::kWheelDirectionRrFieldNumber; +const int VehicleSpd::kWheelSpdRrFieldNumber; +const int VehicleSpd::kIsWheelSpdRlValidFieldNumber; +const int VehicleSpd::kWheelDirectionRlFieldNumber; +const int VehicleSpd::kWheelSpdRlFieldNumber; +const int VehicleSpd::kIsWheelSpdFrValidFieldNumber; +const int VehicleSpd::kWheelDirectionFrFieldNumber; +const int VehicleSpd::kWheelSpdFrFieldNumber; +const int VehicleSpd::kIsWheelSpdFlValidFieldNumber; +const int VehicleSpd::kWheelDirectionFlFieldNumber; +const int VehicleSpd::kWheelSpdFlFieldNumber; +const int VehicleSpd::kIsYawRateValidFieldNumber; +const int VehicleSpd::kYawRateFieldNumber; +const int VehicleSpd::kYawRateOffsetFieldNumber; +const int VehicleSpd::kIsAxValidFieldNumber; +const int VehicleSpd::kAxFieldNumber; +const int VehicleSpd::kAxOffsetFieldNumber; +const int VehicleSpd::kIsAyValidFieldNumber; +const int VehicleSpd::kAyFieldNumber; +const int VehicleSpd::kAyOffsetFieldNumber; +const int VehicleSpd::kLatAccFieldNumber; +const int VehicleSpd::kLongAccFieldNumber; +const int VehicleSpd::kVertAccFieldNumber; +const int VehicleSpd::kRollRateFieldNumber; +const int VehicleSpd::kAccEstFieldNumber; +const int VehicleSpd::kTimestampSecFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +VehicleSpd::VehicleSpd() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_VehicleSpd.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.VehicleSpd) +} +VehicleSpd::VehicleSpd(const VehicleSpd& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&vehicle_spd_, &from.vehicle_spd_, + static_cast(reinterpret_cast(&is_ay_valid_) - + reinterpret_cast(&vehicle_spd_)) + sizeof(is_ay_valid_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.VehicleSpd) +} + +void VehicleSpd::SharedCtor() { + ::memset(&vehicle_spd_, 0, static_cast( + reinterpret_cast(&is_ay_valid_) - + reinterpret_cast(&vehicle_spd_)) + sizeof(is_ay_valid_)); +} + +VehicleSpd::~VehicleSpd() { + // @@protoc_insertion_point(destructor:apollo.canbus.VehicleSpd) + SharedDtor(); +} + +void VehicleSpd::SharedDtor() { +} + +void VehicleSpd::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* VehicleSpd::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const VehicleSpd& VehicleSpd::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_VehicleSpd.base); + return *internal_default_instance(); +} + + +void VehicleSpd::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.VehicleSpd) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&vehicle_spd_, 0, static_cast( + reinterpret_cast(&is_ay_valid_) - + reinterpret_cast(&vehicle_spd_)) + sizeof(is_ay_valid_)); + _internal_metadata_.Clear(); +} + +bool VehicleSpd::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.VehicleSpd) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_vehicle_standstill = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_vehicle_standstill_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_vehicle_spd_valid = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_vehicle_spd_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // double vehicle_spd = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &vehicle_spd_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_wheel_spd_rr_valid = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_wheel_spd_rr_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rr = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_wheel_direction_rr(static_cast< ::apollo::canbus::VehicleSpd_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double wheel_spd_rr = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &wheel_spd_rr_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_wheel_spd_rl_valid = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_wheel_spd_rl_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rl = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_wheel_direction_rl(static_cast< ::apollo::canbus::VehicleSpd_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double wheel_spd_rl = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &wheel_spd_rl_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_wheel_spd_fr_valid = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_wheel_spd_fr_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fr = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(88u /* 88 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_wheel_direction_fr(static_cast< ::apollo::canbus::VehicleSpd_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double wheel_spd_fr = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &wheel_spd_fr_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_wheel_spd_fl_valid = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(104u /* 104 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_wheel_spd_fl_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fl = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(112u /* 112 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_wheel_direction_fl(static_cast< ::apollo::canbus::VehicleSpd_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double wheel_spd_fl = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(121u /* 121 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &wheel_spd_fl_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_yaw_rate_valid = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(128u /* 128 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_yaw_rate_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // double yaw_rate = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(137u /* 137 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &yaw_rate_))); + } else { + goto handle_unusual; + } + break; + } + + // double yaw_rate_offset = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(145u /* 145 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &yaw_rate_offset_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_ax_valid = 19; + case 19: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(152u /* 152 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_ax_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // double ax = 20; + case 20: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(161u /* 161 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ax_))); + } else { + goto handle_unusual; + } + break; + } + + // double ax_offset = 21; + case 21: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(169u /* 169 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ax_offset_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_ay_valid = 22; + case 22: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(176u /* 176 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_ay_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // double ay = 23; + case 23: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(185u /* 185 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ay_))); + } else { + goto handle_unusual; + } + break; + } + + // double ay_offset = 24; + case 24: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(193u /* 193 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ay_offset_))); + } else { + goto handle_unusual; + } + break; + } + + // double lat_acc = 25; + case 25: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(201u /* 201 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &lat_acc_))); + } else { + goto handle_unusual; + } + break; + } + + // double long_acc = 26; + case 26: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(209u /* 209 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &long_acc_))); + } else { + goto handle_unusual; + } + break; + } + + // double vert_acc = 27; + case 27: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(217u /* 217 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &vert_acc_))); + } else { + goto handle_unusual; + } + break; + } + + // double roll_rate = 28; + case 28: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(225u /* 225 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &roll_rate_))); + } else { + goto handle_unusual; + } + break; + } + + // double acc_est = 29; + case 29: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(233u /* 233 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &acc_est_))); + } else { + goto handle_unusual; + } + break; + } + + // double timestamp_sec = 30; + case 30: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(241u /* 241 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, ×tamp_sec_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.VehicleSpd) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.VehicleSpd) + return false; +#undef DO_ +} + +void VehicleSpd::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.VehicleSpd) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_vehicle_standstill = 1; + if (this->is_vehicle_standstill() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_vehicle_standstill(), output); + } + + // bool is_vehicle_spd_valid = 2; + if (this->is_vehicle_spd_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_vehicle_spd_valid(), output); + } + + // double vehicle_spd = 3; + if (this->vehicle_spd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->vehicle_spd(), output); + } + + // bool is_wheel_spd_rr_valid = 4; + if (this->is_wheel_spd_rr_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(4, this->is_wheel_spd_rr_valid(), output); + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rr = 5; + if (this->wheel_direction_rr() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 5, this->wheel_direction_rr(), output); + } + + // double wheel_spd_rr = 6; + if (this->wheel_spd_rr() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->wheel_spd_rr(), output); + } + + // bool is_wheel_spd_rl_valid = 7; + if (this->is_wheel_spd_rl_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(7, this->is_wheel_spd_rl_valid(), output); + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rl = 8; + if (this->wheel_direction_rl() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 8, this->wheel_direction_rl(), output); + } + + // double wheel_spd_rl = 9; + if (this->wheel_spd_rl() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->wheel_spd_rl(), output); + } + + // bool is_wheel_spd_fr_valid = 10; + if (this->is_wheel_spd_fr_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(10, this->is_wheel_spd_fr_valid(), output); + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fr = 11; + if (this->wheel_direction_fr() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 11, this->wheel_direction_fr(), output); + } + + // double wheel_spd_fr = 12; + if (this->wheel_spd_fr() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(12, this->wheel_spd_fr(), output); + } + + // bool is_wheel_spd_fl_valid = 13; + if (this->is_wheel_spd_fl_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(13, this->is_wheel_spd_fl_valid(), output); + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fl = 14; + if (this->wheel_direction_fl() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 14, this->wheel_direction_fl(), output); + } + + // double wheel_spd_fl = 15; + if (this->wheel_spd_fl() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(15, this->wheel_spd_fl(), output); + } + + // bool is_yaw_rate_valid = 16; + if (this->is_yaw_rate_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(16, this->is_yaw_rate_valid(), output); + } + + // double yaw_rate = 17; + if (this->yaw_rate() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(17, this->yaw_rate(), output); + } + + // double yaw_rate_offset = 18; + if (this->yaw_rate_offset() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(18, this->yaw_rate_offset(), output); + } + + // bool is_ax_valid = 19; + if (this->is_ax_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(19, this->is_ax_valid(), output); + } + + // double ax = 20; + if (this->ax() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(20, this->ax(), output); + } + + // double ax_offset = 21; + if (this->ax_offset() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(21, this->ax_offset(), output); + } + + // bool is_ay_valid = 22; + if (this->is_ay_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(22, this->is_ay_valid(), output); + } + + // double ay = 23; + if (this->ay() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(23, this->ay(), output); + } + + // double ay_offset = 24; + if (this->ay_offset() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(24, this->ay_offset(), output); + } + + // double lat_acc = 25; + if (this->lat_acc() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(25, this->lat_acc(), output); + } + + // double long_acc = 26; + if (this->long_acc() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(26, this->long_acc(), output); + } + + // double vert_acc = 27; + if (this->vert_acc() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(27, this->vert_acc(), output); + } + + // double roll_rate = 28; + if (this->roll_rate() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(28, this->roll_rate(), output); + } + + // double acc_est = 29; + if (this->acc_est() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(29, this->acc_est(), output); + } + + // double timestamp_sec = 30; + if (this->timestamp_sec() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(30, this->timestamp_sec(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.VehicleSpd) +} + +::google::protobuf::uint8* VehicleSpd::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.VehicleSpd) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_vehicle_standstill = 1; + if (this->is_vehicle_standstill() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_vehicle_standstill(), target); + } + + // bool is_vehicle_spd_valid = 2; + if (this->is_vehicle_spd_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_vehicle_spd_valid(), target); + } + + // double vehicle_spd = 3; + if (this->vehicle_spd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->vehicle_spd(), target); + } + + // bool is_wheel_spd_rr_valid = 4; + if (this->is_wheel_spd_rr_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(4, this->is_wheel_spd_rr_valid(), target); + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rr = 5; + if (this->wheel_direction_rr() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 5, this->wheel_direction_rr(), target); + } + + // double wheel_spd_rr = 6; + if (this->wheel_spd_rr() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->wheel_spd_rr(), target); + } + + // bool is_wheel_spd_rl_valid = 7; + if (this->is_wheel_spd_rl_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(7, this->is_wheel_spd_rl_valid(), target); + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rl = 8; + if (this->wheel_direction_rl() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 8, this->wheel_direction_rl(), target); + } + + // double wheel_spd_rl = 9; + if (this->wheel_spd_rl() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->wheel_spd_rl(), target); + } + + // bool is_wheel_spd_fr_valid = 10; + if (this->is_wheel_spd_fr_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(10, this->is_wheel_spd_fr_valid(), target); + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fr = 11; + if (this->wheel_direction_fr() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 11, this->wheel_direction_fr(), target); + } + + // double wheel_spd_fr = 12; + if (this->wheel_spd_fr() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(12, this->wheel_spd_fr(), target); + } + + // bool is_wheel_spd_fl_valid = 13; + if (this->is_wheel_spd_fl_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(13, this->is_wheel_spd_fl_valid(), target); + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fl = 14; + if (this->wheel_direction_fl() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 14, this->wheel_direction_fl(), target); + } + + // double wheel_spd_fl = 15; + if (this->wheel_spd_fl() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(15, this->wheel_spd_fl(), target); + } + + // bool is_yaw_rate_valid = 16; + if (this->is_yaw_rate_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(16, this->is_yaw_rate_valid(), target); + } + + // double yaw_rate = 17; + if (this->yaw_rate() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(17, this->yaw_rate(), target); + } + + // double yaw_rate_offset = 18; + if (this->yaw_rate_offset() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(18, this->yaw_rate_offset(), target); + } + + // bool is_ax_valid = 19; + if (this->is_ax_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(19, this->is_ax_valid(), target); + } + + // double ax = 20; + if (this->ax() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(20, this->ax(), target); + } + + // double ax_offset = 21; + if (this->ax_offset() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(21, this->ax_offset(), target); + } + + // bool is_ay_valid = 22; + if (this->is_ay_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(22, this->is_ay_valid(), target); + } + + // double ay = 23; + if (this->ay() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(23, this->ay(), target); + } + + // double ay_offset = 24; + if (this->ay_offset() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(24, this->ay_offset(), target); + } + + // double lat_acc = 25; + if (this->lat_acc() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(25, this->lat_acc(), target); + } + + // double long_acc = 26; + if (this->long_acc() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(26, this->long_acc(), target); + } + + // double vert_acc = 27; + if (this->vert_acc() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(27, this->vert_acc(), target); + } + + // double roll_rate = 28; + if (this->roll_rate() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(28, this->roll_rate(), target); + } + + // double acc_est = 29; + if (this->acc_est() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(29, this->acc_est(), target); + } + + // double timestamp_sec = 30; + if (this->timestamp_sec() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(30, this->timestamp_sec(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.VehicleSpd) + return target; +} + +size_t VehicleSpd::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.VehicleSpd) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double vehicle_spd = 3; + if (this->vehicle_spd() != 0) { + total_size += 1 + 8; + } + + // bool is_vehicle_standstill = 1; + if (this->is_vehicle_standstill() != 0) { + total_size += 1 + 1; + } + + // bool is_vehicle_spd_valid = 2; + if (this->is_vehicle_spd_valid() != 0) { + total_size += 1 + 1; + } + + // bool is_wheel_spd_rr_valid = 4; + if (this->is_wheel_spd_rr_valid() != 0) { + total_size += 1 + 1; + } + + // bool is_wheel_spd_rl_valid = 7; + if (this->is_wheel_spd_rl_valid() != 0) { + total_size += 1 + 1; + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rr = 5; + if (this->wheel_direction_rr() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->wheel_direction_rr()); + } + + // double wheel_spd_rr = 6; + if (this->wheel_spd_rr() != 0) { + total_size += 1 + 8; + } + + // double wheel_spd_rl = 9; + if (this->wheel_spd_rl() != 0) { + total_size += 1 + 8; + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rl = 8; + if (this->wheel_direction_rl() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->wheel_direction_rl()); + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fr = 11; + if (this->wheel_direction_fr() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->wheel_direction_fr()); + } + + // double wheel_spd_fr = 12; + if (this->wheel_spd_fr() != 0) { + total_size += 1 + 8; + } + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fl = 14; + if (this->wheel_direction_fl() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->wheel_direction_fl()); + } + + // bool is_wheel_spd_fr_valid = 10; + if (this->is_wheel_spd_fr_valid() != 0) { + total_size += 1 + 1; + } + + // bool is_wheel_spd_fl_valid = 13; + if (this->is_wheel_spd_fl_valid() != 0) { + total_size += 1 + 1; + } + + // bool is_yaw_rate_valid = 16; + if (this->is_yaw_rate_valid() != 0) { + total_size += 2 + 1; + } + + // bool is_ax_valid = 19; + if (this->is_ax_valid() != 0) { + total_size += 2 + 1; + } + + // double wheel_spd_fl = 15; + if (this->wheel_spd_fl() != 0) { + total_size += 1 + 8; + } + + // double yaw_rate = 17; + if (this->yaw_rate() != 0) { + total_size += 2 + 8; + } + + // double yaw_rate_offset = 18; + if (this->yaw_rate_offset() != 0) { + total_size += 2 + 8; + } + + // double ax = 20; + if (this->ax() != 0) { + total_size += 2 + 8; + } + + // double ax_offset = 21; + if (this->ax_offset() != 0) { + total_size += 2 + 8; + } + + // double ay = 23; + if (this->ay() != 0) { + total_size += 2 + 8; + } + + // double ay_offset = 24; + if (this->ay_offset() != 0) { + total_size += 2 + 8; + } + + // double lat_acc = 25; + if (this->lat_acc() != 0) { + total_size += 2 + 8; + } + + // double long_acc = 26; + if (this->long_acc() != 0) { + total_size += 2 + 8; + } + + // double vert_acc = 27; + if (this->vert_acc() != 0) { + total_size += 2 + 8; + } + + // double roll_rate = 28; + if (this->roll_rate() != 0) { + total_size += 2 + 8; + } + + // double acc_est = 29; + if (this->acc_est() != 0) { + total_size += 2 + 8; + } + + // double timestamp_sec = 30; + if (this->timestamp_sec() != 0) { + total_size += 2 + 8; + } + + // bool is_ay_valid = 22; + if (this->is_ay_valid() != 0) { + total_size += 2 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void VehicleSpd::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.VehicleSpd) + GOOGLE_DCHECK_NE(&from, this); + const VehicleSpd* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.VehicleSpd) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.VehicleSpd) + MergeFrom(*source); + } +} + +void VehicleSpd::MergeFrom(const VehicleSpd& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.VehicleSpd) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.vehicle_spd() != 0) { + set_vehicle_spd(from.vehicle_spd()); + } + if (from.is_vehicle_standstill() != 0) { + set_is_vehicle_standstill(from.is_vehicle_standstill()); + } + if (from.is_vehicle_spd_valid() != 0) { + set_is_vehicle_spd_valid(from.is_vehicle_spd_valid()); + } + if (from.is_wheel_spd_rr_valid() != 0) { + set_is_wheel_spd_rr_valid(from.is_wheel_spd_rr_valid()); + } + if (from.is_wheel_spd_rl_valid() != 0) { + set_is_wheel_spd_rl_valid(from.is_wheel_spd_rl_valid()); + } + if (from.wheel_direction_rr() != 0) { + set_wheel_direction_rr(from.wheel_direction_rr()); + } + if (from.wheel_spd_rr() != 0) { + set_wheel_spd_rr(from.wheel_spd_rr()); + } + if (from.wheel_spd_rl() != 0) { + set_wheel_spd_rl(from.wheel_spd_rl()); + } + if (from.wheel_direction_rl() != 0) { + set_wheel_direction_rl(from.wheel_direction_rl()); + } + if (from.wheel_direction_fr() != 0) { + set_wheel_direction_fr(from.wheel_direction_fr()); + } + if (from.wheel_spd_fr() != 0) { + set_wheel_spd_fr(from.wheel_spd_fr()); + } + if (from.wheel_direction_fl() != 0) { + set_wheel_direction_fl(from.wheel_direction_fl()); + } + if (from.is_wheel_spd_fr_valid() != 0) { + set_is_wheel_spd_fr_valid(from.is_wheel_spd_fr_valid()); + } + if (from.is_wheel_spd_fl_valid() != 0) { + set_is_wheel_spd_fl_valid(from.is_wheel_spd_fl_valid()); + } + if (from.is_yaw_rate_valid() != 0) { + set_is_yaw_rate_valid(from.is_yaw_rate_valid()); + } + if (from.is_ax_valid() != 0) { + set_is_ax_valid(from.is_ax_valid()); + } + if (from.wheel_spd_fl() != 0) { + set_wheel_spd_fl(from.wheel_spd_fl()); + } + if (from.yaw_rate() != 0) { + set_yaw_rate(from.yaw_rate()); + } + if (from.yaw_rate_offset() != 0) { + set_yaw_rate_offset(from.yaw_rate_offset()); + } + if (from.ax() != 0) { + set_ax(from.ax()); + } + if (from.ax_offset() != 0) { + set_ax_offset(from.ax_offset()); + } + if (from.ay() != 0) { + set_ay(from.ay()); + } + if (from.ay_offset() != 0) { + set_ay_offset(from.ay_offset()); + } + if (from.lat_acc() != 0) { + set_lat_acc(from.lat_acc()); + } + if (from.long_acc() != 0) { + set_long_acc(from.long_acc()); + } + if (from.vert_acc() != 0) { + set_vert_acc(from.vert_acc()); + } + if (from.roll_rate() != 0) { + set_roll_rate(from.roll_rate()); + } + if (from.acc_est() != 0) { + set_acc_est(from.acc_est()); + } + if (from.timestamp_sec() != 0) { + set_timestamp_sec(from.timestamp_sec()); + } + if (from.is_ay_valid() != 0) { + set_is_ay_valid(from.is_ay_valid()); + } +} + +void VehicleSpd::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.VehicleSpd) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void VehicleSpd::CopyFrom(const VehicleSpd& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.VehicleSpd) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool VehicleSpd::IsInitialized() const { + return true; +} + +void VehicleSpd::Swap(VehicleSpd* other) { + if (other == this) return; + InternalSwap(other); +} +void VehicleSpd::InternalSwap(VehicleSpd* other) { + using std::swap; + swap(vehicle_spd_, other->vehicle_spd_); + swap(is_vehicle_standstill_, other->is_vehicle_standstill_); + swap(is_vehicle_spd_valid_, other->is_vehicle_spd_valid_); + swap(is_wheel_spd_rr_valid_, other->is_wheel_spd_rr_valid_); + swap(is_wheel_spd_rl_valid_, other->is_wheel_spd_rl_valid_); + swap(wheel_direction_rr_, other->wheel_direction_rr_); + swap(wheel_spd_rr_, other->wheel_spd_rr_); + swap(wheel_spd_rl_, other->wheel_spd_rl_); + swap(wheel_direction_rl_, other->wheel_direction_rl_); + swap(wheel_direction_fr_, other->wheel_direction_fr_); + swap(wheel_spd_fr_, other->wheel_spd_fr_); + swap(wheel_direction_fl_, other->wheel_direction_fl_); + swap(is_wheel_spd_fr_valid_, other->is_wheel_spd_fr_valid_); + swap(is_wheel_spd_fl_valid_, other->is_wheel_spd_fl_valid_); + swap(is_yaw_rate_valid_, other->is_yaw_rate_valid_); + swap(is_ax_valid_, other->is_ax_valid_); + swap(wheel_spd_fl_, other->wheel_spd_fl_); + swap(yaw_rate_, other->yaw_rate_); + swap(yaw_rate_offset_, other->yaw_rate_offset_); + swap(ax_, other->ax_); + swap(ax_offset_, other->ax_offset_); + swap(ay_, other->ay_); + swap(ay_offset_, other->ay_offset_); + swap(lat_acc_, other->lat_acc_); + swap(long_acc_, other->long_acc_); + swap(vert_acc_, other->vert_acc_); + swap(roll_rate_, other->roll_rate_); + swap(acc_est_, other->acc_est_); + swap(timestamp_sec_, other->timestamp_sec_); + swap(is_ay_valid_, other->is_ay_valid_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata VehicleSpd::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Deceleration::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Deceleration::kIsDecelerationAvailableFieldNumber; +const int Deceleration::kIsDecelerationActiveFieldNumber; +const int Deceleration::kDecelerationFieldNumber; +const int Deceleration::kIsEvbFailFieldNumber; +const int Deceleration::kEvbPressureFieldNumber; +const int Deceleration::kBrakePressureFieldNumber; +const int Deceleration::kBrakePressureSpdFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Deceleration::Deceleration() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Deceleration.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Deceleration) +} +Deceleration::Deceleration(const Deceleration& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&deceleration_, &from.deceleration_, + static_cast(reinterpret_cast(&is_deceleration_active_) - + reinterpret_cast(&deceleration_)) + sizeof(is_deceleration_active_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Deceleration) +} + +void Deceleration::SharedCtor() { + ::memset(&deceleration_, 0, static_cast( + reinterpret_cast(&is_deceleration_active_) - + reinterpret_cast(&deceleration_)) + sizeof(is_deceleration_active_)); +} + +Deceleration::~Deceleration() { + // @@protoc_insertion_point(destructor:apollo.canbus.Deceleration) + SharedDtor(); +} + +void Deceleration::SharedDtor() { +} + +void Deceleration::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Deceleration::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Deceleration& Deceleration::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Deceleration.base); + return *internal_default_instance(); +} + + +void Deceleration::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Deceleration) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&deceleration_, 0, static_cast( + reinterpret_cast(&is_deceleration_active_) - + reinterpret_cast(&deceleration_)) + sizeof(is_deceleration_active_)); + _internal_metadata_.Clear(); +} + +bool Deceleration::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Deceleration) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_deceleration_available = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_deceleration_available_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_deceleration_active = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_deceleration_active_))); + } else { + goto handle_unusual; + } + break; + } + + // double deceleration = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &deceleration_))); + } else { + goto handle_unusual; + } + break; + } + + // double is_evb_fail = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &is_evb_fail_))); + } else { + goto handle_unusual; + } + break; + } + + // double evb_pressure = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &evb_pressure_))); + } else { + goto handle_unusual; + } + break; + } + + // double brake_pressure = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &brake_pressure_))); + } else { + goto handle_unusual; + } + break; + } + + // double brake_pressure_spd = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &brake_pressure_spd_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Deceleration) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Deceleration) + return false; +#undef DO_ +} + +void Deceleration::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Deceleration) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_deceleration_available = 1; + if (this->is_deceleration_available() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_deceleration_available(), output); + } + + // bool is_deceleration_active = 2; + if (this->is_deceleration_active() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_deceleration_active(), output); + } + + // double deceleration = 3; + if (this->deceleration() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->deceleration(), output); + } + + // double is_evb_fail = 4; + if (this->is_evb_fail() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->is_evb_fail(), output); + } + + // double evb_pressure = 5; + if (this->evb_pressure() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->evb_pressure(), output); + } + + // double brake_pressure = 6; + if (this->brake_pressure() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->brake_pressure(), output); + } + + // double brake_pressure_spd = 7; + if (this->brake_pressure_spd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->brake_pressure_spd(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Deceleration) +} + +::google::protobuf::uint8* Deceleration::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Deceleration) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_deceleration_available = 1; + if (this->is_deceleration_available() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_deceleration_available(), target); + } + + // bool is_deceleration_active = 2; + if (this->is_deceleration_active() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_deceleration_active(), target); + } + + // double deceleration = 3; + if (this->deceleration() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->deceleration(), target); + } + + // double is_evb_fail = 4; + if (this->is_evb_fail() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->is_evb_fail(), target); + } + + // double evb_pressure = 5; + if (this->evb_pressure() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->evb_pressure(), target); + } + + // double brake_pressure = 6; + if (this->brake_pressure() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->brake_pressure(), target); + } + + // double brake_pressure_spd = 7; + if (this->brake_pressure_spd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->brake_pressure_spd(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Deceleration) + return target; +} + +size_t Deceleration::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Deceleration) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double deceleration = 3; + if (this->deceleration() != 0) { + total_size += 1 + 8; + } + + // double is_evb_fail = 4; + if (this->is_evb_fail() != 0) { + total_size += 1 + 8; + } + + // double evb_pressure = 5; + if (this->evb_pressure() != 0) { + total_size += 1 + 8; + } + + // double brake_pressure = 6; + if (this->brake_pressure() != 0) { + total_size += 1 + 8; + } + + // double brake_pressure_spd = 7; + if (this->brake_pressure_spd() != 0) { + total_size += 1 + 8; + } + + // bool is_deceleration_available = 1; + if (this->is_deceleration_available() != 0) { + total_size += 1 + 1; + } + + // bool is_deceleration_active = 2; + if (this->is_deceleration_active() != 0) { + total_size += 1 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Deceleration::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Deceleration) + GOOGLE_DCHECK_NE(&from, this); + const Deceleration* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Deceleration) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Deceleration) + MergeFrom(*source); + } +} + +void Deceleration::MergeFrom(const Deceleration& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Deceleration) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.deceleration() != 0) { + set_deceleration(from.deceleration()); + } + if (from.is_evb_fail() != 0) { + set_is_evb_fail(from.is_evb_fail()); + } + if (from.evb_pressure() != 0) { + set_evb_pressure(from.evb_pressure()); + } + if (from.brake_pressure() != 0) { + set_brake_pressure(from.brake_pressure()); + } + if (from.brake_pressure_spd() != 0) { + set_brake_pressure_spd(from.brake_pressure_spd()); + } + if (from.is_deceleration_available() != 0) { + set_is_deceleration_available(from.is_deceleration_available()); + } + if (from.is_deceleration_active() != 0) { + set_is_deceleration_active(from.is_deceleration_active()); + } +} + +void Deceleration::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Deceleration) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Deceleration::CopyFrom(const Deceleration& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Deceleration) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Deceleration::IsInitialized() const { + return true; +} + +void Deceleration::Swap(Deceleration* other) { + if (other == this) return; + InternalSwap(other); +} +void Deceleration::InternalSwap(Deceleration* other) { + using std::swap; + swap(deceleration_, other->deceleration_); + swap(is_evb_fail_, other->is_evb_fail_); + swap(evb_pressure_, other->evb_pressure_); + swap(brake_pressure_, other->brake_pressure_); + swap(brake_pressure_spd_, other->brake_pressure_spd_); + swap(is_deceleration_available_, other->is_deceleration_available_); + swap(is_deceleration_active_, other->is_deceleration_active_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Deceleration::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Brake::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Brake::kIsBrakePedalPressedFieldNumber; +const int Brake::kIsBrakeForceExistFieldNumber; +const int Brake::kIsBrakeOverHeatFieldNumber; +const int Brake::kIsHandBrakeOnFieldNumber; +const int Brake::kBrakePedalPositionFieldNumber; +const int Brake::kIsBrakeValidFieldNumber; +const int Brake::kBrakeInputFieldNumber; +const int Brake::kBrakeCmdFieldNumber; +const int Brake::kBrakeOutputFieldNumber; +const int Brake::kBooInputFieldNumber; +const int Brake::kBooCmdFieldNumber; +const int Brake::kBooOutputFieldNumber; +const int Brake::kWatchdogApplyingBrakesFieldNumber; +const int Brake::kWatchdogSourceFieldNumber; +const int Brake::kBrakeEnabledFieldNumber; +const int Brake::kDriverOverrideFieldNumber; +const int Brake::kDriverActivityFieldNumber; +const int Brake::kWatchdogFaultFieldNumber; +const int Brake::kChannel1FaultFieldNumber; +const int Brake::kChannel2FaultFieldNumber; +const int Brake::kBooFaultFieldNumber; +const int Brake::kConnectorFaultFieldNumber; +const int Brake::kBrakeTorqueReqFieldNumber; +const int Brake::kHsaStatusFieldNumber; +const int Brake::kBrakeTorqueActFieldNumber; +const int Brake::kHsaModeFieldNumber; +const int Brake::kWheelTorqueActFieldNumber; +const int Brake::kMajorVersionFieldNumber; +const int Brake::kMinorVersionFieldNumber; +const int Brake::kBuildNumberFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Brake::Brake() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Brake.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Brake) +} +Brake::Brake(const Brake& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&brake_pedal_position_, &from.brake_pedal_position_, + static_cast(reinterpret_cast(&build_number_) - + reinterpret_cast(&brake_pedal_position_)) + sizeof(build_number_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Brake) +} + +void Brake::SharedCtor() { + ::memset(&brake_pedal_position_, 0, static_cast( + reinterpret_cast(&build_number_) - + reinterpret_cast(&brake_pedal_position_)) + sizeof(build_number_)); +} + +Brake::~Brake() { + // @@protoc_insertion_point(destructor:apollo.canbus.Brake) + SharedDtor(); +} + +void Brake::SharedDtor() { +} + +void Brake::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Brake::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Brake& Brake::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Brake.base); + return *internal_default_instance(); +} + + +void Brake::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Brake) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&brake_pedal_position_, 0, static_cast( + reinterpret_cast(&build_number_) - + reinterpret_cast(&brake_pedal_position_)) + sizeof(build_number_)); + _internal_metadata_.Clear(); +} + +bool Brake::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Brake) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_brake_pedal_pressed = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_brake_pedal_pressed_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_brake_force_exist = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_brake_force_exist_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_brake_over_heat = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_brake_over_heat_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_hand_brake_on = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_hand_brake_on_))); + } else { + goto handle_unusual; + } + break; + } + + // double brake_pedal_position = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &brake_pedal_position_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_brake_valid = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 48 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_brake_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // double brake_input = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &brake_input_))); + } else { + goto handle_unusual; + } + break; + } + + // double brake_cmd = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(65u /* 65 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &brake_cmd_))); + } else { + goto handle_unusual; + } + break; + } + + // double brake_output = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &brake_output_))); + } else { + goto handle_unusual; + } + break; + } + + // bool boo_input = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &boo_input_))); + } else { + goto handle_unusual; + } + break; + } + + // bool boo_cmd = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(88u /* 88 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &boo_cmd_))); + } else { + goto handle_unusual; + } + break; + } + + // bool boo_output = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(96u /* 96 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &boo_output_))); + } else { + goto handle_unusual; + } + break; + } + + // bool watchdog_applying_brakes = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(104u /* 104 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &watchdog_applying_brakes_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 watchdog_source = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(112u /* 112 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &watchdog_source_))); + } else { + goto handle_unusual; + } + break; + } + + // bool brake_enabled = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(120u /* 120 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &brake_enabled_))); + } else { + goto handle_unusual; + } + break; + } + + // bool driver_override = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(128u /* 128 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &driver_override_))); + } else { + goto handle_unusual; + } + break; + } + + // bool driver_activity = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(136u /* 136 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &driver_activity_))); + } else { + goto handle_unusual; + } + break; + } + + // bool watchdog_fault = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(144u /* 144 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &watchdog_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool channel_1_fault = 19; + case 19: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(152u /* 152 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &channel_1_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool channel_2_fault = 20; + case 20: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(160u /* 160 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &channel_2_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool boo_fault = 21; + case 21: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(168u /* 168 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &boo_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool connector_fault = 22; + case 22: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(176u /* 176 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &connector_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 brake_torque_req = 23; + case 23: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(184u /* 184 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &brake_torque_req_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Brake.HSAStatusType hsa_status = 24; + case 24: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(192u /* 192 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_hsa_status(static_cast< ::apollo::canbus::Brake_HSAStatusType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // int32 brake_torque_act = 25; + case 25: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(200u /* 200 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &brake_torque_act_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Brake.HSAModeType hsa_mode = 26; + case 26: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(208u /* 208 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_hsa_mode(static_cast< ::apollo::canbus::Brake_HSAModeType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // int32 wheel_torque_act = 27; + case 27: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(216u /* 216 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &wheel_torque_act_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 major_version = 28; + case 28: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(224u /* 224 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &major_version_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 minor_version = 29; + case 29: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(232u /* 232 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &minor_version_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 build_number = 30; + case 30: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(240u /* 240 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &build_number_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Brake) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Brake) + return false; +#undef DO_ +} + +void Brake::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Brake) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_brake_pedal_pressed = 1; + if (this->is_brake_pedal_pressed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_brake_pedal_pressed(), output); + } + + // bool is_brake_force_exist = 2; + if (this->is_brake_force_exist() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_brake_force_exist(), output); + } + + // bool is_brake_over_heat = 3; + if (this->is_brake_over_heat() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(3, this->is_brake_over_heat(), output); + } + + // bool is_hand_brake_on = 4; + if (this->is_hand_brake_on() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(4, this->is_hand_brake_on(), output); + } + + // double brake_pedal_position = 5; + if (this->brake_pedal_position() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->brake_pedal_position(), output); + } + + // bool is_brake_valid = 6; + if (this->is_brake_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(6, this->is_brake_valid(), output); + } + + // double brake_input = 7; + if (this->brake_input() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->brake_input(), output); + } + + // double brake_cmd = 8; + if (this->brake_cmd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(8, this->brake_cmd(), output); + } + + // double brake_output = 9; + if (this->brake_output() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->brake_output(), output); + } + + // bool boo_input = 10; + if (this->boo_input() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(10, this->boo_input(), output); + } + + // bool boo_cmd = 11; + if (this->boo_cmd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(11, this->boo_cmd(), output); + } + + // bool boo_output = 12; + if (this->boo_output() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(12, this->boo_output(), output); + } + + // bool watchdog_applying_brakes = 13; + if (this->watchdog_applying_brakes() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(13, this->watchdog_applying_brakes(), output); + } + + // int32 watchdog_source = 14; + if (this->watchdog_source() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(14, this->watchdog_source(), output); + } + + // bool brake_enabled = 15; + if (this->brake_enabled() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(15, this->brake_enabled(), output); + } + + // bool driver_override = 16; + if (this->driver_override() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(16, this->driver_override(), output); + } + + // bool driver_activity = 17; + if (this->driver_activity() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(17, this->driver_activity(), output); + } + + // bool watchdog_fault = 18; + if (this->watchdog_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(18, this->watchdog_fault(), output); + } + + // bool channel_1_fault = 19; + if (this->channel_1_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(19, this->channel_1_fault(), output); + } + + // bool channel_2_fault = 20; + if (this->channel_2_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(20, this->channel_2_fault(), output); + } + + // bool boo_fault = 21; + if (this->boo_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(21, this->boo_fault(), output); + } + + // bool connector_fault = 22; + if (this->connector_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(22, this->connector_fault(), output); + } + + // int32 brake_torque_req = 23; + if (this->brake_torque_req() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(23, this->brake_torque_req(), output); + } + + // .apollo.canbus.Brake.HSAStatusType hsa_status = 24; + if (this->hsa_status() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 24, this->hsa_status(), output); + } + + // int32 brake_torque_act = 25; + if (this->brake_torque_act() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(25, this->brake_torque_act(), output); + } + + // .apollo.canbus.Brake.HSAModeType hsa_mode = 26; + if (this->hsa_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 26, this->hsa_mode(), output); + } + + // int32 wheel_torque_act = 27; + if (this->wheel_torque_act() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(27, this->wheel_torque_act(), output); + } + + // int32 major_version = 28; + if (this->major_version() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(28, this->major_version(), output); + } + + // int32 minor_version = 29; + if (this->minor_version() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(29, this->minor_version(), output); + } + + // int32 build_number = 30; + if (this->build_number() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(30, this->build_number(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Brake) +} + +::google::protobuf::uint8* Brake::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Brake) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_brake_pedal_pressed = 1; + if (this->is_brake_pedal_pressed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_brake_pedal_pressed(), target); + } + + // bool is_brake_force_exist = 2; + if (this->is_brake_force_exist() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_brake_force_exist(), target); + } + + // bool is_brake_over_heat = 3; + if (this->is_brake_over_heat() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(3, this->is_brake_over_heat(), target); + } + + // bool is_hand_brake_on = 4; + if (this->is_hand_brake_on() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(4, this->is_hand_brake_on(), target); + } + + // double brake_pedal_position = 5; + if (this->brake_pedal_position() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->brake_pedal_position(), target); + } + + // bool is_brake_valid = 6; + if (this->is_brake_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(6, this->is_brake_valid(), target); + } + + // double brake_input = 7; + if (this->brake_input() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->brake_input(), target); + } + + // double brake_cmd = 8; + if (this->brake_cmd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(8, this->brake_cmd(), target); + } + + // double brake_output = 9; + if (this->brake_output() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->brake_output(), target); + } + + // bool boo_input = 10; + if (this->boo_input() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(10, this->boo_input(), target); + } + + // bool boo_cmd = 11; + if (this->boo_cmd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(11, this->boo_cmd(), target); + } + + // bool boo_output = 12; + if (this->boo_output() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(12, this->boo_output(), target); + } + + // bool watchdog_applying_brakes = 13; + if (this->watchdog_applying_brakes() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(13, this->watchdog_applying_brakes(), target); + } + + // int32 watchdog_source = 14; + if (this->watchdog_source() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(14, this->watchdog_source(), target); + } + + // bool brake_enabled = 15; + if (this->brake_enabled() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(15, this->brake_enabled(), target); + } + + // bool driver_override = 16; + if (this->driver_override() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(16, this->driver_override(), target); + } + + // bool driver_activity = 17; + if (this->driver_activity() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(17, this->driver_activity(), target); + } + + // bool watchdog_fault = 18; + if (this->watchdog_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(18, this->watchdog_fault(), target); + } + + // bool channel_1_fault = 19; + if (this->channel_1_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(19, this->channel_1_fault(), target); + } + + // bool channel_2_fault = 20; + if (this->channel_2_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(20, this->channel_2_fault(), target); + } + + // bool boo_fault = 21; + if (this->boo_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(21, this->boo_fault(), target); + } + + // bool connector_fault = 22; + if (this->connector_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(22, this->connector_fault(), target); + } + + // int32 brake_torque_req = 23; + if (this->brake_torque_req() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(23, this->brake_torque_req(), target); + } + + // .apollo.canbus.Brake.HSAStatusType hsa_status = 24; + if (this->hsa_status() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 24, this->hsa_status(), target); + } + + // int32 brake_torque_act = 25; + if (this->brake_torque_act() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(25, this->brake_torque_act(), target); + } + + // .apollo.canbus.Brake.HSAModeType hsa_mode = 26; + if (this->hsa_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 26, this->hsa_mode(), target); + } + + // int32 wheel_torque_act = 27; + if (this->wheel_torque_act() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(27, this->wheel_torque_act(), target); + } + + // int32 major_version = 28; + if (this->major_version() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(28, this->major_version(), target); + } + + // int32 minor_version = 29; + if (this->minor_version() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(29, this->minor_version(), target); + } + + // int32 build_number = 30; + if (this->build_number() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(30, this->build_number(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Brake) + return target; +} + +size_t Brake::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Brake) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double brake_pedal_position = 5; + if (this->brake_pedal_position() != 0) { + total_size += 1 + 8; + } + + // bool is_brake_pedal_pressed = 1; + if (this->is_brake_pedal_pressed() != 0) { + total_size += 1 + 1; + } + + // bool is_brake_force_exist = 2; + if (this->is_brake_force_exist() != 0) { + total_size += 1 + 1; + } + + // bool is_brake_over_heat = 3; + if (this->is_brake_over_heat() != 0) { + total_size += 1 + 1; + } + + // bool is_hand_brake_on = 4; + if (this->is_hand_brake_on() != 0) { + total_size += 1 + 1; + } + + // bool is_brake_valid = 6; + if (this->is_brake_valid() != 0) { + total_size += 1 + 1; + } + + // bool boo_input = 10; + if (this->boo_input() != 0) { + total_size += 1 + 1; + } + + // bool boo_cmd = 11; + if (this->boo_cmd() != 0) { + total_size += 1 + 1; + } + + // bool boo_output = 12; + if (this->boo_output() != 0) { + total_size += 1 + 1; + } + + // double brake_input = 7; + if (this->brake_input() != 0) { + total_size += 1 + 8; + } + + // double brake_cmd = 8; + if (this->brake_cmd() != 0) { + total_size += 1 + 8; + } + + // double brake_output = 9; + if (this->brake_output() != 0) { + total_size += 1 + 8; + } + + // int32 watchdog_source = 14; + if (this->watchdog_source() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->watchdog_source()); + } + + // bool watchdog_applying_brakes = 13; + if (this->watchdog_applying_brakes() != 0) { + total_size += 1 + 1; + } + + // bool brake_enabled = 15; + if (this->brake_enabled() != 0) { + total_size += 1 + 1; + } + + // bool driver_override = 16; + if (this->driver_override() != 0) { + total_size += 2 + 1; + } + + // bool driver_activity = 17; + if (this->driver_activity() != 0) { + total_size += 2 + 1; + } + + // bool watchdog_fault = 18; + if (this->watchdog_fault() != 0) { + total_size += 2 + 1; + } + + // bool channel_1_fault = 19; + if (this->channel_1_fault() != 0) { + total_size += 2 + 1; + } + + // bool channel_2_fault = 20; + if (this->channel_2_fault() != 0) { + total_size += 2 + 1; + } + + // bool boo_fault = 21; + if (this->boo_fault() != 0) { + total_size += 2 + 1; + } + + // bool connector_fault = 22; + if (this->connector_fault() != 0) { + total_size += 2 + 1; + } + + // int32 brake_torque_req = 23; + if (this->brake_torque_req() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->brake_torque_req()); + } + + // .apollo.canbus.Brake.HSAStatusType hsa_status = 24; + if (this->hsa_status() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->hsa_status()); + } + + // int32 brake_torque_act = 25; + if (this->brake_torque_act() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->brake_torque_act()); + } + + // .apollo.canbus.Brake.HSAModeType hsa_mode = 26; + if (this->hsa_mode() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->hsa_mode()); + } + + // int32 wheel_torque_act = 27; + if (this->wheel_torque_act() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->wheel_torque_act()); + } + + // int32 major_version = 28; + if (this->major_version() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->major_version()); + } + + // int32 minor_version = 29; + if (this->minor_version() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->minor_version()); + } + + // int32 build_number = 30; + if (this->build_number() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->build_number()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Brake::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Brake) + GOOGLE_DCHECK_NE(&from, this); + const Brake* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Brake) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Brake) + MergeFrom(*source); + } +} + +void Brake::MergeFrom(const Brake& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Brake) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.brake_pedal_position() != 0) { + set_brake_pedal_position(from.brake_pedal_position()); + } + if (from.is_brake_pedal_pressed() != 0) { + set_is_brake_pedal_pressed(from.is_brake_pedal_pressed()); + } + if (from.is_brake_force_exist() != 0) { + set_is_brake_force_exist(from.is_brake_force_exist()); + } + if (from.is_brake_over_heat() != 0) { + set_is_brake_over_heat(from.is_brake_over_heat()); + } + if (from.is_hand_brake_on() != 0) { + set_is_hand_brake_on(from.is_hand_brake_on()); + } + if (from.is_brake_valid() != 0) { + set_is_brake_valid(from.is_brake_valid()); + } + if (from.boo_input() != 0) { + set_boo_input(from.boo_input()); + } + if (from.boo_cmd() != 0) { + set_boo_cmd(from.boo_cmd()); + } + if (from.boo_output() != 0) { + set_boo_output(from.boo_output()); + } + if (from.brake_input() != 0) { + set_brake_input(from.brake_input()); + } + if (from.brake_cmd() != 0) { + set_brake_cmd(from.brake_cmd()); + } + if (from.brake_output() != 0) { + set_brake_output(from.brake_output()); + } + if (from.watchdog_source() != 0) { + set_watchdog_source(from.watchdog_source()); + } + if (from.watchdog_applying_brakes() != 0) { + set_watchdog_applying_brakes(from.watchdog_applying_brakes()); + } + if (from.brake_enabled() != 0) { + set_brake_enabled(from.brake_enabled()); + } + if (from.driver_override() != 0) { + set_driver_override(from.driver_override()); + } + if (from.driver_activity() != 0) { + set_driver_activity(from.driver_activity()); + } + if (from.watchdog_fault() != 0) { + set_watchdog_fault(from.watchdog_fault()); + } + if (from.channel_1_fault() != 0) { + set_channel_1_fault(from.channel_1_fault()); + } + if (from.channel_2_fault() != 0) { + set_channel_2_fault(from.channel_2_fault()); + } + if (from.boo_fault() != 0) { + set_boo_fault(from.boo_fault()); + } + if (from.connector_fault() != 0) { + set_connector_fault(from.connector_fault()); + } + if (from.brake_torque_req() != 0) { + set_brake_torque_req(from.brake_torque_req()); + } + if (from.hsa_status() != 0) { + set_hsa_status(from.hsa_status()); + } + if (from.brake_torque_act() != 0) { + set_brake_torque_act(from.brake_torque_act()); + } + if (from.hsa_mode() != 0) { + set_hsa_mode(from.hsa_mode()); + } + if (from.wheel_torque_act() != 0) { + set_wheel_torque_act(from.wheel_torque_act()); + } + if (from.major_version() != 0) { + set_major_version(from.major_version()); + } + if (from.minor_version() != 0) { + set_minor_version(from.minor_version()); + } + if (from.build_number() != 0) { + set_build_number(from.build_number()); + } +} + +void Brake::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Brake) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Brake::CopyFrom(const Brake& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Brake) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Brake::IsInitialized() const { + return true; +} + +void Brake::Swap(Brake* other) { + if (other == this) return; + InternalSwap(other); +} +void Brake::InternalSwap(Brake* other) { + using std::swap; + swap(brake_pedal_position_, other->brake_pedal_position_); + swap(is_brake_pedal_pressed_, other->is_brake_pedal_pressed_); + swap(is_brake_force_exist_, other->is_brake_force_exist_); + swap(is_brake_over_heat_, other->is_brake_over_heat_); + swap(is_hand_brake_on_, other->is_hand_brake_on_); + swap(is_brake_valid_, other->is_brake_valid_); + swap(boo_input_, other->boo_input_); + swap(boo_cmd_, other->boo_cmd_); + swap(boo_output_, other->boo_output_); + swap(brake_input_, other->brake_input_); + swap(brake_cmd_, other->brake_cmd_); + swap(brake_output_, other->brake_output_); + swap(watchdog_source_, other->watchdog_source_); + swap(watchdog_applying_brakes_, other->watchdog_applying_brakes_); + swap(brake_enabled_, other->brake_enabled_); + swap(driver_override_, other->driver_override_); + swap(driver_activity_, other->driver_activity_); + swap(watchdog_fault_, other->watchdog_fault_); + swap(channel_1_fault_, other->channel_1_fault_); + swap(channel_2_fault_, other->channel_2_fault_); + swap(boo_fault_, other->boo_fault_); + swap(connector_fault_, other->connector_fault_); + swap(brake_torque_req_, other->brake_torque_req_); + swap(hsa_status_, other->hsa_status_); + swap(brake_torque_act_, other->brake_torque_act_); + swap(hsa_mode_, other->hsa_mode_); + swap(wheel_torque_act_, other->wheel_torque_act_); + swap(major_version_, other->major_version_); + swap(minor_version_, other->minor_version_); + swap(build_number_, other->build_number_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Brake::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Epb::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Epb::kIsEpbErrorFieldNumber; +const int Epb::kIsEpbReleasedFieldNumber; +const int Epb::kEpbStatusFieldNumber; +const int Epb::kParkingBrakeStatusFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Epb::Epb() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Epb.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Epb) +} +Epb::Epb(const Epb& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&is_epb_error_, &from.is_epb_error_, + static_cast(reinterpret_cast(&parking_brake_status_) - + reinterpret_cast(&is_epb_error_)) + sizeof(parking_brake_status_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Epb) +} + +void Epb::SharedCtor() { + ::memset(&is_epb_error_, 0, static_cast( + reinterpret_cast(&parking_brake_status_) - + reinterpret_cast(&is_epb_error_)) + sizeof(parking_brake_status_)); +} + +Epb::~Epb() { + // @@protoc_insertion_point(destructor:apollo.canbus.Epb) + SharedDtor(); +} + +void Epb::SharedDtor() { +} + +void Epb::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Epb::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Epb& Epb::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Epb.base); + return *internal_default_instance(); +} + + +void Epb::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Epb) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&is_epb_error_, 0, static_cast( + reinterpret_cast(&parking_brake_status_) - + reinterpret_cast(&is_epb_error_)) + sizeof(parking_brake_status_)); + _internal_metadata_.Clear(); +} + +bool Epb::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Epb) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_epb_error = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_epb_error_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_epb_released = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_epb_released_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 epb_status = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &epb_status_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Epb.PBrakeType parking_brake_status = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_parking_brake_status(static_cast< ::apollo::canbus::Epb_PBrakeType >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Epb) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Epb) + return false; +#undef DO_ +} + +void Epb::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Epb) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_epb_error = 1; + if (this->is_epb_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_epb_error(), output); + } + + // bool is_epb_released = 2; + if (this->is_epb_released() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_epb_released(), output); + } + + // int32 epb_status = 3; + if (this->epb_status() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(3, this->epb_status(), output); + } + + // .apollo.canbus.Epb.PBrakeType parking_brake_status = 4; + if (this->parking_brake_status() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 4, this->parking_brake_status(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Epb) +} + +::google::protobuf::uint8* Epb::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Epb) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_epb_error = 1; + if (this->is_epb_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_epb_error(), target); + } + + // bool is_epb_released = 2; + if (this->is_epb_released() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_epb_released(), target); + } + + // int32 epb_status = 3; + if (this->epb_status() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(3, this->epb_status(), target); + } + + // .apollo.canbus.Epb.PBrakeType parking_brake_status = 4; + if (this->parking_brake_status() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 4, this->parking_brake_status(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Epb) + return target; +} + +size_t Epb::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Epb) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // bool is_epb_error = 1; + if (this->is_epb_error() != 0) { + total_size += 1 + 1; + } + + // bool is_epb_released = 2; + if (this->is_epb_released() != 0) { + total_size += 1 + 1; + } + + // int32 epb_status = 3; + if (this->epb_status() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->epb_status()); + } + + // .apollo.canbus.Epb.PBrakeType parking_brake_status = 4; + if (this->parking_brake_status() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->parking_brake_status()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Epb::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Epb) + GOOGLE_DCHECK_NE(&from, this); + const Epb* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Epb) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Epb) + MergeFrom(*source); + } +} + +void Epb::MergeFrom(const Epb& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Epb) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.is_epb_error() != 0) { + set_is_epb_error(from.is_epb_error()); + } + if (from.is_epb_released() != 0) { + set_is_epb_released(from.is_epb_released()); + } + if (from.epb_status() != 0) { + set_epb_status(from.epb_status()); + } + if (from.parking_brake_status() != 0) { + set_parking_brake_status(from.parking_brake_status()); + } +} + +void Epb::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Epb) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Epb::CopyFrom(const Epb& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Epb) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Epb::IsInitialized() const { + return true; +} + +void Epb::Swap(Epb* other) { + if (other == this) return; + InternalSwap(other); +} +void Epb::InternalSwap(Epb* other) { + using std::swap; + swap(is_epb_error_, other->is_epb_error_); + swap(is_epb_released_, other->is_epb_released_); + swap(epb_status_, other->epb_status_); + swap(parking_brake_status_, other->parking_brake_status_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Epb::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Gas::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Gas::kIsGasPedalErrorFieldNumber; +const int Gas::kIsGasPedalPressedMoreFieldNumber; +const int Gas::kGasPedalPositionFieldNumber; +const int Gas::kIsGasValidFieldNumber; +const int Gas::kThrottleInputFieldNumber; +const int Gas::kThrottleCmdFieldNumber; +const int Gas::kThrottleOutputFieldNumber; +const int Gas::kWatchdogSourceFieldNumber; +const int Gas::kThrottleEnabledFieldNumber; +const int Gas::kDriverOverrideFieldNumber; +const int Gas::kDriverActivityFieldNumber; +const int Gas::kWatchdogFaultFieldNumber; +const int Gas::kChannel1FaultFieldNumber; +const int Gas::kChannel2FaultFieldNumber; +const int Gas::kConnectorFaultFieldNumber; +const int Gas::kAcceleratorPedalFieldNumber; +const int Gas::kAcceleratorPedalRateFieldNumber; +const int Gas::kMajorVersionFieldNumber; +const int Gas::kMinorVersionFieldNumber; +const int Gas::kBuildNumberFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Gas::Gas() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Gas.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Gas) +} +Gas::Gas(const Gas& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&gas_pedal_position_, &from.gas_pedal_position_, + static_cast(reinterpret_cast(&build_number_) - + reinterpret_cast(&gas_pedal_position_)) + sizeof(build_number_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Gas) +} + +void Gas::SharedCtor() { + ::memset(&gas_pedal_position_, 0, static_cast( + reinterpret_cast(&build_number_) - + reinterpret_cast(&gas_pedal_position_)) + sizeof(build_number_)); +} + +Gas::~Gas() { + // @@protoc_insertion_point(destructor:apollo.canbus.Gas) + SharedDtor(); +} + +void Gas::SharedDtor() { +} + +void Gas::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Gas::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Gas& Gas::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Gas.base); + return *internal_default_instance(); +} + + +void Gas::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Gas) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&gas_pedal_position_, 0, static_cast( + reinterpret_cast(&build_number_) - + reinterpret_cast(&gas_pedal_position_)) + sizeof(build_number_)); + _internal_metadata_.Clear(); +} + +bool Gas::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Gas) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_gas_pedal_error = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_gas_pedal_error_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_gas_pedal_pressed_more = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_gas_pedal_pressed_more_))); + } else { + goto handle_unusual; + } + break; + } + + // double gas_pedal_position = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &gas_pedal_position_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_gas_valid = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_gas_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // double throttle_input = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &throttle_input_))); + } else { + goto handle_unusual; + } + break; + } + + // double throttle_cmd = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &throttle_cmd_))); + } else { + goto handle_unusual; + } + break; + } + + // double throttle_output = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &throttle_output_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 watchdog_source = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &watchdog_source_))); + } else { + goto handle_unusual; + } + break; + } + + // bool throttle_enabled = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(72u /* 72 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &throttle_enabled_))); + } else { + goto handle_unusual; + } + break; + } + + // bool driver_override = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &driver_override_))); + } else { + goto handle_unusual; + } + break; + } + + // bool driver_activity = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(88u /* 88 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &driver_activity_))); + } else { + goto handle_unusual; + } + break; + } + + // bool watchdog_fault = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(96u /* 96 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &watchdog_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool channel_1_fault = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(104u /* 104 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &channel_1_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool channel_2_fault = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(112u /* 112 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &channel_2_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool connector_fault = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(120u /* 120 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &connector_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // double accelerator_pedal = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(129u /* 129 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &accelerator_pedal_))); + } else { + goto handle_unusual; + } + break; + } + + // double accelerator_pedal_rate = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(137u /* 137 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &accelerator_pedal_rate_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 major_version = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(144u /* 144 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &major_version_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 minor_version = 19; + case 19: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(152u /* 152 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &minor_version_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 build_number = 20; + case 20: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(160u /* 160 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &build_number_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Gas) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Gas) + return false; +#undef DO_ +} + +void Gas::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Gas) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_gas_pedal_error = 1; + if (this->is_gas_pedal_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_gas_pedal_error(), output); + } + + // bool is_gas_pedal_pressed_more = 2; + if (this->is_gas_pedal_pressed_more() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_gas_pedal_pressed_more(), output); + } + + // double gas_pedal_position = 3; + if (this->gas_pedal_position() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->gas_pedal_position(), output); + } + + // bool is_gas_valid = 4; + if (this->is_gas_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(4, this->is_gas_valid(), output); + } + + // double throttle_input = 5; + if (this->throttle_input() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->throttle_input(), output); + } + + // double throttle_cmd = 6; + if (this->throttle_cmd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->throttle_cmd(), output); + } + + // double throttle_output = 7; + if (this->throttle_output() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->throttle_output(), output); + } + + // int32 watchdog_source = 8; + if (this->watchdog_source() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(8, this->watchdog_source(), output); + } + + // bool throttle_enabled = 9; + if (this->throttle_enabled() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(9, this->throttle_enabled(), output); + } + + // bool driver_override = 10; + if (this->driver_override() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(10, this->driver_override(), output); + } + + // bool driver_activity = 11; + if (this->driver_activity() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(11, this->driver_activity(), output); + } + + // bool watchdog_fault = 12; + if (this->watchdog_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(12, this->watchdog_fault(), output); + } + + // bool channel_1_fault = 13; + if (this->channel_1_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(13, this->channel_1_fault(), output); + } + + // bool channel_2_fault = 14; + if (this->channel_2_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(14, this->channel_2_fault(), output); + } + + // bool connector_fault = 15; + if (this->connector_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(15, this->connector_fault(), output); + } + + // double accelerator_pedal = 16; + if (this->accelerator_pedal() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(16, this->accelerator_pedal(), output); + } + + // double accelerator_pedal_rate = 17; + if (this->accelerator_pedal_rate() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(17, this->accelerator_pedal_rate(), output); + } + + // int32 major_version = 18; + if (this->major_version() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(18, this->major_version(), output); + } + + // int32 minor_version = 19; + if (this->minor_version() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(19, this->minor_version(), output); + } + + // int32 build_number = 20; + if (this->build_number() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(20, this->build_number(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Gas) +} + +::google::protobuf::uint8* Gas::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Gas) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_gas_pedal_error = 1; + if (this->is_gas_pedal_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_gas_pedal_error(), target); + } + + // bool is_gas_pedal_pressed_more = 2; + if (this->is_gas_pedal_pressed_more() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_gas_pedal_pressed_more(), target); + } + + // double gas_pedal_position = 3; + if (this->gas_pedal_position() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->gas_pedal_position(), target); + } + + // bool is_gas_valid = 4; + if (this->is_gas_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(4, this->is_gas_valid(), target); + } + + // double throttle_input = 5; + if (this->throttle_input() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->throttle_input(), target); + } + + // double throttle_cmd = 6; + if (this->throttle_cmd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->throttle_cmd(), target); + } + + // double throttle_output = 7; + if (this->throttle_output() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->throttle_output(), target); + } + + // int32 watchdog_source = 8; + if (this->watchdog_source() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(8, this->watchdog_source(), target); + } + + // bool throttle_enabled = 9; + if (this->throttle_enabled() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(9, this->throttle_enabled(), target); + } + + // bool driver_override = 10; + if (this->driver_override() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(10, this->driver_override(), target); + } + + // bool driver_activity = 11; + if (this->driver_activity() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(11, this->driver_activity(), target); + } + + // bool watchdog_fault = 12; + if (this->watchdog_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(12, this->watchdog_fault(), target); + } + + // bool channel_1_fault = 13; + if (this->channel_1_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(13, this->channel_1_fault(), target); + } + + // bool channel_2_fault = 14; + if (this->channel_2_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(14, this->channel_2_fault(), target); + } + + // bool connector_fault = 15; + if (this->connector_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(15, this->connector_fault(), target); + } + + // double accelerator_pedal = 16; + if (this->accelerator_pedal() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(16, this->accelerator_pedal(), target); + } + + // double accelerator_pedal_rate = 17; + if (this->accelerator_pedal_rate() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(17, this->accelerator_pedal_rate(), target); + } + + // int32 major_version = 18; + if (this->major_version() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(18, this->major_version(), target); + } + + // int32 minor_version = 19; + if (this->minor_version() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(19, this->minor_version(), target); + } + + // int32 build_number = 20; + if (this->build_number() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(20, this->build_number(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Gas) + return target; +} + +size_t Gas::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Gas) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double gas_pedal_position = 3; + if (this->gas_pedal_position() != 0) { + total_size += 1 + 8; + } + + // bool is_gas_pedal_error = 1; + if (this->is_gas_pedal_error() != 0) { + total_size += 1 + 1; + } + + // bool is_gas_pedal_pressed_more = 2; + if (this->is_gas_pedal_pressed_more() != 0) { + total_size += 1 + 1; + } + + // bool is_gas_valid = 4; + if (this->is_gas_valid() != 0) { + total_size += 1 + 1; + } + + // bool throttle_enabled = 9; + if (this->throttle_enabled() != 0) { + total_size += 1 + 1; + } + + // int32 watchdog_source = 8; + if (this->watchdog_source() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->watchdog_source()); + } + + // double throttle_input = 5; + if (this->throttle_input() != 0) { + total_size += 1 + 8; + } + + // double throttle_cmd = 6; + if (this->throttle_cmd() != 0) { + total_size += 1 + 8; + } + + // double throttle_output = 7; + if (this->throttle_output() != 0) { + total_size += 1 + 8; + } + + // bool driver_override = 10; + if (this->driver_override() != 0) { + total_size += 1 + 1; + } + + // bool driver_activity = 11; + if (this->driver_activity() != 0) { + total_size += 1 + 1; + } + + // bool watchdog_fault = 12; + if (this->watchdog_fault() != 0) { + total_size += 1 + 1; + } + + // bool channel_1_fault = 13; + if (this->channel_1_fault() != 0) { + total_size += 1 + 1; + } + + // bool channel_2_fault = 14; + if (this->channel_2_fault() != 0) { + total_size += 1 + 1; + } + + // bool connector_fault = 15; + if (this->connector_fault() != 0) { + total_size += 1 + 1; + } + + // double accelerator_pedal = 16; + if (this->accelerator_pedal() != 0) { + total_size += 2 + 8; + } + + // double accelerator_pedal_rate = 17; + if (this->accelerator_pedal_rate() != 0) { + total_size += 2 + 8; + } + + // int32 major_version = 18; + if (this->major_version() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->major_version()); + } + + // int32 minor_version = 19; + if (this->minor_version() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->minor_version()); + } + + // int32 build_number = 20; + if (this->build_number() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->build_number()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Gas::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Gas) + GOOGLE_DCHECK_NE(&from, this); + const Gas* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Gas) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Gas) + MergeFrom(*source); + } +} + +void Gas::MergeFrom(const Gas& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Gas) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.gas_pedal_position() != 0) { + set_gas_pedal_position(from.gas_pedal_position()); + } + if (from.is_gas_pedal_error() != 0) { + set_is_gas_pedal_error(from.is_gas_pedal_error()); + } + if (from.is_gas_pedal_pressed_more() != 0) { + set_is_gas_pedal_pressed_more(from.is_gas_pedal_pressed_more()); + } + if (from.is_gas_valid() != 0) { + set_is_gas_valid(from.is_gas_valid()); + } + if (from.throttle_enabled() != 0) { + set_throttle_enabled(from.throttle_enabled()); + } + if (from.watchdog_source() != 0) { + set_watchdog_source(from.watchdog_source()); + } + if (from.throttle_input() != 0) { + set_throttle_input(from.throttle_input()); + } + if (from.throttle_cmd() != 0) { + set_throttle_cmd(from.throttle_cmd()); + } + if (from.throttle_output() != 0) { + set_throttle_output(from.throttle_output()); + } + if (from.driver_override() != 0) { + set_driver_override(from.driver_override()); + } + if (from.driver_activity() != 0) { + set_driver_activity(from.driver_activity()); + } + if (from.watchdog_fault() != 0) { + set_watchdog_fault(from.watchdog_fault()); + } + if (from.channel_1_fault() != 0) { + set_channel_1_fault(from.channel_1_fault()); + } + if (from.channel_2_fault() != 0) { + set_channel_2_fault(from.channel_2_fault()); + } + if (from.connector_fault() != 0) { + set_connector_fault(from.connector_fault()); + } + if (from.accelerator_pedal() != 0) { + set_accelerator_pedal(from.accelerator_pedal()); + } + if (from.accelerator_pedal_rate() != 0) { + set_accelerator_pedal_rate(from.accelerator_pedal_rate()); + } + if (from.major_version() != 0) { + set_major_version(from.major_version()); + } + if (from.minor_version() != 0) { + set_minor_version(from.minor_version()); + } + if (from.build_number() != 0) { + set_build_number(from.build_number()); + } +} + +void Gas::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Gas) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Gas::CopyFrom(const Gas& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Gas) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Gas::IsInitialized() const { + return true; +} + +void Gas::Swap(Gas* other) { + if (other == this) return; + InternalSwap(other); +} +void Gas::InternalSwap(Gas* other) { + using std::swap; + swap(gas_pedal_position_, other->gas_pedal_position_); + swap(is_gas_pedal_error_, other->is_gas_pedal_error_); + swap(is_gas_pedal_pressed_more_, other->is_gas_pedal_pressed_more_); + swap(is_gas_valid_, other->is_gas_valid_); + swap(throttle_enabled_, other->throttle_enabled_); + swap(watchdog_source_, other->watchdog_source_); + swap(throttle_input_, other->throttle_input_); + swap(throttle_cmd_, other->throttle_cmd_); + swap(throttle_output_, other->throttle_output_); + swap(driver_override_, other->driver_override_); + swap(driver_activity_, other->driver_activity_); + swap(watchdog_fault_, other->watchdog_fault_); + swap(channel_1_fault_, other->channel_1_fault_); + swap(channel_2_fault_, other->channel_2_fault_); + swap(connector_fault_, other->connector_fault_); + swap(accelerator_pedal_, other->accelerator_pedal_); + swap(accelerator_pedal_rate_, other->accelerator_pedal_rate_); + swap(major_version_, other->major_version_); + swap(minor_version_, other->minor_version_); + swap(build_number_, other->build_number_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Gas::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Esp::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Esp::kIsEspAccErrorFieldNumber; +const int Esp::kIsEspOnFieldNumber; +const int Esp::kIsEspActiveFieldNumber; +const int Esp::kIsAbsErrorFieldNumber; +const int Esp::kIsAbsActiveFieldNumber; +const int Esp::kIsTcsvdcFailFieldNumber; +const int Esp::kIsAbsEnabledFieldNumber; +const int Esp::kIsStabActiveFieldNumber; +const int Esp::kIsStabEnabledFieldNumber; +const int Esp::kIsTracActiveFieldNumber; +const int Esp::kIsTracEnabledFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Esp::Esp() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Esp.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Esp) +} +Esp::Esp(const Esp& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&is_esp_acc_error_, &from.is_esp_acc_error_, + static_cast(reinterpret_cast(&is_trac_enabled_) - + reinterpret_cast(&is_esp_acc_error_)) + sizeof(is_trac_enabled_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Esp) +} + +void Esp::SharedCtor() { + ::memset(&is_esp_acc_error_, 0, static_cast( + reinterpret_cast(&is_trac_enabled_) - + reinterpret_cast(&is_esp_acc_error_)) + sizeof(is_trac_enabled_)); +} + +Esp::~Esp() { + // @@protoc_insertion_point(destructor:apollo.canbus.Esp) + SharedDtor(); +} + +void Esp::SharedDtor() { +} + +void Esp::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Esp::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Esp& Esp::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Esp.base); + return *internal_default_instance(); +} + + +void Esp::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Esp) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&is_esp_acc_error_, 0, static_cast( + reinterpret_cast(&is_trac_enabled_) - + reinterpret_cast(&is_esp_acc_error_)) + sizeof(is_trac_enabled_)); + _internal_metadata_.Clear(); +} + +bool Esp::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Esp) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_esp_acc_error = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_esp_acc_error_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_esp_on = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_esp_on_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_esp_active = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_esp_active_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_abs_error = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_abs_error_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_abs_active = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_abs_active_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_tcsvdc_fail = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 48 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_tcsvdc_fail_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_abs_enabled = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_abs_enabled_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_stab_active = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_stab_active_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_stab_enabled = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(72u /* 72 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_stab_enabled_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_trac_active = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_trac_active_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_trac_enabled = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(88u /* 88 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_trac_enabled_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Esp) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Esp) + return false; +#undef DO_ +} + +void Esp::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Esp) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_esp_acc_error = 1; + if (this->is_esp_acc_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_esp_acc_error(), output); + } + + // bool is_esp_on = 2; + if (this->is_esp_on() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_esp_on(), output); + } + + // bool is_esp_active = 3; + if (this->is_esp_active() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(3, this->is_esp_active(), output); + } + + // bool is_abs_error = 4; + if (this->is_abs_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(4, this->is_abs_error(), output); + } + + // bool is_abs_active = 5; + if (this->is_abs_active() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(5, this->is_abs_active(), output); + } + + // bool is_tcsvdc_fail = 6; + if (this->is_tcsvdc_fail() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(6, this->is_tcsvdc_fail(), output); + } + + // bool is_abs_enabled = 7; + if (this->is_abs_enabled() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(7, this->is_abs_enabled(), output); + } + + // bool is_stab_active = 8; + if (this->is_stab_active() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(8, this->is_stab_active(), output); + } + + // bool is_stab_enabled = 9; + if (this->is_stab_enabled() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(9, this->is_stab_enabled(), output); + } + + // bool is_trac_active = 10; + if (this->is_trac_active() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(10, this->is_trac_active(), output); + } + + // bool is_trac_enabled = 11; + if (this->is_trac_enabled() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(11, this->is_trac_enabled(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Esp) +} + +::google::protobuf::uint8* Esp::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Esp) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_esp_acc_error = 1; + if (this->is_esp_acc_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_esp_acc_error(), target); + } + + // bool is_esp_on = 2; + if (this->is_esp_on() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_esp_on(), target); + } + + // bool is_esp_active = 3; + if (this->is_esp_active() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(3, this->is_esp_active(), target); + } + + // bool is_abs_error = 4; + if (this->is_abs_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(4, this->is_abs_error(), target); + } + + // bool is_abs_active = 5; + if (this->is_abs_active() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(5, this->is_abs_active(), target); + } + + // bool is_tcsvdc_fail = 6; + if (this->is_tcsvdc_fail() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(6, this->is_tcsvdc_fail(), target); + } + + // bool is_abs_enabled = 7; + if (this->is_abs_enabled() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(7, this->is_abs_enabled(), target); + } + + // bool is_stab_active = 8; + if (this->is_stab_active() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(8, this->is_stab_active(), target); + } + + // bool is_stab_enabled = 9; + if (this->is_stab_enabled() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(9, this->is_stab_enabled(), target); + } + + // bool is_trac_active = 10; + if (this->is_trac_active() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(10, this->is_trac_active(), target); + } + + // bool is_trac_enabled = 11; + if (this->is_trac_enabled() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(11, this->is_trac_enabled(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Esp) + return target; +} + +size_t Esp::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Esp) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // bool is_esp_acc_error = 1; + if (this->is_esp_acc_error() != 0) { + total_size += 1 + 1; + } + + // bool is_esp_on = 2; + if (this->is_esp_on() != 0) { + total_size += 1 + 1; + } + + // bool is_esp_active = 3; + if (this->is_esp_active() != 0) { + total_size += 1 + 1; + } + + // bool is_abs_error = 4; + if (this->is_abs_error() != 0) { + total_size += 1 + 1; + } + + // bool is_abs_active = 5; + if (this->is_abs_active() != 0) { + total_size += 1 + 1; + } + + // bool is_tcsvdc_fail = 6; + if (this->is_tcsvdc_fail() != 0) { + total_size += 1 + 1; + } + + // bool is_abs_enabled = 7; + if (this->is_abs_enabled() != 0) { + total_size += 1 + 1; + } + + // bool is_stab_active = 8; + if (this->is_stab_active() != 0) { + total_size += 1 + 1; + } + + // bool is_stab_enabled = 9; + if (this->is_stab_enabled() != 0) { + total_size += 1 + 1; + } + + // bool is_trac_active = 10; + if (this->is_trac_active() != 0) { + total_size += 1 + 1; + } + + // bool is_trac_enabled = 11; + if (this->is_trac_enabled() != 0) { + total_size += 1 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Esp::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Esp) + GOOGLE_DCHECK_NE(&from, this); + const Esp* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Esp) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Esp) + MergeFrom(*source); + } +} + +void Esp::MergeFrom(const Esp& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Esp) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.is_esp_acc_error() != 0) { + set_is_esp_acc_error(from.is_esp_acc_error()); + } + if (from.is_esp_on() != 0) { + set_is_esp_on(from.is_esp_on()); + } + if (from.is_esp_active() != 0) { + set_is_esp_active(from.is_esp_active()); + } + if (from.is_abs_error() != 0) { + set_is_abs_error(from.is_abs_error()); + } + if (from.is_abs_active() != 0) { + set_is_abs_active(from.is_abs_active()); + } + if (from.is_tcsvdc_fail() != 0) { + set_is_tcsvdc_fail(from.is_tcsvdc_fail()); + } + if (from.is_abs_enabled() != 0) { + set_is_abs_enabled(from.is_abs_enabled()); + } + if (from.is_stab_active() != 0) { + set_is_stab_active(from.is_stab_active()); + } + if (from.is_stab_enabled() != 0) { + set_is_stab_enabled(from.is_stab_enabled()); + } + if (from.is_trac_active() != 0) { + set_is_trac_active(from.is_trac_active()); + } + if (from.is_trac_enabled() != 0) { + set_is_trac_enabled(from.is_trac_enabled()); + } +} + +void Esp::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Esp) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Esp::CopyFrom(const Esp& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Esp) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Esp::IsInitialized() const { + return true; +} + +void Esp::Swap(Esp* other) { + if (other == this) return; + InternalSwap(other); +} +void Esp::InternalSwap(Esp* other) { + using std::swap; + swap(is_esp_acc_error_, other->is_esp_acc_error_); + swap(is_esp_on_, other->is_esp_on_); + swap(is_esp_active_, other->is_esp_active_); + swap(is_abs_error_, other->is_abs_error_); + swap(is_abs_active_, other->is_abs_active_); + swap(is_tcsvdc_fail_, other->is_tcsvdc_fail_); + swap(is_abs_enabled_, other->is_abs_enabled_); + swap(is_stab_active_, other->is_stab_active_); + swap(is_stab_enabled_, other->is_stab_enabled_); + swap(is_trac_active_, other->is_trac_active_); + swap(is_trac_enabled_, other->is_trac_enabled_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Esp::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Ems::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Ems::kIsEngineAccAvailableFieldNumber; +const int Ems::kIsEngineAccErrorFieldNumber; +const int Ems::kEngineStateFieldNumber; +const int Ems::kMaxEngineTorqPercentFieldNumber; +const int Ems::kMinEngineTorqPercentFieldNumber; +const int Ems::kBaseEngineTorqConstantFieldNumber; +const int Ems::kIsEngineSpeedErrorFieldNumber; +const int Ems::kEngineSpeedFieldNumber; +const int Ems::kEngineTorqueFieldNumber; +const int Ems::kIsOverEngineTorqueFieldNumber; +const int Ems::kEngineRpmFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Ems::Ems() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Ems.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Ems) +} +Ems::Ems(const Ems& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&max_engine_torq_percent_, &from.max_engine_torq_percent_, + static_cast(reinterpret_cast(&engine_rpm_) - + reinterpret_cast(&max_engine_torq_percent_)) + sizeof(engine_rpm_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Ems) +} + +void Ems::SharedCtor() { + ::memset(&max_engine_torq_percent_, 0, static_cast( + reinterpret_cast(&engine_rpm_) - + reinterpret_cast(&max_engine_torq_percent_)) + sizeof(engine_rpm_)); +} + +Ems::~Ems() { + // @@protoc_insertion_point(destructor:apollo.canbus.Ems) + SharedDtor(); +} + +void Ems::SharedDtor() { +} + +void Ems::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Ems::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Ems& Ems::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Ems.base); + return *internal_default_instance(); +} + + +void Ems::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Ems) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&max_engine_torq_percent_, 0, static_cast( + reinterpret_cast(&engine_rpm_) - + reinterpret_cast(&max_engine_torq_percent_)) + sizeof(engine_rpm_)); + _internal_metadata_.Clear(); +} + +bool Ems::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Ems) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_engine_acc_available = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_engine_acc_available_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_engine_acc_error = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_engine_acc_error_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Ems.Type engine_state = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_engine_state(static_cast< ::apollo::canbus::Ems_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double max_engine_torq_percent = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &max_engine_torq_percent_))); + } else { + goto handle_unusual; + } + break; + } + + // double min_engine_torq_percent = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &min_engine_torq_percent_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 base_engine_torq_constant = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 48 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &base_engine_torq_constant_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_engine_speed_error = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_engine_speed_error_))); + } else { + goto handle_unusual; + } + break; + } + + // double engine_speed = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(65u /* 65 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &engine_speed_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 engine_torque = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(72u /* 72 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &engine_torque_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_over_engine_torque = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_over_engine_torque_))); + } else { + goto handle_unusual; + } + break; + } + + // double engine_rpm = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &engine_rpm_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Ems) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Ems) + return false; +#undef DO_ +} + +void Ems::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Ems) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_engine_acc_available = 1; + if (this->is_engine_acc_available() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_engine_acc_available(), output); + } + + // bool is_engine_acc_error = 2; + if (this->is_engine_acc_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_engine_acc_error(), output); + } + + // .apollo.canbus.Ems.Type engine_state = 3; + if (this->engine_state() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 3, this->engine_state(), output); + } + + // double max_engine_torq_percent = 4; + if (this->max_engine_torq_percent() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->max_engine_torq_percent(), output); + } + + // double min_engine_torq_percent = 5; + if (this->min_engine_torq_percent() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->min_engine_torq_percent(), output); + } + + // int32 base_engine_torq_constant = 6; + if (this->base_engine_torq_constant() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(6, this->base_engine_torq_constant(), output); + } + + // bool is_engine_speed_error = 7; + if (this->is_engine_speed_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(7, this->is_engine_speed_error(), output); + } + + // double engine_speed = 8; + if (this->engine_speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(8, this->engine_speed(), output); + } + + // int32 engine_torque = 9; + if (this->engine_torque() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(9, this->engine_torque(), output); + } + + // bool is_over_engine_torque = 10; + if (this->is_over_engine_torque() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(10, this->is_over_engine_torque(), output); + } + + // double engine_rpm = 11; + if (this->engine_rpm() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(11, this->engine_rpm(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Ems) +} + +::google::protobuf::uint8* Ems::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Ems) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_engine_acc_available = 1; + if (this->is_engine_acc_available() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_engine_acc_available(), target); + } + + // bool is_engine_acc_error = 2; + if (this->is_engine_acc_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_engine_acc_error(), target); + } + + // .apollo.canbus.Ems.Type engine_state = 3; + if (this->engine_state() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 3, this->engine_state(), target); + } + + // double max_engine_torq_percent = 4; + if (this->max_engine_torq_percent() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->max_engine_torq_percent(), target); + } + + // double min_engine_torq_percent = 5; + if (this->min_engine_torq_percent() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->min_engine_torq_percent(), target); + } + + // int32 base_engine_torq_constant = 6; + if (this->base_engine_torq_constant() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(6, this->base_engine_torq_constant(), target); + } + + // bool is_engine_speed_error = 7; + if (this->is_engine_speed_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(7, this->is_engine_speed_error(), target); + } + + // double engine_speed = 8; + if (this->engine_speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(8, this->engine_speed(), target); + } + + // int32 engine_torque = 9; + if (this->engine_torque() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(9, this->engine_torque(), target); + } + + // bool is_over_engine_torque = 10; + if (this->is_over_engine_torque() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(10, this->is_over_engine_torque(), target); + } + + // double engine_rpm = 11; + if (this->engine_rpm() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(11, this->engine_rpm(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Ems) + return target; +} + +size_t Ems::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Ems) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double max_engine_torq_percent = 4; + if (this->max_engine_torq_percent() != 0) { + total_size += 1 + 8; + } + + // .apollo.canbus.Ems.Type engine_state = 3; + if (this->engine_state() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->engine_state()); + } + + // bool is_engine_acc_available = 1; + if (this->is_engine_acc_available() != 0) { + total_size += 1 + 1; + } + + // bool is_engine_acc_error = 2; + if (this->is_engine_acc_error() != 0) { + total_size += 1 + 1; + } + + // bool is_engine_speed_error = 7; + if (this->is_engine_speed_error() != 0) { + total_size += 1 + 1; + } + + // bool is_over_engine_torque = 10; + if (this->is_over_engine_torque() != 0) { + total_size += 1 + 1; + } + + // double min_engine_torq_percent = 5; + if (this->min_engine_torq_percent() != 0) { + total_size += 1 + 8; + } + + // int32 base_engine_torq_constant = 6; + if (this->base_engine_torq_constant() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->base_engine_torq_constant()); + } + + // int32 engine_torque = 9; + if (this->engine_torque() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->engine_torque()); + } + + // double engine_speed = 8; + if (this->engine_speed() != 0) { + total_size += 1 + 8; + } + + // double engine_rpm = 11; + if (this->engine_rpm() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Ems::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Ems) + GOOGLE_DCHECK_NE(&from, this); + const Ems* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Ems) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Ems) + MergeFrom(*source); + } +} + +void Ems::MergeFrom(const Ems& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Ems) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.max_engine_torq_percent() != 0) { + set_max_engine_torq_percent(from.max_engine_torq_percent()); + } + if (from.engine_state() != 0) { + set_engine_state(from.engine_state()); + } + if (from.is_engine_acc_available() != 0) { + set_is_engine_acc_available(from.is_engine_acc_available()); + } + if (from.is_engine_acc_error() != 0) { + set_is_engine_acc_error(from.is_engine_acc_error()); + } + if (from.is_engine_speed_error() != 0) { + set_is_engine_speed_error(from.is_engine_speed_error()); + } + if (from.is_over_engine_torque() != 0) { + set_is_over_engine_torque(from.is_over_engine_torque()); + } + if (from.min_engine_torq_percent() != 0) { + set_min_engine_torq_percent(from.min_engine_torq_percent()); + } + if (from.base_engine_torq_constant() != 0) { + set_base_engine_torq_constant(from.base_engine_torq_constant()); + } + if (from.engine_torque() != 0) { + set_engine_torque(from.engine_torque()); + } + if (from.engine_speed() != 0) { + set_engine_speed(from.engine_speed()); + } + if (from.engine_rpm() != 0) { + set_engine_rpm(from.engine_rpm()); + } +} + +void Ems::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Ems) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Ems::CopyFrom(const Ems& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Ems) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Ems::IsInitialized() const { + return true; +} + +void Ems::Swap(Ems* other) { + if (other == this) return; + InternalSwap(other); +} +void Ems::InternalSwap(Ems* other) { + using std::swap; + swap(max_engine_torq_percent_, other->max_engine_torq_percent_); + swap(engine_state_, other->engine_state_); + swap(is_engine_acc_available_, other->is_engine_acc_available_); + swap(is_engine_acc_error_, other->is_engine_acc_error_); + swap(is_engine_speed_error_, other->is_engine_speed_error_); + swap(is_over_engine_torque_, other->is_over_engine_torque_); + swap(min_engine_torq_percent_, other->min_engine_torq_percent_); + swap(base_engine_torq_constant_, other->base_engine_torq_constant_); + swap(engine_torque_, other->engine_torque_); + swap(engine_speed_, other->engine_speed_); + swap(engine_rpm_, other->engine_rpm_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Ems::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Gear::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Gear::kIsShiftPositionValidFieldNumber; +const int Gear::kGearStateFieldNumber; +const int Gear::kDriverOverrideFieldNumber; +const int Gear::kGearCmdFieldNumber; +const int Gear::kCanbusFaultFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Gear::Gear() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Gear.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Gear) +} +Gear::Gear(const Gear& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&gear_state_, &from.gear_state_, + static_cast(reinterpret_cast(&gear_cmd_) - + reinterpret_cast(&gear_state_)) + sizeof(gear_cmd_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Gear) +} + +void Gear::SharedCtor() { + ::memset(&gear_state_, 0, static_cast( + reinterpret_cast(&gear_cmd_) - + reinterpret_cast(&gear_state_)) + sizeof(gear_cmd_)); +} + +Gear::~Gear() { + // @@protoc_insertion_point(destructor:apollo.canbus.Gear) + SharedDtor(); +} + +void Gear::SharedDtor() { +} + +void Gear::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Gear::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Gear& Gear::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Gear.base); + return *internal_default_instance(); +} + + +void Gear::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Gear) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&gear_state_, 0, static_cast( + reinterpret_cast(&gear_cmd_) - + reinterpret_cast(&gear_state_)) + sizeof(gear_cmd_)); + _internal_metadata_.Clear(); +} + +bool Gear::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Gear) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_shift_position_valid = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_shift_position_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.GearPosition gear_state = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_gear_state(static_cast< ::apollo::canbus::Chassis_GearPosition >(value)); + } else { + goto handle_unusual; + } + break; + } + + // bool driver_override = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &driver_override_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.GearPosition gear_cmd = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_gear_cmd(static_cast< ::apollo::canbus::Chassis_GearPosition >(value)); + } else { + goto handle_unusual; + } + break; + } + + // bool canbus_fault = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &canbus_fault_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Gear) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Gear) + return false; +#undef DO_ +} + +void Gear::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Gear) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_shift_position_valid = 1; + if (this->is_shift_position_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_shift_position_valid(), output); + } + + // .apollo.canbus.Chassis.GearPosition gear_state = 2; + if (this->gear_state() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->gear_state(), output); + } + + // bool driver_override = 3; + if (this->driver_override() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(3, this->driver_override(), output); + } + + // .apollo.canbus.Chassis.GearPosition gear_cmd = 4; + if (this->gear_cmd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 4, this->gear_cmd(), output); + } + + // bool canbus_fault = 5; + if (this->canbus_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(5, this->canbus_fault(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Gear) +} + +::google::protobuf::uint8* Gear::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Gear) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_shift_position_valid = 1; + if (this->is_shift_position_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_shift_position_valid(), target); + } + + // .apollo.canbus.Chassis.GearPosition gear_state = 2; + if (this->gear_state() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->gear_state(), target); + } + + // bool driver_override = 3; + if (this->driver_override() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(3, this->driver_override(), target); + } + + // .apollo.canbus.Chassis.GearPosition gear_cmd = 4; + if (this->gear_cmd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 4, this->gear_cmd(), target); + } + + // bool canbus_fault = 5; + if (this->canbus_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(5, this->canbus_fault(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Gear) + return target; +} + +size_t Gear::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Gear) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.canbus.Chassis.GearPosition gear_state = 2; + if (this->gear_state() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->gear_state()); + } + + // bool is_shift_position_valid = 1; + if (this->is_shift_position_valid() != 0) { + total_size += 1 + 1; + } + + // bool driver_override = 3; + if (this->driver_override() != 0) { + total_size += 1 + 1; + } + + // bool canbus_fault = 5; + if (this->canbus_fault() != 0) { + total_size += 1 + 1; + } + + // .apollo.canbus.Chassis.GearPosition gear_cmd = 4; + if (this->gear_cmd() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->gear_cmd()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Gear::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Gear) + GOOGLE_DCHECK_NE(&from, this); + const Gear* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Gear) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Gear) + MergeFrom(*source); + } +} + +void Gear::MergeFrom(const Gear& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Gear) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.gear_state() != 0) { + set_gear_state(from.gear_state()); + } + if (from.is_shift_position_valid() != 0) { + set_is_shift_position_valid(from.is_shift_position_valid()); + } + if (from.driver_override() != 0) { + set_driver_override(from.driver_override()); + } + if (from.canbus_fault() != 0) { + set_canbus_fault(from.canbus_fault()); + } + if (from.gear_cmd() != 0) { + set_gear_cmd(from.gear_cmd()); + } +} + +void Gear::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Gear) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Gear::CopyFrom(const Gear& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Gear) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Gear::IsInitialized() const { + return true; +} + +void Gear::Swap(Gear* other) { + if (other == this) return; + InternalSwap(other); +} +void Gear::InternalSwap(Gear* other) { + using std::swap; + swap(gear_state_, other->gear_state_); + swap(is_shift_position_valid_, other->is_shift_position_valid_); + swap(driver_override_, other->driver_override_); + swap(canbus_fault_, other->canbus_fault_); + swap(gear_cmd_, other->gear_cmd_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Gear::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Safety::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Safety::kIsDriverCarDoorCloseFieldNumber; +const int Safety::kIsDriverBuckledFieldNumber; +const int Safety::kEmergencyButtonFieldNumber; +const int Safety::kHasErrorFieldNumber; +const int Safety::kIsMotorInvertorFaultFieldNumber; +const int Safety::kIsSystemFaultFieldNumber; +const int Safety::kIsPowerBatteryFaultFieldNumber; +const int Safety::kIsMotorInvertorOverTemperatureFieldNumber; +const int Safety::kIsSmallBatteryChargeDischargeFaultFieldNumber; +const int Safety::kDrivingModeFieldNumber; +const int Safety::kIsPassengerDoorOpenFieldNumber; +const int Safety::kIsRearleftDoorOpenFieldNumber; +const int Safety::kIsRearrightDoorOpenFieldNumber; +const int Safety::kIsHoodOpenFieldNumber; +const int Safety::kIsTrunkOpenFieldNumber; +const int Safety::kIsPassengerDetectedFieldNumber; +const int Safety::kIsPassengerAirbagEnabledFieldNumber; +const int Safety::kIsPassengerBuckledFieldNumber; +const int Safety::kFrontLeftTirePressFieldNumber; +const int Safety::kFrontRightTirePressFieldNumber; +const int Safety::kRearLeftTirePressFieldNumber; +const int Safety::kRearRightTirePressFieldNumber; +const int Safety::kCarDrivingModeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Safety::Safety() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Safety.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.Safety) +} +Safety::Safety(const Safety& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&emergency_button_, &from.emergency_button_, + static_cast(reinterpret_cast(&car_driving_mode_) - + reinterpret_cast(&emergency_button_)) + sizeof(car_driving_mode_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.Safety) +} + +void Safety::SharedCtor() { + ::memset(&emergency_button_, 0, static_cast( + reinterpret_cast(&car_driving_mode_) - + reinterpret_cast(&emergency_button_)) + sizeof(car_driving_mode_)); +} + +Safety::~Safety() { + // @@protoc_insertion_point(destructor:apollo.canbus.Safety) + SharedDtor(); +} + +void Safety::SharedDtor() { +} + +void Safety::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Safety::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Safety& Safety::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_Safety.base); + return *internal_default_instance(); +} + + +void Safety::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.Safety) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&emergency_button_, 0, static_cast( + reinterpret_cast(&car_driving_mode_) - + reinterpret_cast(&emergency_button_)) + sizeof(car_driving_mode_)); + _internal_metadata_.Clear(); +} + +bool Safety::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.Safety) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_driver_car_door_close = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_driver_car_door_close_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_driver_buckled = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_driver_buckled_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 emergency_button = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &emergency_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool has_error = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &has_error_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_motor_invertor_fault = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_motor_invertor_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_system_fault = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 48 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_system_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_power_battery_fault = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_power_battery_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_motor_invertor_over_temperature = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_motor_invertor_over_temperature_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_small_battery_charge_discharge_fault = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(72u /* 72 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_small_battery_charge_discharge_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 driving_mode = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &driving_mode_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_passenger_door_open = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(88u /* 88 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_passenger_door_open_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_rearleft_door_open = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(96u /* 96 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_rearleft_door_open_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_rearright_door_open = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(104u /* 104 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_rearright_door_open_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_hood_open = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(112u /* 112 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_hood_open_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_trunk_open = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(120u /* 120 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_trunk_open_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_passenger_detected = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(128u /* 128 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_passenger_detected_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_passenger_airbag_enabled = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(136u /* 136 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_passenger_airbag_enabled_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_passenger_buckled = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(144u /* 144 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_passenger_buckled_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 front_left_tire_press = 19; + case 19: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(152u /* 152 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &front_left_tire_press_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 front_right_tire_press = 20; + case 20: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(160u /* 160 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &front_right_tire_press_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 rear_left_tire_press = 21; + case 21: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(168u /* 168 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &rear_left_tire_press_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 rear_right_tire_press = 22; + case 22: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(176u /* 176 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &rear_right_tire_press_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.DrivingMode car_driving_mode = 23; + case 23: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(184u /* 184 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_car_driving_mode(static_cast< ::apollo::canbus::Chassis_DrivingMode >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.Safety) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.Safety) + return false; +#undef DO_ +} + +void Safety::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.Safety) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_driver_car_door_close = 1; + if (this->is_driver_car_door_close() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_driver_car_door_close(), output); + } + + // bool is_driver_buckled = 2; + if (this->is_driver_buckled() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_driver_buckled(), output); + } + + // int32 emergency_button = 3; + if (this->emergency_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(3, this->emergency_button(), output); + } + + // bool has_error = 4; + if (this->has_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(4, this->has_error(), output); + } + + // bool is_motor_invertor_fault = 5; + if (this->is_motor_invertor_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(5, this->is_motor_invertor_fault(), output); + } + + // bool is_system_fault = 6; + if (this->is_system_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(6, this->is_system_fault(), output); + } + + // bool is_power_battery_fault = 7; + if (this->is_power_battery_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(7, this->is_power_battery_fault(), output); + } + + // bool is_motor_invertor_over_temperature = 8; + if (this->is_motor_invertor_over_temperature() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(8, this->is_motor_invertor_over_temperature(), output); + } + + // bool is_small_battery_charge_discharge_fault = 9; + if (this->is_small_battery_charge_discharge_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(9, this->is_small_battery_charge_discharge_fault(), output); + } + + // int32 driving_mode = 10; + if (this->driving_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(10, this->driving_mode(), output); + } + + // bool is_passenger_door_open = 11; + if (this->is_passenger_door_open() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(11, this->is_passenger_door_open(), output); + } + + // bool is_rearleft_door_open = 12; + if (this->is_rearleft_door_open() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(12, this->is_rearleft_door_open(), output); + } + + // bool is_rearright_door_open = 13; + if (this->is_rearright_door_open() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(13, this->is_rearright_door_open(), output); + } + + // bool is_hood_open = 14; + if (this->is_hood_open() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(14, this->is_hood_open(), output); + } + + // bool is_trunk_open = 15; + if (this->is_trunk_open() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(15, this->is_trunk_open(), output); + } + + // bool is_passenger_detected = 16; + if (this->is_passenger_detected() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(16, this->is_passenger_detected(), output); + } + + // bool is_passenger_airbag_enabled = 17; + if (this->is_passenger_airbag_enabled() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(17, this->is_passenger_airbag_enabled(), output); + } + + // bool is_passenger_buckled = 18; + if (this->is_passenger_buckled() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(18, this->is_passenger_buckled(), output); + } + + // int32 front_left_tire_press = 19; + if (this->front_left_tire_press() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(19, this->front_left_tire_press(), output); + } + + // int32 front_right_tire_press = 20; + if (this->front_right_tire_press() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(20, this->front_right_tire_press(), output); + } + + // int32 rear_left_tire_press = 21; + if (this->rear_left_tire_press() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(21, this->rear_left_tire_press(), output); + } + + // int32 rear_right_tire_press = 22; + if (this->rear_right_tire_press() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(22, this->rear_right_tire_press(), output); + } + + // .apollo.canbus.Chassis.DrivingMode car_driving_mode = 23; + if (this->car_driving_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 23, this->car_driving_mode(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.Safety) +} + +::google::protobuf::uint8* Safety::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.Safety) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_driver_car_door_close = 1; + if (this->is_driver_car_door_close() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_driver_car_door_close(), target); + } + + // bool is_driver_buckled = 2; + if (this->is_driver_buckled() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_driver_buckled(), target); + } + + // int32 emergency_button = 3; + if (this->emergency_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(3, this->emergency_button(), target); + } + + // bool has_error = 4; + if (this->has_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(4, this->has_error(), target); + } + + // bool is_motor_invertor_fault = 5; + if (this->is_motor_invertor_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(5, this->is_motor_invertor_fault(), target); + } + + // bool is_system_fault = 6; + if (this->is_system_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(6, this->is_system_fault(), target); + } + + // bool is_power_battery_fault = 7; + if (this->is_power_battery_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(7, this->is_power_battery_fault(), target); + } + + // bool is_motor_invertor_over_temperature = 8; + if (this->is_motor_invertor_over_temperature() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(8, this->is_motor_invertor_over_temperature(), target); + } + + // bool is_small_battery_charge_discharge_fault = 9; + if (this->is_small_battery_charge_discharge_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(9, this->is_small_battery_charge_discharge_fault(), target); + } + + // int32 driving_mode = 10; + if (this->driving_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(10, this->driving_mode(), target); + } + + // bool is_passenger_door_open = 11; + if (this->is_passenger_door_open() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(11, this->is_passenger_door_open(), target); + } + + // bool is_rearleft_door_open = 12; + if (this->is_rearleft_door_open() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(12, this->is_rearleft_door_open(), target); + } + + // bool is_rearright_door_open = 13; + if (this->is_rearright_door_open() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(13, this->is_rearright_door_open(), target); + } + + // bool is_hood_open = 14; + if (this->is_hood_open() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(14, this->is_hood_open(), target); + } + + // bool is_trunk_open = 15; + if (this->is_trunk_open() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(15, this->is_trunk_open(), target); + } + + // bool is_passenger_detected = 16; + if (this->is_passenger_detected() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(16, this->is_passenger_detected(), target); + } + + // bool is_passenger_airbag_enabled = 17; + if (this->is_passenger_airbag_enabled() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(17, this->is_passenger_airbag_enabled(), target); + } + + // bool is_passenger_buckled = 18; + if (this->is_passenger_buckled() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(18, this->is_passenger_buckled(), target); + } + + // int32 front_left_tire_press = 19; + if (this->front_left_tire_press() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(19, this->front_left_tire_press(), target); + } + + // int32 front_right_tire_press = 20; + if (this->front_right_tire_press() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(20, this->front_right_tire_press(), target); + } + + // int32 rear_left_tire_press = 21; + if (this->rear_left_tire_press() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(21, this->rear_left_tire_press(), target); + } + + // int32 rear_right_tire_press = 22; + if (this->rear_right_tire_press() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(22, this->rear_right_tire_press(), target); + } + + // .apollo.canbus.Chassis.DrivingMode car_driving_mode = 23; + if (this->car_driving_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 23, this->car_driving_mode(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.Safety) + return target; +} + +size_t Safety::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.Safety) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // int32 emergency_button = 3; + if (this->emergency_button() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->emergency_button()); + } + + // bool is_driver_car_door_close = 1; + if (this->is_driver_car_door_close() != 0) { + total_size += 1 + 1; + } + + // bool is_driver_buckled = 2; + if (this->is_driver_buckled() != 0) { + total_size += 1 + 1; + } + + // bool has_error = 4; + if (this->has_error() != 0) { + total_size += 1 + 1; + } + + // bool is_motor_invertor_fault = 5; + if (this->is_motor_invertor_fault() != 0) { + total_size += 1 + 1; + } + + // bool is_system_fault = 6; + if (this->is_system_fault() != 0) { + total_size += 1 + 1; + } + + // bool is_power_battery_fault = 7; + if (this->is_power_battery_fault() != 0) { + total_size += 1 + 1; + } + + // bool is_motor_invertor_over_temperature = 8; + if (this->is_motor_invertor_over_temperature() != 0) { + total_size += 1 + 1; + } + + // bool is_small_battery_charge_discharge_fault = 9; + if (this->is_small_battery_charge_discharge_fault() != 0) { + total_size += 1 + 1; + } + + // int32 driving_mode = 10; + if (this->driving_mode() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->driving_mode()); + } + + // bool is_passenger_door_open = 11; + if (this->is_passenger_door_open() != 0) { + total_size += 1 + 1; + } + + // bool is_rearleft_door_open = 12; + if (this->is_rearleft_door_open() != 0) { + total_size += 1 + 1; + } + + // bool is_rearright_door_open = 13; + if (this->is_rearright_door_open() != 0) { + total_size += 1 + 1; + } + + // bool is_hood_open = 14; + if (this->is_hood_open() != 0) { + total_size += 1 + 1; + } + + // bool is_trunk_open = 15; + if (this->is_trunk_open() != 0) { + total_size += 1 + 1; + } + + // bool is_passenger_detected = 16; + if (this->is_passenger_detected() != 0) { + total_size += 2 + 1; + } + + // bool is_passenger_airbag_enabled = 17; + if (this->is_passenger_airbag_enabled() != 0) { + total_size += 2 + 1; + } + + // bool is_passenger_buckled = 18; + if (this->is_passenger_buckled() != 0) { + total_size += 2 + 1; + } + + // int32 front_left_tire_press = 19; + if (this->front_left_tire_press() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->front_left_tire_press()); + } + + // int32 front_right_tire_press = 20; + if (this->front_right_tire_press() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->front_right_tire_press()); + } + + // int32 rear_left_tire_press = 21; + if (this->rear_left_tire_press() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->rear_left_tire_press()); + } + + // int32 rear_right_tire_press = 22; + if (this->rear_right_tire_press() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->rear_right_tire_press()); + } + + // .apollo.canbus.Chassis.DrivingMode car_driving_mode = 23; + if (this->car_driving_mode() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->car_driving_mode()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Safety::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.Safety) + GOOGLE_DCHECK_NE(&from, this); + const Safety* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.Safety) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.Safety) + MergeFrom(*source); + } +} + +void Safety::MergeFrom(const Safety& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.Safety) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.emergency_button() != 0) { + set_emergency_button(from.emergency_button()); + } + if (from.is_driver_car_door_close() != 0) { + set_is_driver_car_door_close(from.is_driver_car_door_close()); + } + if (from.is_driver_buckled() != 0) { + set_is_driver_buckled(from.is_driver_buckled()); + } + if (from.has_error() != 0) { + set_has_error(from.has_error()); + } + if (from.is_motor_invertor_fault() != 0) { + set_is_motor_invertor_fault(from.is_motor_invertor_fault()); + } + if (from.is_system_fault() != 0) { + set_is_system_fault(from.is_system_fault()); + } + if (from.is_power_battery_fault() != 0) { + set_is_power_battery_fault(from.is_power_battery_fault()); + } + if (from.is_motor_invertor_over_temperature() != 0) { + set_is_motor_invertor_over_temperature(from.is_motor_invertor_over_temperature()); + } + if (from.is_small_battery_charge_discharge_fault() != 0) { + set_is_small_battery_charge_discharge_fault(from.is_small_battery_charge_discharge_fault()); + } + if (from.driving_mode() != 0) { + set_driving_mode(from.driving_mode()); + } + if (from.is_passenger_door_open() != 0) { + set_is_passenger_door_open(from.is_passenger_door_open()); + } + if (from.is_rearleft_door_open() != 0) { + set_is_rearleft_door_open(from.is_rearleft_door_open()); + } + if (from.is_rearright_door_open() != 0) { + set_is_rearright_door_open(from.is_rearright_door_open()); + } + if (from.is_hood_open() != 0) { + set_is_hood_open(from.is_hood_open()); + } + if (from.is_trunk_open() != 0) { + set_is_trunk_open(from.is_trunk_open()); + } + if (from.is_passenger_detected() != 0) { + set_is_passenger_detected(from.is_passenger_detected()); + } + if (from.is_passenger_airbag_enabled() != 0) { + set_is_passenger_airbag_enabled(from.is_passenger_airbag_enabled()); + } + if (from.is_passenger_buckled() != 0) { + set_is_passenger_buckled(from.is_passenger_buckled()); + } + if (from.front_left_tire_press() != 0) { + set_front_left_tire_press(from.front_left_tire_press()); + } + if (from.front_right_tire_press() != 0) { + set_front_right_tire_press(from.front_right_tire_press()); + } + if (from.rear_left_tire_press() != 0) { + set_rear_left_tire_press(from.rear_left_tire_press()); + } + if (from.rear_right_tire_press() != 0) { + set_rear_right_tire_press(from.rear_right_tire_press()); + } + if (from.car_driving_mode() != 0) { + set_car_driving_mode(from.car_driving_mode()); + } +} + +void Safety::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.Safety) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Safety::CopyFrom(const Safety& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.Safety) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Safety::IsInitialized() const { + return true; +} + +void Safety::Swap(Safety* other) { + if (other == this) return; + InternalSwap(other); +} +void Safety::InternalSwap(Safety* other) { + using std::swap; + swap(emergency_button_, other->emergency_button_); + swap(is_driver_car_door_close_, other->is_driver_car_door_close_); + swap(is_driver_buckled_, other->is_driver_buckled_); + swap(has_error_, other->has_error_); + swap(is_motor_invertor_fault_, other->is_motor_invertor_fault_); + swap(is_system_fault_, other->is_system_fault_); + swap(is_power_battery_fault_, other->is_power_battery_fault_); + swap(is_motor_invertor_over_temperature_, other->is_motor_invertor_over_temperature_); + swap(is_small_battery_charge_discharge_fault_, other->is_small_battery_charge_discharge_fault_); + swap(driving_mode_, other->driving_mode_); + swap(is_passenger_door_open_, other->is_passenger_door_open_); + swap(is_rearleft_door_open_, other->is_rearleft_door_open_); + swap(is_rearright_door_open_, other->is_rearright_door_open_); + swap(is_hood_open_, other->is_hood_open_); + swap(is_trunk_open_, other->is_trunk_open_); + swap(is_passenger_detected_, other->is_passenger_detected_); + swap(is_passenger_airbag_enabled_, other->is_passenger_airbag_enabled_); + swap(is_passenger_buckled_, other->is_passenger_buckled_); + swap(front_left_tire_press_, other->front_left_tire_press_); + swap(front_right_tire_press_, other->front_right_tire_press_); + swap(rear_left_tire_press_, other->rear_left_tire_press_); + swap(rear_right_tire_press_, other->rear_right_tire_press_); + swap(car_driving_mode_, other->car_driving_mode_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Safety::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void BasicInfo::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int BasicInfo::kIsAutoModeFieldNumber; +const int BasicInfo::kPowerStateFieldNumber; +const int BasicInfo::kIsAirBagDeployedFieldNumber; +const int BasicInfo::kOdoMeterFieldNumber; +const int BasicInfo::kDriveRangeFieldNumber; +const int BasicInfo::kIsSystemErrorFieldNumber; +const int BasicInfo::kIsHumanInterruptFieldNumber; +const int BasicInfo::kAccOnButtonFieldNumber; +const int BasicInfo::kAccOffButtonFieldNumber; +const int BasicInfo::kAccResButtonFieldNumber; +const int BasicInfo::kAccCancelButtonFieldNumber; +const int BasicInfo::kAccOnOffButtonFieldNumber; +const int BasicInfo::kAccResCancelButtonFieldNumber; +const int BasicInfo::kAccIncSpdButtonFieldNumber; +const int BasicInfo::kAccDecSpdButtonFieldNumber; +const int BasicInfo::kAccIncGapButtonFieldNumber; +const int BasicInfo::kAccDecGapButtonFieldNumber; +const int BasicInfo::kLkaButtonFieldNumber; +const int BasicInfo::kCanbusFaultFieldNumber; +const int BasicInfo::kLatitudeFieldNumber; +const int BasicInfo::kLongitudeFieldNumber; +const int BasicInfo::kGpsValidFieldNumber; +const int BasicInfo::kYearFieldNumber; +const int BasicInfo::kMonthFieldNumber; +const int BasicInfo::kDayFieldNumber; +const int BasicInfo::kHoursFieldNumber; +const int BasicInfo::kMinutesFieldNumber; +const int BasicInfo::kSecondsFieldNumber; +const int BasicInfo::kCompassDirectionFieldNumber; +const int BasicInfo::kPdopFieldNumber; +const int BasicInfo::kIsGpsFaultFieldNumber; +const int BasicInfo::kIsInferredFieldNumber; +const int BasicInfo::kAltitudeFieldNumber; +const int BasicInfo::kHeadingFieldNumber; +const int BasicInfo::kHdopFieldNumber; +const int BasicInfo::kVdopFieldNumber; +const int BasicInfo::kQualityFieldNumber; +const int BasicInfo::kNumSatellitesFieldNumber; +const int BasicInfo::kGpsSpeedFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +BasicInfo::BasicInfo() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_BasicInfo.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.canbus.BasicInfo) +} +BasicInfo::BasicInfo(const BasicInfo& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&power_state_, &from.power_state_, + static_cast(reinterpret_cast(&gps_speed_) - + reinterpret_cast(&power_state_)) + sizeof(gps_speed_)); + // @@protoc_insertion_point(copy_constructor:apollo.canbus.BasicInfo) +} + +void BasicInfo::SharedCtor() { + ::memset(&power_state_, 0, static_cast( + reinterpret_cast(&gps_speed_) - + reinterpret_cast(&power_state_)) + sizeof(gps_speed_)); +} + +BasicInfo::~BasicInfo() { + // @@protoc_insertion_point(destructor:apollo.canbus.BasicInfo) + SharedDtor(); +} + +void BasicInfo::SharedDtor() { +} + +void BasicInfo::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* BasicInfo::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const BasicInfo& BasicInfo::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::scc_info_BasicInfo.base); + return *internal_default_instance(); +} + + +void BasicInfo::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.canbus.BasicInfo) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&power_state_, 0, static_cast( + reinterpret_cast(&gps_speed_) - + reinterpret_cast(&power_state_)) + sizeof(gps_speed_)); + _internal_metadata_.Clear(); +} + +bool BasicInfo::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.canbus.BasicInfo) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_auto_mode = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_auto_mode_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.BasicInfo.Type power_state = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_power_state(static_cast< ::apollo::canbus::BasicInfo_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // bool is_air_bag_deployed = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_air_bag_deployed_))); + } else { + goto handle_unusual; + } + break; + } + + // double odo_meter = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &odo_meter_))); + } else { + goto handle_unusual; + } + break; + } + + // double drive_range = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &drive_range_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_system_error = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 48 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_system_error_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_human_interrupt = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_human_interrupt_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_on_button = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_on_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_off_button = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(72u /* 72 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_off_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_res_button = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_res_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_cancel_button = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(88u /* 88 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_cancel_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_on_off_button = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(96u /* 96 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_on_off_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_res_cancel_button = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(104u /* 104 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_res_cancel_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_inc_spd_button = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(112u /* 112 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_inc_spd_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_dec_spd_button = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(120u /* 120 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_dec_spd_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_inc_gap_button = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(128u /* 128 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_inc_gap_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool acc_dec_gap_button = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(136u /* 136 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &acc_dec_gap_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool lka_button = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(144u /* 144 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &lka_button_))); + } else { + goto handle_unusual; + } + break; + } + + // bool canbus_fault = 19; + case 19: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(152u /* 152 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &canbus_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // double latitude = 20; + case 20: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(161u /* 161 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &latitude_))); + } else { + goto handle_unusual; + } + break; + } + + // double longitude = 21; + case 21: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(169u /* 169 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &longitude_))); + } else { + goto handle_unusual; + } + break; + } + + // bool gps_valid = 22; + case 22: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(176u /* 176 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &gps_valid_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 year = 23; + case 23: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(184u /* 184 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &year_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 month = 24; + case 24: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(192u /* 192 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &month_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 day = 25; + case 25: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(200u /* 200 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &day_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 hours = 26; + case 26: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(208u /* 208 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &hours_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 minutes = 27; + case 27: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(216u /* 216 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &minutes_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 seconds = 28; + case 28: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(224u /* 224 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &seconds_))); + } else { + goto handle_unusual; + } + break; + } + + // double compass_direction = 29; + case 29: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(233u /* 233 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &compass_direction_))); + } else { + goto handle_unusual; + } + break; + } + + // double pdop = 30; + case 30: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(241u /* 241 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &pdop_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_gps_fault = 31; + case 31: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(248u /* 248 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_gps_fault_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_inferred = 32; + case 32: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(0u /* 256 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_inferred_))); + } else { + goto handle_unusual; + } + break; + } + + // double altitude = 33; + case 33: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 265 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &altitude_))); + } else { + goto handle_unusual; + } + break; + } + + // double heading = 34; + case 34: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 273 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_))); + } else { + goto handle_unusual; + } + break; + } + + // double hdop = 35; + case 35: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 281 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &hdop_))); + } else { + goto handle_unusual; + } + break; + } + + // double vdop = 36; + case 36: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 289 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &vdop_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.BasicInfo.GpsQuality quality = 37; + case 37: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 296 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_quality(static_cast< ::apollo::canbus::BasicInfo_GpsQuality >(value)); + } else { + goto handle_unusual; + } + break; + } + + // int32 num_satellites = 38; + case 38: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 304 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &num_satellites_))); + } else { + goto handle_unusual; + } + break; + } + + // double gps_speed = 39; + case 39: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 313 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &gps_speed_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.canbus.BasicInfo) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.canbus.BasicInfo) + return false; +#undef DO_ +} + +void BasicInfo::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.canbus.BasicInfo) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_auto_mode = 1; + if (this->is_auto_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_auto_mode(), output); + } + + // .apollo.canbus.BasicInfo.Type power_state = 2; + if (this->power_state() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->power_state(), output); + } + + // bool is_air_bag_deployed = 3; + if (this->is_air_bag_deployed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(3, this->is_air_bag_deployed(), output); + } + + // double odo_meter = 4; + if (this->odo_meter() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->odo_meter(), output); + } + + // double drive_range = 5; + if (this->drive_range() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->drive_range(), output); + } + + // bool is_system_error = 6; + if (this->is_system_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(6, this->is_system_error(), output); + } + + // bool is_human_interrupt = 7; + if (this->is_human_interrupt() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(7, this->is_human_interrupt(), output); + } + + // bool acc_on_button = 8; + if (this->acc_on_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(8, this->acc_on_button(), output); + } + + // bool acc_off_button = 9; + if (this->acc_off_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(9, this->acc_off_button(), output); + } + + // bool acc_res_button = 10; + if (this->acc_res_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(10, this->acc_res_button(), output); + } + + // bool acc_cancel_button = 11; + if (this->acc_cancel_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(11, this->acc_cancel_button(), output); + } + + // bool acc_on_off_button = 12; + if (this->acc_on_off_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(12, this->acc_on_off_button(), output); + } + + // bool acc_res_cancel_button = 13; + if (this->acc_res_cancel_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(13, this->acc_res_cancel_button(), output); + } + + // bool acc_inc_spd_button = 14; + if (this->acc_inc_spd_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(14, this->acc_inc_spd_button(), output); + } + + // bool acc_dec_spd_button = 15; + if (this->acc_dec_spd_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(15, this->acc_dec_spd_button(), output); + } + + // bool acc_inc_gap_button = 16; + if (this->acc_inc_gap_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(16, this->acc_inc_gap_button(), output); + } + + // bool acc_dec_gap_button = 17; + if (this->acc_dec_gap_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(17, this->acc_dec_gap_button(), output); + } + + // bool lka_button = 18; + if (this->lka_button() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(18, this->lka_button(), output); + } + + // bool canbus_fault = 19; + if (this->canbus_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(19, this->canbus_fault(), output); + } + + // double latitude = 20; + if (this->latitude() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(20, this->latitude(), output); + } + + // double longitude = 21; + if (this->longitude() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(21, this->longitude(), output); + } + + // bool gps_valid = 22; + if (this->gps_valid() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(22, this->gps_valid(), output); + } + + // int32 year = 23; + if (this->year() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(23, this->year(), output); + } + + // int32 month = 24; + if (this->month() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(24, this->month(), output); + } + + // int32 day = 25; + if (this->day() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(25, this->day(), output); + } + + // int32 hours = 26; + if (this->hours() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(26, this->hours(), output); + } + + // int32 minutes = 27; + if (this->minutes() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(27, this->minutes(), output); + } + + // int32 seconds = 28; + if (this->seconds() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(28, this->seconds(), output); + } + + // double compass_direction = 29; + if (this->compass_direction() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(29, this->compass_direction(), output); + } + + // double pdop = 30; + if (this->pdop() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(30, this->pdop(), output); + } + + // bool is_gps_fault = 31; + if (this->is_gps_fault() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(31, this->is_gps_fault(), output); + } + + // bool is_inferred = 32; + if (this->is_inferred() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(32, this->is_inferred(), output); + } + + // double altitude = 33; + if (this->altitude() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(33, this->altitude(), output); + } + + // double heading = 34; + if (this->heading() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(34, this->heading(), output); + } + + // double hdop = 35; + if (this->hdop() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(35, this->hdop(), output); + } + + // double vdop = 36; + if (this->vdop() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(36, this->vdop(), output); + } + + // .apollo.canbus.BasicInfo.GpsQuality quality = 37; + if (this->quality() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 37, this->quality(), output); + } + + // int32 num_satellites = 38; + if (this->num_satellites() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(38, this->num_satellites(), output); + } + + // double gps_speed = 39; + if (this->gps_speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(39, this->gps_speed(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.canbus.BasicInfo) +} + +::google::protobuf::uint8* BasicInfo::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.canbus.BasicInfo) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_auto_mode = 1; + if (this->is_auto_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_auto_mode(), target); + } + + // .apollo.canbus.BasicInfo.Type power_state = 2; + if (this->power_state() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->power_state(), target); + } + + // bool is_air_bag_deployed = 3; + if (this->is_air_bag_deployed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(3, this->is_air_bag_deployed(), target); + } + + // double odo_meter = 4; + if (this->odo_meter() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->odo_meter(), target); + } + + // double drive_range = 5; + if (this->drive_range() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->drive_range(), target); + } + + // bool is_system_error = 6; + if (this->is_system_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(6, this->is_system_error(), target); + } + + // bool is_human_interrupt = 7; + if (this->is_human_interrupt() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(7, this->is_human_interrupt(), target); + } + + // bool acc_on_button = 8; + if (this->acc_on_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(8, this->acc_on_button(), target); + } + + // bool acc_off_button = 9; + if (this->acc_off_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(9, this->acc_off_button(), target); + } + + // bool acc_res_button = 10; + if (this->acc_res_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(10, this->acc_res_button(), target); + } + + // bool acc_cancel_button = 11; + if (this->acc_cancel_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(11, this->acc_cancel_button(), target); + } + + // bool acc_on_off_button = 12; + if (this->acc_on_off_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(12, this->acc_on_off_button(), target); + } + + // bool acc_res_cancel_button = 13; + if (this->acc_res_cancel_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(13, this->acc_res_cancel_button(), target); + } + + // bool acc_inc_spd_button = 14; + if (this->acc_inc_spd_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(14, this->acc_inc_spd_button(), target); + } + + // bool acc_dec_spd_button = 15; + if (this->acc_dec_spd_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(15, this->acc_dec_spd_button(), target); + } + + // bool acc_inc_gap_button = 16; + if (this->acc_inc_gap_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(16, this->acc_inc_gap_button(), target); + } + + // bool acc_dec_gap_button = 17; + if (this->acc_dec_gap_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(17, this->acc_dec_gap_button(), target); + } + + // bool lka_button = 18; + if (this->lka_button() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(18, this->lka_button(), target); + } + + // bool canbus_fault = 19; + if (this->canbus_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(19, this->canbus_fault(), target); + } + + // double latitude = 20; + if (this->latitude() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(20, this->latitude(), target); + } + + // double longitude = 21; + if (this->longitude() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(21, this->longitude(), target); + } + + // bool gps_valid = 22; + if (this->gps_valid() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(22, this->gps_valid(), target); + } + + // int32 year = 23; + if (this->year() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(23, this->year(), target); + } + + // int32 month = 24; + if (this->month() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(24, this->month(), target); + } + + // int32 day = 25; + if (this->day() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(25, this->day(), target); + } + + // int32 hours = 26; + if (this->hours() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(26, this->hours(), target); + } + + // int32 minutes = 27; + if (this->minutes() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(27, this->minutes(), target); + } + + // int32 seconds = 28; + if (this->seconds() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(28, this->seconds(), target); + } + + // double compass_direction = 29; + if (this->compass_direction() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(29, this->compass_direction(), target); + } + + // double pdop = 30; + if (this->pdop() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(30, this->pdop(), target); + } + + // bool is_gps_fault = 31; + if (this->is_gps_fault() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(31, this->is_gps_fault(), target); + } + + // bool is_inferred = 32; + if (this->is_inferred() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(32, this->is_inferred(), target); + } + + // double altitude = 33; + if (this->altitude() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(33, this->altitude(), target); + } + + // double heading = 34; + if (this->heading() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(34, this->heading(), target); + } + + // double hdop = 35; + if (this->hdop() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(35, this->hdop(), target); + } + + // double vdop = 36; + if (this->vdop() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(36, this->vdop(), target); + } + + // .apollo.canbus.BasicInfo.GpsQuality quality = 37; + if (this->quality() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 37, this->quality(), target); + } + + // int32 num_satellites = 38; + if (this->num_satellites() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(38, this->num_satellites(), target); + } + + // double gps_speed = 39; + if (this->gps_speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(39, this->gps_speed(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.canbus.BasicInfo) + return target; +} + +size_t BasicInfo::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.canbus.BasicInfo) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.canbus.BasicInfo.Type power_state = 2; + if (this->power_state() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->power_state()); + } + + // bool is_auto_mode = 1; + if (this->is_auto_mode() != 0) { + total_size += 1 + 1; + } + + // bool is_air_bag_deployed = 3; + if (this->is_air_bag_deployed() != 0) { + total_size += 1 + 1; + } + + // bool is_system_error = 6; + if (this->is_system_error() != 0) { + total_size += 1 + 1; + } + + // bool is_human_interrupt = 7; + if (this->is_human_interrupt() != 0) { + total_size += 1 + 1; + } + + // double odo_meter = 4; + if (this->odo_meter() != 0) { + total_size += 1 + 8; + } + + // double drive_range = 5; + if (this->drive_range() != 0) { + total_size += 1 + 8; + } + + // bool acc_on_button = 8; + if (this->acc_on_button() != 0) { + total_size += 1 + 1; + } + + // bool acc_off_button = 9; + if (this->acc_off_button() != 0) { + total_size += 1 + 1; + } + + // bool acc_res_button = 10; + if (this->acc_res_button() != 0) { + total_size += 1 + 1; + } + + // bool acc_cancel_button = 11; + if (this->acc_cancel_button() != 0) { + total_size += 1 + 1; + } + + // bool acc_on_off_button = 12; + if (this->acc_on_off_button() != 0) { + total_size += 1 + 1; + } + + // bool acc_res_cancel_button = 13; + if (this->acc_res_cancel_button() != 0) { + total_size += 1 + 1; + } + + // bool acc_inc_spd_button = 14; + if (this->acc_inc_spd_button() != 0) { + total_size += 1 + 1; + } + + // bool acc_dec_spd_button = 15; + if (this->acc_dec_spd_button() != 0) { + total_size += 1 + 1; + } + + // bool acc_inc_gap_button = 16; + if (this->acc_inc_gap_button() != 0) { + total_size += 2 + 1; + } + + // bool acc_dec_gap_button = 17; + if (this->acc_dec_gap_button() != 0) { + total_size += 2 + 1; + } + + // bool lka_button = 18; + if (this->lka_button() != 0) { + total_size += 2 + 1; + } + + // bool canbus_fault = 19; + if (this->canbus_fault() != 0) { + total_size += 2 + 1; + } + + // int32 year = 23; + if (this->year() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->year()); + } + + // double latitude = 20; + if (this->latitude() != 0) { + total_size += 2 + 8; + } + + // double longitude = 21; + if (this->longitude() != 0) { + total_size += 2 + 8; + } + + // int32 month = 24; + if (this->month() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->month()); + } + + // int32 day = 25; + if (this->day() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->day()); + } + + // int32 hours = 26; + if (this->hours() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->hours()); + } + + // int32 minutes = 27; + if (this->minutes() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->minutes()); + } + + // int32 seconds = 28; + if (this->seconds() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->seconds()); + } + + // bool gps_valid = 22; + if (this->gps_valid() != 0) { + total_size += 2 + 1; + } + + // bool is_gps_fault = 31; + if (this->is_gps_fault() != 0) { + total_size += 2 + 1; + } + + // bool is_inferred = 32; + if (this->is_inferred() != 0) { + total_size += 2 + 1; + } + + // double compass_direction = 29; + if (this->compass_direction() != 0) { + total_size += 2 + 8; + } + + // double pdop = 30; + if (this->pdop() != 0) { + total_size += 2 + 8; + } + + // double altitude = 33; + if (this->altitude() != 0) { + total_size += 2 + 8; + } + + // double heading = 34; + if (this->heading() != 0) { + total_size += 2 + 8; + } + + // double hdop = 35; + if (this->hdop() != 0) { + total_size += 2 + 8; + } + + // double vdop = 36; + if (this->vdop() != 0) { + total_size += 2 + 8; + } + + // .apollo.canbus.BasicInfo.GpsQuality quality = 37; + if (this->quality() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->quality()); + } + + // int32 num_satellites = 38; + if (this->num_satellites() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->num_satellites()); + } + + // double gps_speed = 39; + if (this->gps_speed() != 0) { + total_size += 2 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void BasicInfo::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.canbus.BasicInfo) + GOOGLE_DCHECK_NE(&from, this); + const BasicInfo* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.canbus.BasicInfo) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.canbus.BasicInfo) + MergeFrom(*source); + } +} + +void BasicInfo::MergeFrom(const BasicInfo& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.canbus.BasicInfo) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.power_state() != 0) { + set_power_state(from.power_state()); + } + if (from.is_auto_mode() != 0) { + set_is_auto_mode(from.is_auto_mode()); + } + if (from.is_air_bag_deployed() != 0) { + set_is_air_bag_deployed(from.is_air_bag_deployed()); + } + if (from.is_system_error() != 0) { + set_is_system_error(from.is_system_error()); + } + if (from.is_human_interrupt() != 0) { + set_is_human_interrupt(from.is_human_interrupt()); + } + if (from.odo_meter() != 0) { + set_odo_meter(from.odo_meter()); + } + if (from.drive_range() != 0) { + set_drive_range(from.drive_range()); + } + if (from.acc_on_button() != 0) { + set_acc_on_button(from.acc_on_button()); + } + if (from.acc_off_button() != 0) { + set_acc_off_button(from.acc_off_button()); + } + if (from.acc_res_button() != 0) { + set_acc_res_button(from.acc_res_button()); + } + if (from.acc_cancel_button() != 0) { + set_acc_cancel_button(from.acc_cancel_button()); + } + if (from.acc_on_off_button() != 0) { + set_acc_on_off_button(from.acc_on_off_button()); + } + if (from.acc_res_cancel_button() != 0) { + set_acc_res_cancel_button(from.acc_res_cancel_button()); + } + if (from.acc_inc_spd_button() != 0) { + set_acc_inc_spd_button(from.acc_inc_spd_button()); + } + if (from.acc_dec_spd_button() != 0) { + set_acc_dec_spd_button(from.acc_dec_spd_button()); + } + if (from.acc_inc_gap_button() != 0) { + set_acc_inc_gap_button(from.acc_inc_gap_button()); + } + if (from.acc_dec_gap_button() != 0) { + set_acc_dec_gap_button(from.acc_dec_gap_button()); + } + if (from.lka_button() != 0) { + set_lka_button(from.lka_button()); + } + if (from.canbus_fault() != 0) { + set_canbus_fault(from.canbus_fault()); + } + if (from.year() != 0) { + set_year(from.year()); + } + if (from.latitude() != 0) { + set_latitude(from.latitude()); + } + if (from.longitude() != 0) { + set_longitude(from.longitude()); + } + if (from.month() != 0) { + set_month(from.month()); + } + if (from.day() != 0) { + set_day(from.day()); + } + if (from.hours() != 0) { + set_hours(from.hours()); + } + if (from.minutes() != 0) { + set_minutes(from.minutes()); + } + if (from.seconds() != 0) { + set_seconds(from.seconds()); + } + if (from.gps_valid() != 0) { + set_gps_valid(from.gps_valid()); + } + if (from.is_gps_fault() != 0) { + set_is_gps_fault(from.is_gps_fault()); + } + if (from.is_inferred() != 0) { + set_is_inferred(from.is_inferred()); + } + if (from.compass_direction() != 0) { + set_compass_direction(from.compass_direction()); + } + if (from.pdop() != 0) { + set_pdop(from.pdop()); + } + if (from.altitude() != 0) { + set_altitude(from.altitude()); + } + if (from.heading() != 0) { + set_heading(from.heading()); + } + if (from.hdop() != 0) { + set_hdop(from.hdop()); + } + if (from.vdop() != 0) { + set_vdop(from.vdop()); + } + if (from.quality() != 0) { + set_quality(from.quality()); + } + if (from.num_satellites() != 0) { + set_num_satellites(from.num_satellites()); + } + if (from.gps_speed() != 0) { + set_gps_speed(from.gps_speed()); + } +} + +void BasicInfo::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.canbus.BasicInfo) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void BasicInfo::CopyFrom(const BasicInfo& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.canbus.BasicInfo) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool BasicInfo::IsInitialized() const { + return true; +} + +void BasicInfo::Swap(BasicInfo* other) { + if (other == this) return; + InternalSwap(other); +} +void BasicInfo::InternalSwap(BasicInfo* other) { + using std::swap; + swap(power_state_, other->power_state_); + swap(is_auto_mode_, other->is_auto_mode_); + swap(is_air_bag_deployed_, other->is_air_bag_deployed_); + swap(is_system_error_, other->is_system_error_); + swap(is_human_interrupt_, other->is_human_interrupt_); + swap(odo_meter_, other->odo_meter_); + swap(drive_range_, other->drive_range_); + swap(acc_on_button_, other->acc_on_button_); + swap(acc_off_button_, other->acc_off_button_); + swap(acc_res_button_, other->acc_res_button_); + swap(acc_cancel_button_, other->acc_cancel_button_); + swap(acc_on_off_button_, other->acc_on_off_button_); + swap(acc_res_cancel_button_, other->acc_res_cancel_button_); + swap(acc_inc_spd_button_, other->acc_inc_spd_button_); + swap(acc_dec_spd_button_, other->acc_dec_spd_button_); + swap(acc_inc_gap_button_, other->acc_inc_gap_button_); + swap(acc_dec_gap_button_, other->acc_dec_gap_button_); + swap(lka_button_, other->lka_button_); + swap(canbus_fault_, other->canbus_fault_); + swap(year_, other->year_); + swap(latitude_, other->latitude_); + swap(longitude_, other->longitude_); + swap(month_, other->month_); + swap(day_, other->day_); + swap(hours_, other->hours_); + swap(minutes_, other->minutes_); + swap(seconds_, other->seconds_); + swap(gps_valid_, other->gps_valid_); + swap(is_gps_fault_, other->is_gps_fault_); + swap(is_inferred_, other->is_inferred_); + swap(compass_direction_, other->compass_direction_); + swap(pdop_, other->pdop_); + swap(altitude_, other->altitude_); + swap(heading_, other->heading_); + swap(hdop_, other->hdop_); + swap(vdop_, other->vdop_); + swap(quality_, other->quality_); + swap(num_satellites_, other->num_satellites_); + swap(gps_speed_, other->gps_speed_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata BasicInfo::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace canbus +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::ChassisDetail* Arena::CreateMaybeMessage< ::apollo::canbus::ChassisDetail >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::ChassisDetail >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::CheckResponseSignal* Arena::CreateMaybeMessage< ::apollo::canbus::CheckResponseSignal >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::CheckResponseSignal >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Battery* Arena::CreateMaybeMessage< ::apollo::canbus::Battery >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Battery >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Light* Arena::CreateMaybeMessage< ::apollo::canbus::Light >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Light >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Eps* Arena::CreateMaybeMessage< ::apollo::canbus::Eps >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Eps >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::VehicleSpd* Arena::CreateMaybeMessage< ::apollo::canbus::VehicleSpd >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::VehicleSpd >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Deceleration* Arena::CreateMaybeMessage< ::apollo::canbus::Deceleration >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Deceleration >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Brake* Arena::CreateMaybeMessage< ::apollo::canbus::Brake >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Brake >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Epb* Arena::CreateMaybeMessage< ::apollo::canbus::Epb >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Epb >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Gas* Arena::CreateMaybeMessage< ::apollo::canbus::Gas >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Gas >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Esp* Arena::CreateMaybeMessage< ::apollo::canbus::Esp >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Esp >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Ems* Arena::CreateMaybeMessage< ::apollo::canbus::Ems >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Ems >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Gear* Arena::CreateMaybeMessage< ::apollo::canbus::Gear >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Gear >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::Safety* Arena::CreateMaybeMessage< ::apollo::canbus::Safety >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::Safety >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::canbus::BasicInfo* Arena::CreateMaybeMessage< ::apollo::canbus::BasicInfo >(Arena* arena) { + return Arena::CreateInternal< ::apollo::canbus::BasicInfo >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/canbus/chassis_detail.pb.h b/apollo_msgs/include/apollo_msgs/proto/canbus/chassis_detail.pb.h new file mode 100644 index 0000000..9ada61b --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/canbus/chassis_detail.pb.h @@ -0,0 +1,8221 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/canbus/chassis_detail.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/canbus/chassis.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[15]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto +namespace apollo { +namespace canbus { +class BasicInfo; +class BasicInfoDefaultTypeInternal; +extern BasicInfoDefaultTypeInternal _BasicInfo_default_instance_; +class Battery; +class BatteryDefaultTypeInternal; +extern BatteryDefaultTypeInternal _Battery_default_instance_; +class Brake; +class BrakeDefaultTypeInternal; +extern BrakeDefaultTypeInternal _Brake_default_instance_; +class ChassisDetail; +class ChassisDetailDefaultTypeInternal; +extern ChassisDetailDefaultTypeInternal _ChassisDetail_default_instance_; +class CheckResponseSignal; +class CheckResponseSignalDefaultTypeInternal; +extern CheckResponseSignalDefaultTypeInternal _CheckResponseSignal_default_instance_; +class Deceleration; +class DecelerationDefaultTypeInternal; +extern DecelerationDefaultTypeInternal _Deceleration_default_instance_; +class Ems; +class EmsDefaultTypeInternal; +extern EmsDefaultTypeInternal _Ems_default_instance_; +class Epb; +class EpbDefaultTypeInternal; +extern EpbDefaultTypeInternal _Epb_default_instance_; +class Eps; +class EpsDefaultTypeInternal; +extern EpsDefaultTypeInternal _Eps_default_instance_; +class Esp; +class EspDefaultTypeInternal; +extern EspDefaultTypeInternal _Esp_default_instance_; +class Gas; +class GasDefaultTypeInternal; +extern GasDefaultTypeInternal _Gas_default_instance_; +class Gear; +class GearDefaultTypeInternal; +extern GearDefaultTypeInternal _Gear_default_instance_; +class Light; +class LightDefaultTypeInternal; +extern LightDefaultTypeInternal _Light_default_instance_; +class Safety; +class SafetyDefaultTypeInternal; +extern SafetyDefaultTypeInternal _Safety_default_instance_; +class VehicleSpd; +class VehicleSpdDefaultTypeInternal; +extern VehicleSpdDefaultTypeInternal _VehicleSpd_default_instance_; +} // namespace canbus +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::canbus::BasicInfo* Arena::CreateMaybeMessage<::apollo::canbus::BasicInfo>(Arena*); +template<> ::apollo::canbus::Battery* Arena::CreateMaybeMessage<::apollo::canbus::Battery>(Arena*); +template<> ::apollo::canbus::Brake* Arena::CreateMaybeMessage<::apollo::canbus::Brake>(Arena*); +template<> ::apollo::canbus::ChassisDetail* Arena::CreateMaybeMessage<::apollo::canbus::ChassisDetail>(Arena*); +template<> ::apollo::canbus::CheckResponseSignal* Arena::CreateMaybeMessage<::apollo::canbus::CheckResponseSignal>(Arena*); +template<> ::apollo::canbus::Deceleration* Arena::CreateMaybeMessage<::apollo::canbus::Deceleration>(Arena*); +template<> ::apollo::canbus::Ems* Arena::CreateMaybeMessage<::apollo::canbus::Ems>(Arena*); +template<> ::apollo::canbus::Epb* Arena::CreateMaybeMessage<::apollo::canbus::Epb>(Arena*); +template<> ::apollo::canbus::Eps* Arena::CreateMaybeMessage<::apollo::canbus::Eps>(Arena*); +template<> ::apollo::canbus::Esp* Arena::CreateMaybeMessage<::apollo::canbus::Esp>(Arena*); +template<> ::apollo::canbus::Gas* Arena::CreateMaybeMessage<::apollo::canbus::Gas>(Arena*); +template<> ::apollo::canbus::Gear* Arena::CreateMaybeMessage<::apollo::canbus::Gear>(Arena*); +template<> ::apollo::canbus::Light* Arena::CreateMaybeMessage<::apollo::canbus::Light>(Arena*); +template<> ::apollo::canbus::Safety* Arena::CreateMaybeMessage<::apollo::canbus::Safety>(Arena*); +template<> ::apollo::canbus::VehicleSpd* Arena::CreateMaybeMessage<::apollo::canbus::VehicleSpd>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace canbus { + +enum ChassisDetail_Type { + ChassisDetail_Type_QIRUI_EQ_15 = 0, + ChassisDetail_Type_CHANGAN_RUICHENG = 1, + ChassisDetail_Type_ChassisDetail_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + ChassisDetail_Type_ChassisDetail_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool ChassisDetail_Type_IsValid(int value); +const ChassisDetail_Type ChassisDetail_Type_Type_MIN = ChassisDetail_Type_QIRUI_EQ_15; +const ChassisDetail_Type ChassisDetail_Type_Type_MAX = ChassisDetail_Type_CHANGAN_RUICHENG; +const int ChassisDetail_Type_Type_ARRAYSIZE = ChassisDetail_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* ChassisDetail_Type_descriptor(); +inline const ::std::string& ChassisDetail_Type_Name(ChassisDetail_Type value) { + return ::google::protobuf::internal::NameOfEnum( + ChassisDetail_Type_descriptor(), value); +} +inline bool ChassisDetail_Type_Parse( + const ::std::string& name, ChassisDetail_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + ChassisDetail_Type_descriptor(), name, value); +} +enum Light_TurnLightType { + Light_TurnLightType_TURN_LIGHT_OFF = 0, + Light_TurnLightType_TURN_LEFT_ON = 1, + Light_TurnLightType_TURN_RIGHT_ON = 2, + Light_TurnLightType_TURN_LIGHT_ON = 3, + Light_TurnLightType_Light_TurnLightType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Light_TurnLightType_Light_TurnLightType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Light_TurnLightType_IsValid(int value); +const Light_TurnLightType Light_TurnLightType_TurnLightType_MIN = Light_TurnLightType_TURN_LIGHT_OFF; +const Light_TurnLightType Light_TurnLightType_TurnLightType_MAX = Light_TurnLightType_TURN_LIGHT_ON; +const int Light_TurnLightType_TurnLightType_ARRAYSIZE = Light_TurnLightType_TurnLightType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Light_TurnLightType_descriptor(); +inline const ::std::string& Light_TurnLightType_Name(Light_TurnLightType value) { + return ::google::protobuf::internal::NameOfEnum( + Light_TurnLightType_descriptor(), value); +} +inline bool Light_TurnLightType_Parse( + const ::std::string& name, Light_TurnLightType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Light_TurnLightType_descriptor(), name, value); +} +enum Light_LampType { + Light_LampType_BEAM_OFF = 0, + Light_LampType_HIGH_BEAM_ON = 1, + Light_LampType_LOW_BEAM_ON = 2, + Light_LampType_Light_LampType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Light_LampType_Light_LampType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Light_LampType_IsValid(int value); +const Light_LampType Light_LampType_LampType_MIN = Light_LampType_BEAM_OFF; +const Light_LampType Light_LampType_LampType_MAX = Light_LampType_LOW_BEAM_ON; +const int Light_LampType_LampType_ARRAYSIZE = Light_LampType_LampType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Light_LampType_descriptor(); +inline const ::std::string& Light_LampType_Name(Light_LampType value) { + return ::google::protobuf::internal::NameOfEnum( + Light_LampType_descriptor(), value); +} +inline bool Light_LampType_Parse( + const ::std::string& name, Light_LampType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Light_LampType_descriptor(), name, value); +} +enum Light_LincolnLampType { + Light_LincolnLampType_BEAM_NULL = 0, + Light_LincolnLampType_BEAM_FLASH_TO_PASS = 1, + Light_LincolnLampType_BEAM_HIGH = 2, + Light_LincolnLampType_BEAM_INVALID = 3, + Light_LincolnLampType_Light_LincolnLampType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Light_LincolnLampType_Light_LincolnLampType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Light_LincolnLampType_IsValid(int value); +const Light_LincolnLampType Light_LincolnLampType_LincolnLampType_MIN = Light_LincolnLampType_BEAM_NULL; +const Light_LincolnLampType Light_LincolnLampType_LincolnLampType_MAX = Light_LincolnLampType_BEAM_INVALID; +const int Light_LincolnLampType_LincolnLampType_ARRAYSIZE = Light_LincolnLampType_LincolnLampType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Light_LincolnLampType_descriptor(); +inline const ::std::string& Light_LincolnLampType_Name(Light_LincolnLampType value) { + return ::google::protobuf::internal::NameOfEnum( + Light_LincolnLampType_descriptor(), value); +} +inline bool Light_LincolnLampType_Parse( + const ::std::string& name, Light_LincolnLampType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Light_LincolnLampType_descriptor(), name, value); +} +enum Light_LincolnWiperType { + Light_LincolnWiperType_WIPER_OFF = 0, + Light_LincolnWiperType_WIPER_AUTO_OFF = 1, + Light_LincolnWiperType_WIPER_OFF_MOVING = 2, + Light_LincolnWiperType_WIPER_MANUAL_OFF = 3, + Light_LincolnWiperType_WIPER_MANUAL_ON = 4, + Light_LincolnWiperType_WIPER_MANUAL_LOW = 5, + Light_LincolnWiperType_WIPER_MANUAL_HIGH = 6, + Light_LincolnWiperType_WIPER_MIST_FLICK = 7, + Light_LincolnWiperType_WIPER_WASH = 8, + Light_LincolnWiperType_WIPER_AUTO_LOW = 9, + Light_LincolnWiperType_WIPER_AUTO_HIGH = 10, + Light_LincolnWiperType_WIPER_COURTESY_WIPE = 11, + Light_LincolnWiperType_WIPER_AUTO_ADJUST = 12, + Light_LincolnWiperType_WIPER_RESERVED = 13, + Light_LincolnWiperType_WIPER_STALLED = 14, + Light_LincolnWiperType_WIPER_NO_DATA = 15, + Light_LincolnWiperType_Light_LincolnWiperType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Light_LincolnWiperType_Light_LincolnWiperType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Light_LincolnWiperType_IsValid(int value); +const Light_LincolnWiperType Light_LincolnWiperType_LincolnWiperType_MIN = Light_LincolnWiperType_WIPER_OFF; +const Light_LincolnWiperType Light_LincolnWiperType_LincolnWiperType_MAX = Light_LincolnWiperType_WIPER_NO_DATA; +const int Light_LincolnWiperType_LincolnWiperType_ARRAYSIZE = Light_LincolnWiperType_LincolnWiperType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Light_LincolnWiperType_descriptor(); +inline const ::std::string& Light_LincolnWiperType_Name(Light_LincolnWiperType value) { + return ::google::protobuf::internal::NameOfEnum( + Light_LincolnWiperType_descriptor(), value); +} +inline bool Light_LincolnWiperType_Parse( + const ::std::string& name, Light_LincolnWiperType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Light_LincolnWiperType_descriptor(), name, value); +} +enum Light_LincolnAmbientType { + Light_LincolnAmbientType_AMBIENT_DARK = 0, + Light_LincolnAmbientType_AMBIENT_LIGHT = 1, + Light_LincolnAmbientType_AMBIENT_TWILIGHT = 2, + Light_LincolnAmbientType_AMBIENT_TUNNEL_ON = 3, + Light_LincolnAmbientType_AMBIENT_TUNNEL_OFF = 4, + Light_LincolnAmbientType_AMBIENT_INVALID = 5, + Light_LincolnAmbientType_AMBIENT_NO_DATA = 7, + Light_LincolnAmbientType_Light_LincolnAmbientType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Light_LincolnAmbientType_Light_LincolnAmbientType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Light_LincolnAmbientType_IsValid(int value); +const Light_LincolnAmbientType Light_LincolnAmbientType_LincolnAmbientType_MIN = Light_LincolnAmbientType_AMBIENT_DARK; +const Light_LincolnAmbientType Light_LincolnAmbientType_LincolnAmbientType_MAX = Light_LincolnAmbientType_AMBIENT_NO_DATA; +const int Light_LincolnAmbientType_LincolnAmbientType_ARRAYSIZE = Light_LincolnAmbientType_LincolnAmbientType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Light_LincolnAmbientType_descriptor(); +inline const ::std::string& Light_LincolnAmbientType_Name(Light_LincolnAmbientType value) { + return ::google::protobuf::internal::NameOfEnum( + Light_LincolnAmbientType_descriptor(), value); +} +inline bool Light_LincolnAmbientType_Parse( + const ::std::string& name, Light_LincolnAmbientType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Light_LincolnAmbientType_descriptor(), name, value); +} +enum Eps_Type { + Eps_Type_NOT_AVAILABLE = 0, + Eps_Type_READY = 1, + Eps_Type_ACTIVE = 2, + Eps_Type_INVALID = 3, + Eps_Type_Eps_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Eps_Type_Eps_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Eps_Type_IsValid(int value); +const Eps_Type Eps_Type_Type_MIN = Eps_Type_NOT_AVAILABLE; +const Eps_Type Eps_Type_Type_MAX = Eps_Type_INVALID; +const int Eps_Type_Type_ARRAYSIZE = Eps_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Eps_Type_descriptor(); +inline const ::std::string& Eps_Type_Name(Eps_Type value) { + return ::google::protobuf::internal::NameOfEnum( + Eps_Type_descriptor(), value); +} +inline bool Eps_Type_Parse( + const ::std::string& name, Eps_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Eps_Type_descriptor(), name, value); +} +enum VehicleSpd_Type { + VehicleSpd_Type_FORWARD = 0, + VehicleSpd_Type_BACKWARD = 1, + VehicleSpd_Type_STANDSTILL = 2, + VehicleSpd_Type_INVALID = 3, + VehicleSpd_Type_VehicleSpd_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + VehicleSpd_Type_VehicleSpd_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool VehicleSpd_Type_IsValid(int value); +const VehicleSpd_Type VehicleSpd_Type_Type_MIN = VehicleSpd_Type_FORWARD; +const VehicleSpd_Type VehicleSpd_Type_Type_MAX = VehicleSpd_Type_INVALID; +const int VehicleSpd_Type_Type_ARRAYSIZE = VehicleSpd_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* VehicleSpd_Type_descriptor(); +inline const ::std::string& VehicleSpd_Type_Name(VehicleSpd_Type value) { + return ::google::protobuf::internal::NameOfEnum( + VehicleSpd_Type_descriptor(), value); +} +inline bool VehicleSpd_Type_Parse( + const ::std::string& name, VehicleSpd_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + VehicleSpd_Type_descriptor(), name, value); +} +enum Brake_HSAStatusType { + Brake_HSAStatusType_HSA_INACTIVE = 0, + Brake_HSAStatusType_HSA_FINDING_GRADIENT = 1, + Brake_HSAStatusType_HSA_ACTIVE_PRESSED = 2, + Brake_HSAStatusType_HSA_ACTIVE_RELEASED = 3, + Brake_HSAStatusType_HSA_FAST_RELEASE = 4, + Brake_HSAStatusType_HSA_SLOW_RELEASE = 5, + Brake_HSAStatusType_HSA_FAILED = 6, + Brake_HSAStatusType_HSA_UNDEFINED = 7, + Brake_HSAStatusType_Brake_HSAStatusType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Brake_HSAStatusType_Brake_HSAStatusType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Brake_HSAStatusType_IsValid(int value); +const Brake_HSAStatusType Brake_HSAStatusType_HSAStatusType_MIN = Brake_HSAStatusType_HSA_INACTIVE; +const Brake_HSAStatusType Brake_HSAStatusType_HSAStatusType_MAX = Brake_HSAStatusType_HSA_UNDEFINED; +const int Brake_HSAStatusType_HSAStatusType_ARRAYSIZE = Brake_HSAStatusType_HSAStatusType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Brake_HSAStatusType_descriptor(); +inline const ::std::string& Brake_HSAStatusType_Name(Brake_HSAStatusType value) { + return ::google::protobuf::internal::NameOfEnum( + Brake_HSAStatusType_descriptor(), value); +} +inline bool Brake_HSAStatusType_Parse( + const ::std::string& name, Brake_HSAStatusType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Brake_HSAStatusType_descriptor(), name, value); +} +enum Brake_HSAModeType { + Brake_HSAModeType_HSA_OFF = 0, + Brake_HSAModeType_HSA_AUTO = 1, + Brake_HSAModeType_HSA_MANUAL = 2, + Brake_HSAModeType_HSA_MODE_UNDEFINED = 3, + Brake_HSAModeType_Brake_HSAModeType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Brake_HSAModeType_Brake_HSAModeType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Brake_HSAModeType_IsValid(int value); +const Brake_HSAModeType Brake_HSAModeType_HSAModeType_MIN = Brake_HSAModeType_HSA_OFF; +const Brake_HSAModeType Brake_HSAModeType_HSAModeType_MAX = Brake_HSAModeType_HSA_MODE_UNDEFINED; +const int Brake_HSAModeType_HSAModeType_ARRAYSIZE = Brake_HSAModeType_HSAModeType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Brake_HSAModeType_descriptor(); +inline const ::std::string& Brake_HSAModeType_Name(Brake_HSAModeType value) { + return ::google::protobuf::internal::NameOfEnum( + Brake_HSAModeType_descriptor(), value); +} +inline bool Brake_HSAModeType_Parse( + const ::std::string& name, Brake_HSAModeType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Brake_HSAModeType_descriptor(), name, value); +} +enum Epb_PBrakeType { + Epb_PBrakeType_PBRAKE_OFF = 0, + Epb_PBrakeType_PBRAKE_TRANSITION = 1, + Epb_PBrakeType_PBRAKE_ON = 2, + Epb_PBrakeType_PBRAKE_FAULT = 3, + Epb_PBrakeType_Epb_PBrakeType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Epb_PBrakeType_Epb_PBrakeType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Epb_PBrakeType_IsValid(int value); +const Epb_PBrakeType Epb_PBrakeType_PBrakeType_MIN = Epb_PBrakeType_PBRAKE_OFF; +const Epb_PBrakeType Epb_PBrakeType_PBrakeType_MAX = Epb_PBrakeType_PBRAKE_FAULT; +const int Epb_PBrakeType_PBrakeType_ARRAYSIZE = Epb_PBrakeType_PBrakeType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Epb_PBrakeType_descriptor(); +inline const ::std::string& Epb_PBrakeType_Name(Epb_PBrakeType value) { + return ::google::protobuf::internal::NameOfEnum( + Epb_PBrakeType_descriptor(), value); +} +inline bool Epb_PBrakeType_Parse( + const ::std::string& name, Epb_PBrakeType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Epb_PBrakeType_descriptor(), name, value); +} +enum Ems_Type { + Ems_Type_STOP = 0, + Ems_Type_CRANK = 1, + Ems_Type_RUNNING = 2, + Ems_Type_INVALID = 3, + Ems_Type_Ems_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Ems_Type_Ems_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Ems_Type_IsValid(int value); +const Ems_Type Ems_Type_Type_MIN = Ems_Type_STOP; +const Ems_Type Ems_Type_Type_MAX = Ems_Type_INVALID; +const int Ems_Type_Type_ARRAYSIZE = Ems_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Ems_Type_descriptor(); +inline const ::std::string& Ems_Type_Name(Ems_Type value) { + return ::google::protobuf::internal::NameOfEnum( + Ems_Type_descriptor(), value); +} +inline bool Ems_Type_Parse( + const ::std::string& name, Ems_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Ems_Type_descriptor(), name, value); +} +enum BasicInfo_Type { + BasicInfo_Type_OFF = 0, + BasicInfo_Type_ACC = 1, + BasicInfo_Type_ON = 2, + BasicInfo_Type_START = 3, + BasicInfo_Type_INVALID = 4, + BasicInfo_Type_BasicInfo_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + BasicInfo_Type_BasicInfo_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool BasicInfo_Type_IsValid(int value); +const BasicInfo_Type BasicInfo_Type_Type_MIN = BasicInfo_Type_OFF; +const BasicInfo_Type BasicInfo_Type_Type_MAX = BasicInfo_Type_INVALID; +const int BasicInfo_Type_Type_ARRAYSIZE = BasicInfo_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* BasicInfo_Type_descriptor(); +inline const ::std::string& BasicInfo_Type_Name(BasicInfo_Type value) { + return ::google::protobuf::internal::NameOfEnum( + BasicInfo_Type_descriptor(), value); +} +inline bool BasicInfo_Type_Parse( + const ::std::string& name, BasicInfo_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + BasicInfo_Type_descriptor(), name, value); +} +enum BasicInfo_GpsQuality { + BasicInfo_GpsQuality_FIX_NO = 0, + BasicInfo_GpsQuality_FIX_2D = 1, + BasicInfo_GpsQuality_FIX_3D = 2, + BasicInfo_GpsQuality_FIX_INVALID = 3, + BasicInfo_GpsQuality_BasicInfo_GpsQuality_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + BasicInfo_GpsQuality_BasicInfo_GpsQuality_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool BasicInfo_GpsQuality_IsValid(int value); +const BasicInfo_GpsQuality BasicInfo_GpsQuality_GpsQuality_MIN = BasicInfo_GpsQuality_FIX_NO; +const BasicInfo_GpsQuality BasicInfo_GpsQuality_GpsQuality_MAX = BasicInfo_GpsQuality_FIX_INVALID; +const int BasicInfo_GpsQuality_GpsQuality_ARRAYSIZE = BasicInfo_GpsQuality_GpsQuality_MAX + 1; + +const ::google::protobuf::EnumDescriptor* BasicInfo_GpsQuality_descriptor(); +inline const ::std::string& BasicInfo_GpsQuality_Name(BasicInfo_GpsQuality value) { + return ::google::protobuf::internal::NameOfEnum( + BasicInfo_GpsQuality_descriptor(), value); +} +inline bool BasicInfo_GpsQuality_Parse( + const ::std::string& name, BasicInfo_GpsQuality* value) { + return ::google::protobuf::internal::ParseNamedEnum( + BasicInfo_GpsQuality_descriptor(), name, value); +} +// =================================================================== + +class ChassisDetail : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.ChassisDetail) */ { + public: + ChassisDetail(); + virtual ~ChassisDetail(); + + ChassisDetail(const ChassisDetail& from); + + inline ChassisDetail& operator=(const ChassisDetail& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ChassisDetail(ChassisDetail&& from) noexcept + : ChassisDetail() { + *this = ::std::move(from); + } + + inline ChassisDetail& operator=(ChassisDetail&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ChassisDetail& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ChassisDetail* internal_default_instance() { + return reinterpret_cast( + &_ChassisDetail_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(ChassisDetail* other); + friend void swap(ChassisDetail& a, ChassisDetail& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ChassisDetail* New() const final { + return CreateMaybeMessage(NULL); + } + + ChassisDetail* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ChassisDetail& from); + void MergeFrom(const ChassisDetail& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ChassisDetail* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef ChassisDetail_Type Type; + static const Type QIRUI_EQ_15 = + ChassisDetail_Type_QIRUI_EQ_15; + static const Type CHANGAN_RUICHENG = + ChassisDetail_Type_CHANGAN_RUICHENG; + static inline bool Type_IsValid(int value) { + return ChassisDetail_Type_IsValid(value); + } + static const Type Type_MIN = + ChassisDetail_Type_Type_MIN; + static const Type Type_MAX = + ChassisDetail_Type_Type_MAX; + static const int Type_ARRAYSIZE = + ChassisDetail_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return ChassisDetail_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return ChassisDetail_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return ChassisDetail_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.canbus.BasicInfo basic = 2; + bool has_basic() const; + void clear_basic(); + static const int kBasicFieldNumber = 2; + private: + const ::apollo::canbus::BasicInfo& _internal_basic() const; + public: + const ::apollo::canbus::BasicInfo& basic() const; + ::apollo::canbus::BasicInfo* release_basic(); + ::apollo::canbus::BasicInfo* mutable_basic(); + void set_allocated_basic(::apollo::canbus::BasicInfo* basic); + + // .apollo.canbus.Safety safety = 3; + bool has_safety() const; + void clear_safety(); + static const int kSafetyFieldNumber = 3; + private: + const ::apollo::canbus::Safety& _internal_safety() const; + public: + const ::apollo::canbus::Safety& safety() const; + ::apollo::canbus::Safety* release_safety(); + ::apollo::canbus::Safety* mutable_safety(); + void set_allocated_safety(::apollo::canbus::Safety* safety); + + // .apollo.canbus.Gear gear = 4; + bool has_gear() const; + void clear_gear(); + static const int kGearFieldNumber = 4; + private: + const ::apollo::canbus::Gear& _internal_gear() const; + public: + const ::apollo::canbus::Gear& gear() const; + ::apollo::canbus::Gear* release_gear(); + ::apollo::canbus::Gear* mutable_gear(); + void set_allocated_gear(::apollo::canbus::Gear* gear); + + // .apollo.canbus.Ems ems = 5; + bool has_ems() const; + void clear_ems(); + static const int kEmsFieldNumber = 5; + private: + const ::apollo::canbus::Ems& _internal_ems() const; + public: + const ::apollo::canbus::Ems& ems() const; + ::apollo::canbus::Ems* release_ems(); + ::apollo::canbus::Ems* mutable_ems(); + void set_allocated_ems(::apollo::canbus::Ems* ems); + + // .apollo.canbus.Esp esp = 6; + bool has_esp() const; + void clear_esp(); + static const int kEspFieldNumber = 6; + private: + const ::apollo::canbus::Esp& _internal_esp() const; + public: + const ::apollo::canbus::Esp& esp() const; + ::apollo::canbus::Esp* release_esp(); + ::apollo::canbus::Esp* mutable_esp(); + void set_allocated_esp(::apollo::canbus::Esp* esp); + + // .apollo.canbus.Gas gas = 7; + bool has_gas() const; + void clear_gas(); + static const int kGasFieldNumber = 7; + private: + const ::apollo::canbus::Gas& _internal_gas() const; + public: + const ::apollo::canbus::Gas& gas() const; + ::apollo::canbus::Gas* release_gas(); + ::apollo::canbus::Gas* mutable_gas(); + void set_allocated_gas(::apollo::canbus::Gas* gas); + + // .apollo.canbus.Epb epb = 8; + bool has_epb() const; + void clear_epb(); + static const int kEpbFieldNumber = 8; + private: + const ::apollo::canbus::Epb& _internal_epb() const; + public: + const ::apollo::canbus::Epb& epb() const; + ::apollo::canbus::Epb* release_epb(); + ::apollo::canbus::Epb* mutable_epb(); + void set_allocated_epb(::apollo::canbus::Epb* epb); + + // .apollo.canbus.Brake brake = 9; + bool has_brake() const; + void clear_brake(); + static const int kBrakeFieldNumber = 9; + private: + const ::apollo::canbus::Brake& _internal_brake() const; + public: + const ::apollo::canbus::Brake& brake() const; + ::apollo::canbus::Brake* release_brake(); + ::apollo::canbus::Brake* mutable_brake(); + void set_allocated_brake(::apollo::canbus::Brake* brake); + + // .apollo.canbus.Deceleration deceleration = 10; + bool has_deceleration() const; + void clear_deceleration(); + static const int kDecelerationFieldNumber = 10; + private: + const ::apollo::canbus::Deceleration& _internal_deceleration() const; + public: + const ::apollo::canbus::Deceleration& deceleration() const; + ::apollo::canbus::Deceleration* release_deceleration(); + ::apollo::canbus::Deceleration* mutable_deceleration(); + void set_allocated_deceleration(::apollo::canbus::Deceleration* deceleration); + + // .apollo.canbus.VehicleSpd vehicle_spd = 11; + bool has_vehicle_spd() const; + void clear_vehicle_spd(); + static const int kVehicleSpdFieldNumber = 11; + private: + const ::apollo::canbus::VehicleSpd& _internal_vehicle_spd() const; + public: + const ::apollo::canbus::VehicleSpd& vehicle_spd() const; + ::apollo::canbus::VehicleSpd* release_vehicle_spd(); + ::apollo::canbus::VehicleSpd* mutable_vehicle_spd(); + void set_allocated_vehicle_spd(::apollo::canbus::VehicleSpd* vehicle_spd); + + // .apollo.canbus.Eps eps = 12; + bool has_eps() const; + void clear_eps(); + static const int kEpsFieldNumber = 12; + private: + const ::apollo::canbus::Eps& _internal_eps() const; + public: + const ::apollo::canbus::Eps& eps() const; + ::apollo::canbus::Eps* release_eps(); + ::apollo::canbus::Eps* mutable_eps(); + void set_allocated_eps(::apollo::canbus::Eps* eps); + + // .apollo.canbus.Light light = 13; + bool has_light() const; + void clear_light(); + static const int kLightFieldNumber = 13; + private: + const ::apollo::canbus::Light& _internal_light() const; + public: + const ::apollo::canbus::Light& light() const; + ::apollo::canbus::Light* release_light(); + ::apollo::canbus::Light* mutable_light(); + void set_allocated_light(::apollo::canbus::Light* light); + + // .apollo.canbus.Battery battery = 14; + bool has_battery() const; + void clear_battery(); + static const int kBatteryFieldNumber = 14; + private: + const ::apollo::canbus::Battery& _internal_battery() const; + public: + const ::apollo::canbus::Battery& battery() const; + ::apollo::canbus::Battery* release_battery(); + ::apollo::canbus::Battery* mutable_battery(); + void set_allocated_battery(::apollo::canbus::Battery* battery); + + // .apollo.canbus.CheckResponseSignal check_response = 15; + bool has_check_response() const; + void clear_check_response(); + static const int kCheckResponseFieldNumber = 15; + private: + const ::apollo::canbus::CheckResponseSignal& _internal_check_response() const; + public: + const ::apollo::canbus::CheckResponseSignal& check_response() const; + ::apollo::canbus::CheckResponseSignal* release_check_response(); + ::apollo::canbus::CheckResponseSignal* mutable_check_response(); + void set_allocated_check_response(::apollo::canbus::CheckResponseSignal* check_response); + + // .apollo.canbus.ChassisDetail.Type car_type = 1; + void clear_car_type(); + static const int kCarTypeFieldNumber = 1; + ::apollo::canbus::ChassisDetail_Type car_type() const; + void set_car_type(::apollo::canbus::ChassisDetail_Type value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.ChassisDetail) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::canbus::BasicInfo* basic_; + ::apollo::canbus::Safety* safety_; + ::apollo::canbus::Gear* gear_; + ::apollo::canbus::Ems* ems_; + ::apollo::canbus::Esp* esp_; + ::apollo::canbus::Gas* gas_; + ::apollo::canbus::Epb* epb_; + ::apollo::canbus::Brake* brake_; + ::apollo::canbus::Deceleration* deceleration_; + ::apollo::canbus::VehicleSpd* vehicle_spd_; + ::apollo::canbus::Eps* eps_; + ::apollo::canbus::Light* light_; + ::apollo::canbus::Battery* battery_; + ::apollo::canbus::CheckResponseSignal* check_response_; + int car_type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class CheckResponseSignal : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.CheckResponseSignal) */ { + public: + CheckResponseSignal(); + virtual ~CheckResponseSignal(); + + CheckResponseSignal(const CheckResponseSignal& from); + + inline CheckResponseSignal& operator=(const CheckResponseSignal& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + CheckResponseSignal(CheckResponseSignal&& from) noexcept + : CheckResponseSignal() { + *this = ::std::move(from); + } + + inline CheckResponseSignal& operator=(CheckResponseSignal&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const CheckResponseSignal& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const CheckResponseSignal* internal_default_instance() { + return reinterpret_cast( + &_CheckResponseSignal_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(CheckResponseSignal* other); + friend void swap(CheckResponseSignal& a, CheckResponseSignal& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline CheckResponseSignal* New() const final { + return CreateMaybeMessage(NULL); + } + + CheckResponseSignal* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const CheckResponseSignal& from); + void MergeFrom(const CheckResponseSignal& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(CheckResponseSignal* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // bool is_eps_online = 1; + void clear_is_eps_online(); + static const int kIsEpsOnlineFieldNumber = 1; + bool is_eps_online() const; + void set_is_eps_online(bool value); + + // bool is_epb_online = 2; + void clear_is_epb_online(); + static const int kIsEpbOnlineFieldNumber = 2; + bool is_epb_online() const; + void set_is_epb_online(bool value); + + // bool is_esp_online = 3; + void clear_is_esp_online(); + static const int kIsEspOnlineFieldNumber = 3; + bool is_esp_online() const; + void set_is_esp_online(bool value); + + // bool is_vtog_online = 4; + void clear_is_vtog_online(); + static const int kIsVtogOnlineFieldNumber = 4; + bool is_vtog_online() const; + void set_is_vtog_online(bool value); + + // bool is_scu_online = 5; + void clear_is_scu_online(); + static const int kIsScuOnlineFieldNumber = 5; + bool is_scu_online() const; + void set_is_scu_online(bool value); + + // bool is_switch_online = 6; + void clear_is_switch_online(); + static const int kIsSwitchOnlineFieldNumber = 6; + bool is_switch_online() const; + void set_is_switch_online(bool value); + + // bool is_vcu_online = 7; + void clear_is_vcu_online(); + static const int kIsVcuOnlineFieldNumber = 7; + bool is_vcu_online() const; + void set_is_vcu_online(bool value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.CheckResponseSignal) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + bool is_eps_online_; + bool is_epb_online_; + bool is_esp_online_; + bool is_vtog_online_; + bool is_scu_online_; + bool is_switch_online_; + bool is_vcu_online_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Battery : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Battery) */ { + public: + Battery(); + virtual ~Battery(); + + Battery(const Battery& from); + + inline Battery& operator=(const Battery& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Battery(Battery&& from) noexcept + : Battery() { + *this = ::std::move(from); + } + + inline Battery& operator=(Battery&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Battery& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Battery* internal_default_instance() { + return reinterpret_cast( + &_Battery_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(Battery* other); + friend void swap(Battery& a, Battery& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Battery* New() const final { + return CreateMaybeMessage(NULL); + } + + Battery* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Battery& from); + void MergeFrom(const Battery& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Battery* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double battery_percent = 1; + void clear_battery_percent(); + static const int kBatteryPercentFieldNumber = 1; + double battery_percent() const; + void set_battery_percent(double value); + + // double fuel_level = 2; + void clear_fuel_level(); + static const int kFuelLevelFieldNumber = 2; + double fuel_level() const; + void set_fuel_level(double value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Battery) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double battery_percent_; + double fuel_level_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Light : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Light) */ { + public: + Light(); + virtual ~Light(); + + Light(const Light& from); + + inline Light& operator=(const Light& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Light(Light&& from) noexcept + : Light() { + *this = ::std::move(from); + } + + inline Light& operator=(Light&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Light& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Light* internal_default_instance() { + return reinterpret_cast( + &_Light_default_instance_); + } + static constexpr int kIndexInFileMessages = + 3; + + void Swap(Light* other); + friend void swap(Light& a, Light& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Light* New() const final { + return CreateMaybeMessage(NULL); + } + + Light* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Light& from); + void MergeFrom(const Light& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Light* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef Light_TurnLightType TurnLightType; + static const TurnLightType TURN_LIGHT_OFF = + Light_TurnLightType_TURN_LIGHT_OFF; + static const TurnLightType TURN_LEFT_ON = + Light_TurnLightType_TURN_LEFT_ON; + static const TurnLightType TURN_RIGHT_ON = + Light_TurnLightType_TURN_RIGHT_ON; + static const TurnLightType TURN_LIGHT_ON = + Light_TurnLightType_TURN_LIGHT_ON; + static inline bool TurnLightType_IsValid(int value) { + return Light_TurnLightType_IsValid(value); + } + static const TurnLightType TurnLightType_MIN = + Light_TurnLightType_TurnLightType_MIN; + static const TurnLightType TurnLightType_MAX = + Light_TurnLightType_TurnLightType_MAX; + static const int TurnLightType_ARRAYSIZE = + Light_TurnLightType_TurnLightType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + TurnLightType_descriptor() { + return Light_TurnLightType_descriptor(); + } + static inline const ::std::string& TurnLightType_Name(TurnLightType value) { + return Light_TurnLightType_Name(value); + } + static inline bool TurnLightType_Parse(const ::std::string& name, + TurnLightType* value) { + return Light_TurnLightType_Parse(name, value); + } + + typedef Light_LampType LampType; + static const LampType BEAM_OFF = + Light_LampType_BEAM_OFF; + static const LampType HIGH_BEAM_ON = + Light_LampType_HIGH_BEAM_ON; + static const LampType LOW_BEAM_ON = + Light_LampType_LOW_BEAM_ON; + static inline bool LampType_IsValid(int value) { + return Light_LampType_IsValid(value); + } + static const LampType LampType_MIN = + Light_LampType_LampType_MIN; + static const LampType LampType_MAX = + Light_LampType_LampType_MAX; + static const int LampType_ARRAYSIZE = + Light_LampType_LampType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + LampType_descriptor() { + return Light_LampType_descriptor(); + } + static inline const ::std::string& LampType_Name(LampType value) { + return Light_LampType_Name(value); + } + static inline bool LampType_Parse(const ::std::string& name, + LampType* value) { + return Light_LampType_Parse(name, value); + } + + typedef Light_LincolnLampType LincolnLampType; + static const LincolnLampType BEAM_NULL = + Light_LincolnLampType_BEAM_NULL; + static const LincolnLampType BEAM_FLASH_TO_PASS = + Light_LincolnLampType_BEAM_FLASH_TO_PASS; + static const LincolnLampType BEAM_HIGH = + Light_LincolnLampType_BEAM_HIGH; + static const LincolnLampType BEAM_INVALID = + Light_LincolnLampType_BEAM_INVALID; + static inline bool LincolnLampType_IsValid(int value) { + return Light_LincolnLampType_IsValid(value); + } + static const LincolnLampType LincolnLampType_MIN = + Light_LincolnLampType_LincolnLampType_MIN; + static const LincolnLampType LincolnLampType_MAX = + Light_LincolnLampType_LincolnLampType_MAX; + static const int LincolnLampType_ARRAYSIZE = + Light_LincolnLampType_LincolnLampType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + LincolnLampType_descriptor() { + return Light_LincolnLampType_descriptor(); + } + static inline const ::std::string& LincolnLampType_Name(LincolnLampType value) { + return Light_LincolnLampType_Name(value); + } + static inline bool LincolnLampType_Parse(const ::std::string& name, + LincolnLampType* value) { + return Light_LincolnLampType_Parse(name, value); + } + + typedef Light_LincolnWiperType LincolnWiperType; + static const LincolnWiperType WIPER_OFF = + Light_LincolnWiperType_WIPER_OFF; + static const LincolnWiperType WIPER_AUTO_OFF = + Light_LincolnWiperType_WIPER_AUTO_OFF; + static const LincolnWiperType WIPER_OFF_MOVING = + Light_LincolnWiperType_WIPER_OFF_MOVING; + static const LincolnWiperType WIPER_MANUAL_OFF = + Light_LincolnWiperType_WIPER_MANUAL_OFF; + static const LincolnWiperType WIPER_MANUAL_ON = + Light_LincolnWiperType_WIPER_MANUAL_ON; + static const LincolnWiperType WIPER_MANUAL_LOW = + Light_LincolnWiperType_WIPER_MANUAL_LOW; + static const LincolnWiperType WIPER_MANUAL_HIGH = + Light_LincolnWiperType_WIPER_MANUAL_HIGH; + static const LincolnWiperType WIPER_MIST_FLICK = + Light_LincolnWiperType_WIPER_MIST_FLICK; + static const LincolnWiperType WIPER_WASH = + Light_LincolnWiperType_WIPER_WASH; + static const LincolnWiperType WIPER_AUTO_LOW = + Light_LincolnWiperType_WIPER_AUTO_LOW; + static const LincolnWiperType WIPER_AUTO_HIGH = + Light_LincolnWiperType_WIPER_AUTO_HIGH; + static const LincolnWiperType WIPER_COURTESY_WIPE = + Light_LincolnWiperType_WIPER_COURTESY_WIPE; + static const LincolnWiperType WIPER_AUTO_ADJUST = + Light_LincolnWiperType_WIPER_AUTO_ADJUST; + static const LincolnWiperType WIPER_RESERVED = + Light_LincolnWiperType_WIPER_RESERVED; + static const LincolnWiperType WIPER_STALLED = + Light_LincolnWiperType_WIPER_STALLED; + static const LincolnWiperType WIPER_NO_DATA = + Light_LincolnWiperType_WIPER_NO_DATA; + static inline bool LincolnWiperType_IsValid(int value) { + return Light_LincolnWiperType_IsValid(value); + } + static const LincolnWiperType LincolnWiperType_MIN = + Light_LincolnWiperType_LincolnWiperType_MIN; + static const LincolnWiperType LincolnWiperType_MAX = + Light_LincolnWiperType_LincolnWiperType_MAX; + static const int LincolnWiperType_ARRAYSIZE = + Light_LincolnWiperType_LincolnWiperType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + LincolnWiperType_descriptor() { + return Light_LincolnWiperType_descriptor(); + } + static inline const ::std::string& LincolnWiperType_Name(LincolnWiperType value) { + return Light_LincolnWiperType_Name(value); + } + static inline bool LincolnWiperType_Parse(const ::std::string& name, + LincolnWiperType* value) { + return Light_LincolnWiperType_Parse(name, value); + } + + typedef Light_LincolnAmbientType LincolnAmbientType; + static const LincolnAmbientType AMBIENT_DARK = + Light_LincolnAmbientType_AMBIENT_DARK; + static const LincolnAmbientType AMBIENT_LIGHT = + Light_LincolnAmbientType_AMBIENT_LIGHT; + static const LincolnAmbientType AMBIENT_TWILIGHT = + Light_LincolnAmbientType_AMBIENT_TWILIGHT; + static const LincolnAmbientType AMBIENT_TUNNEL_ON = + Light_LincolnAmbientType_AMBIENT_TUNNEL_ON; + static const LincolnAmbientType AMBIENT_TUNNEL_OFF = + Light_LincolnAmbientType_AMBIENT_TUNNEL_OFF; + static const LincolnAmbientType AMBIENT_INVALID = + Light_LincolnAmbientType_AMBIENT_INVALID; + static const LincolnAmbientType AMBIENT_NO_DATA = + Light_LincolnAmbientType_AMBIENT_NO_DATA; + static inline bool LincolnAmbientType_IsValid(int value) { + return Light_LincolnAmbientType_IsValid(value); + } + static const LincolnAmbientType LincolnAmbientType_MIN = + Light_LincolnAmbientType_LincolnAmbientType_MIN; + static const LincolnAmbientType LincolnAmbientType_MAX = + Light_LincolnAmbientType_LincolnAmbientType_MAX; + static const int LincolnAmbientType_ARRAYSIZE = + Light_LincolnAmbientType_LincolnAmbientType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + LincolnAmbientType_descriptor() { + return Light_LincolnAmbientType_descriptor(); + } + static inline const ::std::string& LincolnAmbientType_Name(LincolnAmbientType value) { + return Light_LincolnAmbientType_Name(value); + } + static inline bool LincolnAmbientType_Parse(const ::std::string& name, + LincolnAmbientType* value) { + return Light_LincolnAmbientType_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.canbus.Light.TurnLightType turn_light_type = 1; + void clear_turn_light_type(); + static const int kTurnLightTypeFieldNumber = 1; + ::apollo::canbus::Light_TurnLightType turn_light_type() const; + void set_turn_light_type(::apollo::canbus::Light_TurnLightType value); + + // .apollo.canbus.Light.LampType lamp_type = 2; + void clear_lamp_type(); + static const int kLampTypeFieldNumber = 2; + ::apollo::canbus::Light_LampType lamp_type() const; + void set_lamp_type(::apollo::canbus::Light_LampType value); + + // bool is_brake_lamp_on = 3; + void clear_is_brake_lamp_on(); + static const int kIsBrakeLampOnFieldNumber = 3; + bool is_brake_lamp_on() const; + void set_is_brake_lamp_on(bool value); + + // bool is_auto_light = 4; + void clear_is_auto_light(); + static const int kIsAutoLightFieldNumber = 4; + bool is_auto_light() const; + void set_is_auto_light(bool value); + + // bool is_horn_on = 7; + void clear_is_horn_on(); + static const int kIsHornOnFieldNumber = 7; + bool is_horn_on() const; + void set_is_horn_on(bool value); + + // int32 wiper_gear = 5; + void clear_wiper_gear(); + static const int kWiperGearFieldNumber = 5; + ::google::protobuf::int32 wiper_gear() const; + void set_wiper_gear(::google::protobuf::int32 value); + + // int32 lotion_gear = 6; + void clear_lotion_gear(); + static const int kLotionGearFieldNumber = 6; + ::google::protobuf::int32 lotion_gear() const; + void set_lotion_gear(::google::protobuf::int32 value); + + // .apollo.canbus.Light.LincolnLampType lincoln_lamp_type = 8; + void clear_lincoln_lamp_type(); + static const int kLincolnLampTypeFieldNumber = 8; + ::apollo::canbus::Light_LincolnLampType lincoln_lamp_type() const; + void set_lincoln_lamp_type(::apollo::canbus::Light_LincolnLampType value); + + // .apollo.canbus.Light.LincolnWiperType lincoln_wiper = 9; + void clear_lincoln_wiper(); + static const int kLincolnWiperFieldNumber = 9; + ::apollo::canbus::Light_LincolnWiperType lincoln_wiper() const; + void set_lincoln_wiper(::apollo::canbus::Light_LincolnWiperType value); + + // .apollo.canbus.Light.LincolnAmbientType lincoln_ambient = 10; + void clear_lincoln_ambient(); + static const int kLincolnAmbientFieldNumber = 10; + ::apollo::canbus::Light_LincolnAmbientType lincoln_ambient() const; + void set_lincoln_ambient(::apollo::canbus::Light_LincolnAmbientType value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Light) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + int turn_light_type_; + int lamp_type_; + bool is_brake_lamp_on_; + bool is_auto_light_; + bool is_horn_on_; + ::google::protobuf::int32 wiper_gear_; + ::google::protobuf::int32 lotion_gear_; + int lincoln_lamp_type_; + int lincoln_wiper_; + int lincoln_ambient_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Eps : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Eps) */ { + public: + Eps(); + virtual ~Eps(); + + Eps(const Eps& from); + + inline Eps& operator=(const Eps& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Eps(Eps&& from) noexcept + : Eps() { + *this = ::std::move(from); + } + + inline Eps& operator=(Eps&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Eps& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Eps* internal_default_instance() { + return reinterpret_cast( + &_Eps_default_instance_); + } + static constexpr int kIndexInFileMessages = + 4; + + void Swap(Eps* other); + friend void swap(Eps& a, Eps& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Eps* New() const final { + return CreateMaybeMessage(NULL); + } + + Eps* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Eps& from); + void MergeFrom(const Eps& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Eps* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef Eps_Type Type; + static const Type NOT_AVAILABLE = + Eps_Type_NOT_AVAILABLE; + static const Type READY = + Eps_Type_READY; + static const Type ACTIVE = + Eps_Type_ACTIVE; + static const Type INVALID = + Eps_Type_INVALID; + static inline bool Type_IsValid(int value) { + return Eps_Type_IsValid(value); + } + static const Type Type_MIN = + Eps_Type_Type_MIN; + static const Type Type_MAX = + Eps_Type_Type_MAX; + static const int Type_ARRAYSIZE = + Eps_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return Eps_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return Eps_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return Eps_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // double eps_driver_hand_torq = 3; + void clear_eps_driver_hand_torq(); + static const int kEpsDriverHandTorqFieldNumber = 3; + double eps_driver_hand_torq() const; + void set_eps_driver_hand_torq(double value); + + // .apollo.canbus.Eps.Type eps_control_state = 2; + void clear_eps_control_state(); + static const int kEpsControlStateFieldNumber = 2; + ::apollo::canbus::Eps_Type eps_control_state() const; + void set_eps_control_state(::apollo::canbus::Eps_Type value); + + // bool is_eps_fail = 1; + void clear_is_eps_fail(); + static const int kIsEpsFailFieldNumber = 1; + bool is_eps_fail() const; + void set_is_eps_fail(bool value); + + // bool is_steering_angle_valid = 4; + void clear_is_steering_angle_valid(); + static const int kIsSteeringAngleValidFieldNumber = 4; + bool is_steering_angle_valid() const; + void set_is_steering_angle_valid(bool value); + + // bool is_trimming_status = 7; + void clear_is_trimming_status(); + static const int kIsTrimmingStatusFieldNumber = 7; + bool is_trimming_status() const; + void set_is_trimming_status(bool value); + + // bool is_calibration_status = 8; + void clear_is_calibration_status(); + static const int kIsCalibrationStatusFieldNumber = 8; + bool is_calibration_status() const; + void set_is_calibration_status(bool value); + + // double steering_angle = 5; + void clear_steering_angle(); + static const int kSteeringAngleFieldNumber = 5; + double steering_angle() const; + void set_steering_angle(double value); + + // double steering_angle_spd = 6; + void clear_steering_angle_spd(); + static const int kSteeringAngleSpdFieldNumber = 6; + double steering_angle_spd() const; + void set_steering_angle_spd(double value); + + // int32 allow_enter_autonomous_mode = 10; + void clear_allow_enter_autonomous_mode(); + static const int kAllowEnterAutonomousModeFieldNumber = 10; + ::google::protobuf::int32 allow_enter_autonomous_mode() const; + void set_allow_enter_autonomous_mode(::google::protobuf::int32 value); + + // int32 current_driving_mode = 11; + void clear_current_driving_mode(); + static const int kCurrentDrivingModeFieldNumber = 11; + ::google::protobuf::int32 current_driving_mode() const; + void set_current_driving_mode(::google::protobuf::int32 value); + + // double steering_angle_cmd = 12; + void clear_steering_angle_cmd(); + static const int kSteeringAngleCmdFieldNumber = 12; + double steering_angle_cmd() const; + void set_steering_angle_cmd(double value); + + // double vehicle_speed = 13; + void clear_vehicle_speed(); + static const int kVehicleSpeedFieldNumber = 13; + double vehicle_speed() const; + void set_vehicle_speed(double value); + + // double epas_torque = 14; + void clear_epas_torque(); + static const int kEpasTorqueFieldNumber = 14; + double epas_torque() const; + void set_epas_torque(double value); + + // bool is_failure_status = 9; + void clear_is_failure_status(); + static const int kIsFailureStatusFieldNumber = 9; + bool is_failure_status() const; + void set_is_failure_status(bool value); + + // bool steering_enabled = 15; + void clear_steering_enabled(); + static const int kSteeringEnabledFieldNumber = 15; + bool steering_enabled() const; + void set_steering_enabled(bool value); + + // bool driver_override = 16; + void clear_driver_override(); + static const int kDriverOverrideFieldNumber = 16; + bool driver_override() const; + void set_driver_override(bool value); + + // bool driver_activity = 17; + void clear_driver_activity(); + static const int kDriverActivityFieldNumber = 17; + bool driver_activity() const; + void set_driver_activity(bool value); + + // bool watchdog_fault = 18; + void clear_watchdog_fault(); + static const int kWatchdogFaultFieldNumber = 18; + bool watchdog_fault() const; + void set_watchdog_fault(bool value); + + // bool channel_1_fault = 19; + void clear_channel_1_fault(); + static const int kChannel1FaultFieldNumber = 19; + bool channel_1_fault() const; + void set_channel_1_fault(bool value); + + // bool channel_2_fault = 20; + void clear_channel_2_fault(); + static const int kChannel2FaultFieldNumber = 20; + bool channel_2_fault() const; + void set_channel_2_fault(bool value); + + // bool calibration_fault = 21; + void clear_calibration_fault(); + static const int kCalibrationFaultFieldNumber = 21; + bool calibration_fault() const; + void set_calibration_fault(bool value); + + // double timestamp_65 = 23; + void clear_timestamp_65(); + static const int kTimestamp65FieldNumber = 23; + double timestamp_65() const; + void set_timestamp_65(double value); + + // bool connector_fault = 22; + void clear_connector_fault(); + static const int kConnectorFaultFieldNumber = 22; + bool connector_fault() const; + void set_connector_fault(bool value); + + // int32 major_version = 24; + void clear_major_version(); + static const int kMajorVersionFieldNumber = 24; + ::google::protobuf::int32 major_version() const; + void set_major_version(::google::protobuf::int32 value); + + // int32 minor_version = 25; + void clear_minor_version(); + static const int kMinorVersionFieldNumber = 25; + ::google::protobuf::int32 minor_version() const; + void set_minor_version(::google::protobuf::int32 value); + + // int32 build_number = 26; + void clear_build_number(); + static const int kBuildNumberFieldNumber = 26; + ::google::protobuf::int32 build_number() const; + void set_build_number(::google::protobuf::int32 value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Eps) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double eps_driver_hand_torq_; + int eps_control_state_; + bool is_eps_fail_; + bool is_steering_angle_valid_; + bool is_trimming_status_; + bool is_calibration_status_; + double steering_angle_; + double steering_angle_spd_; + ::google::protobuf::int32 allow_enter_autonomous_mode_; + ::google::protobuf::int32 current_driving_mode_; + double steering_angle_cmd_; + double vehicle_speed_; + double epas_torque_; + bool is_failure_status_; + bool steering_enabled_; + bool driver_override_; + bool driver_activity_; + bool watchdog_fault_; + bool channel_1_fault_; + bool channel_2_fault_; + bool calibration_fault_; + double timestamp_65_; + bool connector_fault_; + ::google::protobuf::int32 major_version_; + ::google::protobuf::int32 minor_version_; + ::google::protobuf::int32 build_number_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class VehicleSpd : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.VehicleSpd) */ { + public: + VehicleSpd(); + virtual ~VehicleSpd(); + + VehicleSpd(const VehicleSpd& from); + + inline VehicleSpd& operator=(const VehicleSpd& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + VehicleSpd(VehicleSpd&& from) noexcept + : VehicleSpd() { + *this = ::std::move(from); + } + + inline VehicleSpd& operator=(VehicleSpd&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const VehicleSpd& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const VehicleSpd* internal_default_instance() { + return reinterpret_cast( + &_VehicleSpd_default_instance_); + } + static constexpr int kIndexInFileMessages = + 5; + + void Swap(VehicleSpd* other); + friend void swap(VehicleSpd& a, VehicleSpd& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline VehicleSpd* New() const final { + return CreateMaybeMessage(NULL); + } + + VehicleSpd* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const VehicleSpd& from); + void MergeFrom(const VehicleSpd& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(VehicleSpd* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef VehicleSpd_Type Type; + static const Type FORWARD = + VehicleSpd_Type_FORWARD; + static const Type BACKWARD = + VehicleSpd_Type_BACKWARD; + static const Type STANDSTILL = + VehicleSpd_Type_STANDSTILL; + static const Type INVALID = + VehicleSpd_Type_INVALID; + static inline bool Type_IsValid(int value) { + return VehicleSpd_Type_IsValid(value); + } + static const Type Type_MIN = + VehicleSpd_Type_Type_MIN; + static const Type Type_MAX = + VehicleSpd_Type_Type_MAX; + static const int Type_ARRAYSIZE = + VehicleSpd_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return VehicleSpd_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return VehicleSpd_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return VehicleSpd_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // double vehicle_spd = 3; + void clear_vehicle_spd(); + static const int kVehicleSpdFieldNumber = 3; + double vehicle_spd() const; + void set_vehicle_spd(double value); + + // bool is_vehicle_standstill = 1; + void clear_is_vehicle_standstill(); + static const int kIsVehicleStandstillFieldNumber = 1; + bool is_vehicle_standstill() const; + void set_is_vehicle_standstill(bool value); + + // bool is_vehicle_spd_valid = 2; + void clear_is_vehicle_spd_valid(); + static const int kIsVehicleSpdValidFieldNumber = 2; + bool is_vehicle_spd_valid() const; + void set_is_vehicle_spd_valid(bool value); + + // bool is_wheel_spd_rr_valid = 4; + void clear_is_wheel_spd_rr_valid(); + static const int kIsWheelSpdRrValidFieldNumber = 4; + bool is_wheel_spd_rr_valid() const; + void set_is_wheel_spd_rr_valid(bool value); + + // bool is_wheel_spd_rl_valid = 7; + void clear_is_wheel_spd_rl_valid(); + static const int kIsWheelSpdRlValidFieldNumber = 7; + bool is_wheel_spd_rl_valid() const; + void set_is_wheel_spd_rl_valid(bool value); + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rr = 5; + void clear_wheel_direction_rr(); + static const int kWheelDirectionRrFieldNumber = 5; + ::apollo::canbus::VehicleSpd_Type wheel_direction_rr() const; + void set_wheel_direction_rr(::apollo::canbus::VehicleSpd_Type value); + + // double wheel_spd_rr = 6; + void clear_wheel_spd_rr(); + static const int kWheelSpdRrFieldNumber = 6; + double wheel_spd_rr() const; + void set_wheel_spd_rr(double value); + + // double wheel_spd_rl = 9; + void clear_wheel_spd_rl(); + static const int kWheelSpdRlFieldNumber = 9; + double wheel_spd_rl() const; + void set_wheel_spd_rl(double value); + + // .apollo.canbus.VehicleSpd.Type wheel_direction_rl = 8; + void clear_wheel_direction_rl(); + static const int kWheelDirectionRlFieldNumber = 8; + ::apollo::canbus::VehicleSpd_Type wheel_direction_rl() const; + void set_wheel_direction_rl(::apollo::canbus::VehicleSpd_Type value); + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fr = 11; + void clear_wheel_direction_fr(); + static const int kWheelDirectionFrFieldNumber = 11; + ::apollo::canbus::VehicleSpd_Type wheel_direction_fr() const; + void set_wheel_direction_fr(::apollo::canbus::VehicleSpd_Type value); + + // double wheel_spd_fr = 12; + void clear_wheel_spd_fr(); + static const int kWheelSpdFrFieldNumber = 12; + double wheel_spd_fr() const; + void set_wheel_spd_fr(double value); + + // .apollo.canbus.VehicleSpd.Type wheel_direction_fl = 14; + void clear_wheel_direction_fl(); + static const int kWheelDirectionFlFieldNumber = 14; + ::apollo::canbus::VehicleSpd_Type wheel_direction_fl() const; + void set_wheel_direction_fl(::apollo::canbus::VehicleSpd_Type value); + + // bool is_wheel_spd_fr_valid = 10; + void clear_is_wheel_spd_fr_valid(); + static const int kIsWheelSpdFrValidFieldNumber = 10; + bool is_wheel_spd_fr_valid() const; + void set_is_wheel_spd_fr_valid(bool value); + + // bool is_wheel_spd_fl_valid = 13; + void clear_is_wheel_spd_fl_valid(); + static const int kIsWheelSpdFlValidFieldNumber = 13; + bool is_wheel_spd_fl_valid() const; + void set_is_wheel_spd_fl_valid(bool value); + + // bool is_yaw_rate_valid = 16; + void clear_is_yaw_rate_valid(); + static const int kIsYawRateValidFieldNumber = 16; + bool is_yaw_rate_valid() const; + void set_is_yaw_rate_valid(bool value); + + // bool is_ax_valid = 19; + void clear_is_ax_valid(); + static const int kIsAxValidFieldNumber = 19; + bool is_ax_valid() const; + void set_is_ax_valid(bool value); + + // double wheel_spd_fl = 15; + void clear_wheel_spd_fl(); + static const int kWheelSpdFlFieldNumber = 15; + double wheel_spd_fl() const; + void set_wheel_spd_fl(double value); + + // double yaw_rate = 17; + void clear_yaw_rate(); + static const int kYawRateFieldNumber = 17; + double yaw_rate() const; + void set_yaw_rate(double value); + + // double yaw_rate_offset = 18; + void clear_yaw_rate_offset(); + static const int kYawRateOffsetFieldNumber = 18; + double yaw_rate_offset() const; + void set_yaw_rate_offset(double value); + + // double ax = 20; + void clear_ax(); + static const int kAxFieldNumber = 20; + double ax() const; + void set_ax(double value); + + // double ax_offset = 21; + void clear_ax_offset(); + static const int kAxOffsetFieldNumber = 21; + double ax_offset() const; + void set_ax_offset(double value); + + // double ay = 23; + void clear_ay(); + static const int kAyFieldNumber = 23; + double ay() const; + void set_ay(double value); + + // double ay_offset = 24; + void clear_ay_offset(); + static const int kAyOffsetFieldNumber = 24; + double ay_offset() const; + void set_ay_offset(double value); + + // double lat_acc = 25; + void clear_lat_acc(); + static const int kLatAccFieldNumber = 25; + double lat_acc() const; + void set_lat_acc(double value); + + // double long_acc = 26; + void clear_long_acc(); + static const int kLongAccFieldNumber = 26; + double long_acc() const; + void set_long_acc(double value); + + // double vert_acc = 27; + void clear_vert_acc(); + static const int kVertAccFieldNumber = 27; + double vert_acc() const; + void set_vert_acc(double value); + + // double roll_rate = 28; + void clear_roll_rate(); + static const int kRollRateFieldNumber = 28; + double roll_rate() const; + void set_roll_rate(double value); + + // double acc_est = 29; + void clear_acc_est(); + static const int kAccEstFieldNumber = 29; + double acc_est() const; + void set_acc_est(double value); + + // double timestamp_sec = 30; + void clear_timestamp_sec(); + static const int kTimestampSecFieldNumber = 30; + double timestamp_sec() const; + void set_timestamp_sec(double value); + + // bool is_ay_valid = 22; + void clear_is_ay_valid(); + static const int kIsAyValidFieldNumber = 22; + bool is_ay_valid() const; + void set_is_ay_valid(bool value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.VehicleSpd) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double vehicle_spd_; + bool is_vehicle_standstill_; + bool is_vehicle_spd_valid_; + bool is_wheel_spd_rr_valid_; + bool is_wheel_spd_rl_valid_; + int wheel_direction_rr_; + double wheel_spd_rr_; + double wheel_spd_rl_; + int wheel_direction_rl_; + int wheel_direction_fr_; + double wheel_spd_fr_; + int wheel_direction_fl_; + bool is_wheel_spd_fr_valid_; + bool is_wheel_spd_fl_valid_; + bool is_yaw_rate_valid_; + bool is_ax_valid_; + double wheel_spd_fl_; + double yaw_rate_; + double yaw_rate_offset_; + double ax_; + double ax_offset_; + double ay_; + double ay_offset_; + double lat_acc_; + double long_acc_; + double vert_acc_; + double roll_rate_; + double acc_est_; + double timestamp_sec_; + bool is_ay_valid_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Deceleration : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Deceleration) */ { + public: + Deceleration(); + virtual ~Deceleration(); + + Deceleration(const Deceleration& from); + + inline Deceleration& operator=(const Deceleration& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Deceleration(Deceleration&& from) noexcept + : Deceleration() { + *this = ::std::move(from); + } + + inline Deceleration& operator=(Deceleration&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Deceleration& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Deceleration* internal_default_instance() { + return reinterpret_cast( + &_Deceleration_default_instance_); + } + static constexpr int kIndexInFileMessages = + 6; + + void Swap(Deceleration* other); + friend void swap(Deceleration& a, Deceleration& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Deceleration* New() const final { + return CreateMaybeMessage(NULL); + } + + Deceleration* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Deceleration& from); + void MergeFrom(const Deceleration& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Deceleration* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double deceleration = 3; + void clear_deceleration(); + static const int kDecelerationFieldNumber = 3; + double deceleration() const; + void set_deceleration(double value); + + // double is_evb_fail = 4; + void clear_is_evb_fail(); + static const int kIsEvbFailFieldNumber = 4; + double is_evb_fail() const; + void set_is_evb_fail(double value); + + // double evb_pressure = 5; + void clear_evb_pressure(); + static const int kEvbPressureFieldNumber = 5; + double evb_pressure() const; + void set_evb_pressure(double value); + + // double brake_pressure = 6; + void clear_brake_pressure(); + static const int kBrakePressureFieldNumber = 6; + double brake_pressure() const; + void set_brake_pressure(double value); + + // double brake_pressure_spd = 7; + void clear_brake_pressure_spd(); + static const int kBrakePressureSpdFieldNumber = 7; + double brake_pressure_spd() const; + void set_brake_pressure_spd(double value); + + // bool is_deceleration_available = 1; + void clear_is_deceleration_available(); + static const int kIsDecelerationAvailableFieldNumber = 1; + bool is_deceleration_available() const; + void set_is_deceleration_available(bool value); + + // bool is_deceleration_active = 2; + void clear_is_deceleration_active(); + static const int kIsDecelerationActiveFieldNumber = 2; + bool is_deceleration_active() const; + void set_is_deceleration_active(bool value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Deceleration) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double deceleration_; + double is_evb_fail_; + double evb_pressure_; + double brake_pressure_; + double brake_pressure_spd_; + bool is_deceleration_available_; + bool is_deceleration_active_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Brake : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Brake) */ { + public: + Brake(); + virtual ~Brake(); + + Brake(const Brake& from); + + inline Brake& operator=(const Brake& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Brake(Brake&& from) noexcept + : Brake() { + *this = ::std::move(from); + } + + inline Brake& operator=(Brake&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Brake& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Brake* internal_default_instance() { + return reinterpret_cast( + &_Brake_default_instance_); + } + static constexpr int kIndexInFileMessages = + 7; + + void Swap(Brake* other); + friend void swap(Brake& a, Brake& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Brake* New() const final { + return CreateMaybeMessage(NULL); + } + + Brake* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Brake& from); + void MergeFrom(const Brake& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Brake* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef Brake_HSAStatusType HSAStatusType; + static const HSAStatusType HSA_INACTIVE = + Brake_HSAStatusType_HSA_INACTIVE; + static const HSAStatusType HSA_FINDING_GRADIENT = + Brake_HSAStatusType_HSA_FINDING_GRADIENT; + static const HSAStatusType HSA_ACTIVE_PRESSED = + Brake_HSAStatusType_HSA_ACTIVE_PRESSED; + static const HSAStatusType HSA_ACTIVE_RELEASED = + Brake_HSAStatusType_HSA_ACTIVE_RELEASED; + static const HSAStatusType HSA_FAST_RELEASE = + Brake_HSAStatusType_HSA_FAST_RELEASE; + static const HSAStatusType HSA_SLOW_RELEASE = + Brake_HSAStatusType_HSA_SLOW_RELEASE; + static const HSAStatusType HSA_FAILED = + Brake_HSAStatusType_HSA_FAILED; + static const HSAStatusType HSA_UNDEFINED = + Brake_HSAStatusType_HSA_UNDEFINED; + static inline bool HSAStatusType_IsValid(int value) { + return Brake_HSAStatusType_IsValid(value); + } + static const HSAStatusType HSAStatusType_MIN = + Brake_HSAStatusType_HSAStatusType_MIN; + static const HSAStatusType HSAStatusType_MAX = + Brake_HSAStatusType_HSAStatusType_MAX; + static const int HSAStatusType_ARRAYSIZE = + Brake_HSAStatusType_HSAStatusType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + HSAStatusType_descriptor() { + return Brake_HSAStatusType_descriptor(); + } + static inline const ::std::string& HSAStatusType_Name(HSAStatusType value) { + return Brake_HSAStatusType_Name(value); + } + static inline bool HSAStatusType_Parse(const ::std::string& name, + HSAStatusType* value) { + return Brake_HSAStatusType_Parse(name, value); + } + + typedef Brake_HSAModeType HSAModeType; + static const HSAModeType HSA_OFF = + Brake_HSAModeType_HSA_OFF; + static const HSAModeType HSA_AUTO = + Brake_HSAModeType_HSA_AUTO; + static const HSAModeType HSA_MANUAL = + Brake_HSAModeType_HSA_MANUAL; + static const HSAModeType HSA_MODE_UNDEFINED = + Brake_HSAModeType_HSA_MODE_UNDEFINED; + static inline bool HSAModeType_IsValid(int value) { + return Brake_HSAModeType_IsValid(value); + } + static const HSAModeType HSAModeType_MIN = + Brake_HSAModeType_HSAModeType_MIN; + static const HSAModeType HSAModeType_MAX = + Brake_HSAModeType_HSAModeType_MAX; + static const int HSAModeType_ARRAYSIZE = + Brake_HSAModeType_HSAModeType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + HSAModeType_descriptor() { + return Brake_HSAModeType_descriptor(); + } + static inline const ::std::string& HSAModeType_Name(HSAModeType value) { + return Brake_HSAModeType_Name(value); + } + static inline bool HSAModeType_Parse(const ::std::string& name, + HSAModeType* value) { + return Brake_HSAModeType_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // double brake_pedal_position = 5; + void clear_brake_pedal_position(); + static const int kBrakePedalPositionFieldNumber = 5; + double brake_pedal_position() const; + void set_brake_pedal_position(double value); + + // bool is_brake_pedal_pressed = 1; + void clear_is_brake_pedal_pressed(); + static const int kIsBrakePedalPressedFieldNumber = 1; + bool is_brake_pedal_pressed() const; + void set_is_brake_pedal_pressed(bool value); + + // bool is_brake_force_exist = 2; + void clear_is_brake_force_exist(); + static const int kIsBrakeForceExistFieldNumber = 2; + bool is_brake_force_exist() const; + void set_is_brake_force_exist(bool value); + + // bool is_brake_over_heat = 3; + void clear_is_brake_over_heat(); + static const int kIsBrakeOverHeatFieldNumber = 3; + bool is_brake_over_heat() const; + void set_is_brake_over_heat(bool value); + + // bool is_hand_brake_on = 4; + void clear_is_hand_brake_on(); + static const int kIsHandBrakeOnFieldNumber = 4; + bool is_hand_brake_on() const; + void set_is_hand_brake_on(bool value); + + // bool is_brake_valid = 6; + void clear_is_brake_valid(); + static const int kIsBrakeValidFieldNumber = 6; + bool is_brake_valid() const; + void set_is_brake_valid(bool value); + + // bool boo_input = 10; + void clear_boo_input(); + static const int kBooInputFieldNumber = 10; + bool boo_input() const; + void set_boo_input(bool value); + + // bool boo_cmd = 11; + void clear_boo_cmd(); + static const int kBooCmdFieldNumber = 11; + bool boo_cmd() const; + void set_boo_cmd(bool value); + + // bool boo_output = 12; + void clear_boo_output(); + static const int kBooOutputFieldNumber = 12; + bool boo_output() const; + void set_boo_output(bool value); + + // double brake_input = 7; + void clear_brake_input(); + static const int kBrakeInputFieldNumber = 7; + double brake_input() const; + void set_brake_input(double value); + + // double brake_cmd = 8; + void clear_brake_cmd(); + static const int kBrakeCmdFieldNumber = 8; + double brake_cmd() const; + void set_brake_cmd(double value); + + // double brake_output = 9; + void clear_brake_output(); + static const int kBrakeOutputFieldNumber = 9; + double brake_output() const; + void set_brake_output(double value); + + // int32 watchdog_source = 14; + void clear_watchdog_source(); + static const int kWatchdogSourceFieldNumber = 14; + ::google::protobuf::int32 watchdog_source() const; + void set_watchdog_source(::google::protobuf::int32 value); + + // bool watchdog_applying_brakes = 13; + void clear_watchdog_applying_brakes(); + static const int kWatchdogApplyingBrakesFieldNumber = 13; + bool watchdog_applying_brakes() const; + void set_watchdog_applying_brakes(bool value); + + // bool brake_enabled = 15; + void clear_brake_enabled(); + static const int kBrakeEnabledFieldNumber = 15; + bool brake_enabled() const; + void set_brake_enabled(bool value); + + // bool driver_override = 16; + void clear_driver_override(); + static const int kDriverOverrideFieldNumber = 16; + bool driver_override() const; + void set_driver_override(bool value); + + // bool driver_activity = 17; + void clear_driver_activity(); + static const int kDriverActivityFieldNumber = 17; + bool driver_activity() const; + void set_driver_activity(bool value); + + // bool watchdog_fault = 18; + void clear_watchdog_fault(); + static const int kWatchdogFaultFieldNumber = 18; + bool watchdog_fault() const; + void set_watchdog_fault(bool value); + + // bool channel_1_fault = 19; + void clear_channel_1_fault(); + static const int kChannel1FaultFieldNumber = 19; + bool channel_1_fault() const; + void set_channel_1_fault(bool value); + + // bool channel_2_fault = 20; + void clear_channel_2_fault(); + static const int kChannel2FaultFieldNumber = 20; + bool channel_2_fault() const; + void set_channel_2_fault(bool value); + + // bool boo_fault = 21; + void clear_boo_fault(); + static const int kBooFaultFieldNumber = 21; + bool boo_fault() const; + void set_boo_fault(bool value); + + // bool connector_fault = 22; + void clear_connector_fault(); + static const int kConnectorFaultFieldNumber = 22; + bool connector_fault() const; + void set_connector_fault(bool value); + + // int32 brake_torque_req = 23; + void clear_brake_torque_req(); + static const int kBrakeTorqueReqFieldNumber = 23; + ::google::protobuf::int32 brake_torque_req() const; + void set_brake_torque_req(::google::protobuf::int32 value); + + // .apollo.canbus.Brake.HSAStatusType hsa_status = 24; + void clear_hsa_status(); + static const int kHsaStatusFieldNumber = 24; + ::apollo::canbus::Brake_HSAStatusType hsa_status() const; + void set_hsa_status(::apollo::canbus::Brake_HSAStatusType value); + + // int32 brake_torque_act = 25; + void clear_brake_torque_act(); + static const int kBrakeTorqueActFieldNumber = 25; + ::google::protobuf::int32 brake_torque_act() const; + void set_brake_torque_act(::google::protobuf::int32 value); + + // .apollo.canbus.Brake.HSAModeType hsa_mode = 26; + void clear_hsa_mode(); + static const int kHsaModeFieldNumber = 26; + ::apollo::canbus::Brake_HSAModeType hsa_mode() const; + void set_hsa_mode(::apollo::canbus::Brake_HSAModeType value); + + // int32 wheel_torque_act = 27; + void clear_wheel_torque_act(); + static const int kWheelTorqueActFieldNumber = 27; + ::google::protobuf::int32 wheel_torque_act() const; + void set_wheel_torque_act(::google::protobuf::int32 value); + + // int32 major_version = 28; + void clear_major_version(); + static const int kMajorVersionFieldNumber = 28; + ::google::protobuf::int32 major_version() const; + void set_major_version(::google::protobuf::int32 value); + + // int32 minor_version = 29; + void clear_minor_version(); + static const int kMinorVersionFieldNumber = 29; + ::google::protobuf::int32 minor_version() const; + void set_minor_version(::google::protobuf::int32 value); + + // int32 build_number = 30; + void clear_build_number(); + static const int kBuildNumberFieldNumber = 30; + ::google::protobuf::int32 build_number() const; + void set_build_number(::google::protobuf::int32 value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Brake) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double brake_pedal_position_; + bool is_brake_pedal_pressed_; + bool is_brake_force_exist_; + bool is_brake_over_heat_; + bool is_hand_brake_on_; + bool is_brake_valid_; + bool boo_input_; + bool boo_cmd_; + bool boo_output_; + double brake_input_; + double brake_cmd_; + double brake_output_; + ::google::protobuf::int32 watchdog_source_; + bool watchdog_applying_brakes_; + bool brake_enabled_; + bool driver_override_; + bool driver_activity_; + bool watchdog_fault_; + bool channel_1_fault_; + bool channel_2_fault_; + bool boo_fault_; + bool connector_fault_; + ::google::protobuf::int32 brake_torque_req_; + int hsa_status_; + ::google::protobuf::int32 brake_torque_act_; + int hsa_mode_; + ::google::protobuf::int32 wheel_torque_act_; + ::google::protobuf::int32 major_version_; + ::google::protobuf::int32 minor_version_; + ::google::protobuf::int32 build_number_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Epb : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Epb) */ { + public: + Epb(); + virtual ~Epb(); + + Epb(const Epb& from); + + inline Epb& operator=(const Epb& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Epb(Epb&& from) noexcept + : Epb() { + *this = ::std::move(from); + } + + inline Epb& operator=(Epb&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Epb& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Epb* internal_default_instance() { + return reinterpret_cast( + &_Epb_default_instance_); + } + static constexpr int kIndexInFileMessages = + 8; + + void Swap(Epb* other); + friend void swap(Epb& a, Epb& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Epb* New() const final { + return CreateMaybeMessage(NULL); + } + + Epb* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Epb& from); + void MergeFrom(const Epb& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Epb* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef Epb_PBrakeType PBrakeType; + static const PBrakeType PBRAKE_OFF = + Epb_PBrakeType_PBRAKE_OFF; + static const PBrakeType PBRAKE_TRANSITION = + Epb_PBrakeType_PBRAKE_TRANSITION; + static const PBrakeType PBRAKE_ON = + Epb_PBrakeType_PBRAKE_ON; + static const PBrakeType PBRAKE_FAULT = + Epb_PBrakeType_PBRAKE_FAULT; + static inline bool PBrakeType_IsValid(int value) { + return Epb_PBrakeType_IsValid(value); + } + static const PBrakeType PBrakeType_MIN = + Epb_PBrakeType_PBrakeType_MIN; + static const PBrakeType PBrakeType_MAX = + Epb_PBrakeType_PBrakeType_MAX; + static const int PBrakeType_ARRAYSIZE = + Epb_PBrakeType_PBrakeType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + PBrakeType_descriptor() { + return Epb_PBrakeType_descriptor(); + } + static inline const ::std::string& PBrakeType_Name(PBrakeType value) { + return Epb_PBrakeType_Name(value); + } + static inline bool PBrakeType_Parse(const ::std::string& name, + PBrakeType* value) { + return Epb_PBrakeType_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // bool is_epb_error = 1; + void clear_is_epb_error(); + static const int kIsEpbErrorFieldNumber = 1; + bool is_epb_error() const; + void set_is_epb_error(bool value); + + // bool is_epb_released = 2; + void clear_is_epb_released(); + static const int kIsEpbReleasedFieldNumber = 2; + bool is_epb_released() const; + void set_is_epb_released(bool value); + + // int32 epb_status = 3; + void clear_epb_status(); + static const int kEpbStatusFieldNumber = 3; + ::google::protobuf::int32 epb_status() const; + void set_epb_status(::google::protobuf::int32 value); + + // .apollo.canbus.Epb.PBrakeType parking_brake_status = 4; + void clear_parking_brake_status(); + static const int kParkingBrakeStatusFieldNumber = 4; + ::apollo::canbus::Epb_PBrakeType parking_brake_status() const; + void set_parking_brake_status(::apollo::canbus::Epb_PBrakeType value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Epb) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + bool is_epb_error_; + bool is_epb_released_; + ::google::protobuf::int32 epb_status_; + int parking_brake_status_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Gas : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Gas) */ { + public: + Gas(); + virtual ~Gas(); + + Gas(const Gas& from); + + inline Gas& operator=(const Gas& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Gas(Gas&& from) noexcept + : Gas() { + *this = ::std::move(from); + } + + inline Gas& operator=(Gas&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Gas& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Gas* internal_default_instance() { + return reinterpret_cast( + &_Gas_default_instance_); + } + static constexpr int kIndexInFileMessages = + 9; + + void Swap(Gas* other); + friend void swap(Gas& a, Gas& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Gas* New() const final { + return CreateMaybeMessage(NULL); + } + + Gas* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Gas& from); + void MergeFrom(const Gas& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Gas* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double gas_pedal_position = 3; + void clear_gas_pedal_position(); + static const int kGasPedalPositionFieldNumber = 3; + double gas_pedal_position() const; + void set_gas_pedal_position(double value); + + // bool is_gas_pedal_error = 1; + void clear_is_gas_pedal_error(); + static const int kIsGasPedalErrorFieldNumber = 1; + bool is_gas_pedal_error() const; + void set_is_gas_pedal_error(bool value); + + // bool is_gas_pedal_pressed_more = 2; + void clear_is_gas_pedal_pressed_more(); + static const int kIsGasPedalPressedMoreFieldNumber = 2; + bool is_gas_pedal_pressed_more() const; + void set_is_gas_pedal_pressed_more(bool value); + + // bool is_gas_valid = 4; + void clear_is_gas_valid(); + static const int kIsGasValidFieldNumber = 4; + bool is_gas_valid() const; + void set_is_gas_valid(bool value); + + // bool throttle_enabled = 9; + void clear_throttle_enabled(); + static const int kThrottleEnabledFieldNumber = 9; + bool throttle_enabled() const; + void set_throttle_enabled(bool value); + + // int32 watchdog_source = 8; + void clear_watchdog_source(); + static const int kWatchdogSourceFieldNumber = 8; + ::google::protobuf::int32 watchdog_source() const; + void set_watchdog_source(::google::protobuf::int32 value); + + // double throttle_input = 5; + void clear_throttle_input(); + static const int kThrottleInputFieldNumber = 5; + double throttle_input() const; + void set_throttle_input(double value); + + // double throttle_cmd = 6; + void clear_throttle_cmd(); + static const int kThrottleCmdFieldNumber = 6; + double throttle_cmd() const; + void set_throttle_cmd(double value); + + // double throttle_output = 7; + void clear_throttle_output(); + static const int kThrottleOutputFieldNumber = 7; + double throttle_output() const; + void set_throttle_output(double value); + + // bool driver_override = 10; + void clear_driver_override(); + static const int kDriverOverrideFieldNumber = 10; + bool driver_override() const; + void set_driver_override(bool value); + + // bool driver_activity = 11; + void clear_driver_activity(); + static const int kDriverActivityFieldNumber = 11; + bool driver_activity() const; + void set_driver_activity(bool value); + + // bool watchdog_fault = 12; + void clear_watchdog_fault(); + static const int kWatchdogFaultFieldNumber = 12; + bool watchdog_fault() const; + void set_watchdog_fault(bool value); + + // bool channel_1_fault = 13; + void clear_channel_1_fault(); + static const int kChannel1FaultFieldNumber = 13; + bool channel_1_fault() const; + void set_channel_1_fault(bool value); + + // bool channel_2_fault = 14; + void clear_channel_2_fault(); + static const int kChannel2FaultFieldNumber = 14; + bool channel_2_fault() const; + void set_channel_2_fault(bool value); + + // bool connector_fault = 15; + void clear_connector_fault(); + static const int kConnectorFaultFieldNumber = 15; + bool connector_fault() const; + void set_connector_fault(bool value); + + // double accelerator_pedal = 16; + void clear_accelerator_pedal(); + static const int kAcceleratorPedalFieldNumber = 16; + double accelerator_pedal() const; + void set_accelerator_pedal(double value); + + // double accelerator_pedal_rate = 17; + void clear_accelerator_pedal_rate(); + static const int kAcceleratorPedalRateFieldNumber = 17; + double accelerator_pedal_rate() const; + void set_accelerator_pedal_rate(double value); + + // int32 major_version = 18; + void clear_major_version(); + static const int kMajorVersionFieldNumber = 18; + ::google::protobuf::int32 major_version() const; + void set_major_version(::google::protobuf::int32 value); + + // int32 minor_version = 19; + void clear_minor_version(); + static const int kMinorVersionFieldNumber = 19; + ::google::protobuf::int32 minor_version() const; + void set_minor_version(::google::protobuf::int32 value); + + // int32 build_number = 20; + void clear_build_number(); + static const int kBuildNumberFieldNumber = 20; + ::google::protobuf::int32 build_number() const; + void set_build_number(::google::protobuf::int32 value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Gas) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double gas_pedal_position_; + bool is_gas_pedal_error_; + bool is_gas_pedal_pressed_more_; + bool is_gas_valid_; + bool throttle_enabled_; + ::google::protobuf::int32 watchdog_source_; + double throttle_input_; + double throttle_cmd_; + double throttle_output_; + bool driver_override_; + bool driver_activity_; + bool watchdog_fault_; + bool channel_1_fault_; + bool channel_2_fault_; + bool connector_fault_; + double accelerator_pedal_; + double accelerator_pedal_rate_; + ::google::protobuf::int32 major_version_; + ::google::protobuf::int32 minor_version_; + ::google::protobuf::int32 build_number_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Esp : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Esp) */ { + public: + Esp(); + virtual ~Esp(); + + Esp(const Esp& from); + + inline Esp& operator=(const Esp& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Esp(Esp&& from) noexcept + : Esp() { + *this = ::std::move(from); + } + + inline Esp& operator=(Esp&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Esp& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Esp* internal_default_instance() { + return reinterpret_cast( + &_Esp_default_instance_); + } + static constexpr int kIndexInFileMessages = + 10; + + void Swap(Esp* other); + friend void swap(Esp& a, Esp& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Esp* New() const final { + return CreateMaybeMessage(NULL); + } + + Esp* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Esp& from); + void MergeFrom(const Esp& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Esp* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // bool is_esp_acc_error = 1; + void clear_is_esp_acc_error(); + static const int kIsEspAccErrorFieldNumber = 1; + bool is_esp_acc_error() const; + void set_is_esp_acc_error(bool value); + + // bool is_esp_on = 2; + void clear_is_esp_on(); + static const int kIsEspOnFieldNumber = 2; + bool is_esp_on() const; + void set_is_esp_on(bool value); + + // bool is_esp_active = 3; + void clear_is_esp_active(); + static const int kIsEspActiveFieldNumber = 3; + bool is_esp_active() const; + void set_is_esp_active(bool value); + + // bool is_abs_error = 4; + void clear_is_abs_error(); + static const int kIsAbsErrorFieldNumber = 4; + bool is_abs_error() const; + void set_is_abs_error(bool value); + + // bool is_abs_active = 5; + void clear_is_abs_active(); + static const int kIsAbsActiveFieldNumber = 5; + bool is_abs_active() const; + void set_is_abs_active(bool value); + + // bool is_tcsvdc_fail = 6; + void clear_is_tcsvdc_fail(); + static const int kIsTcsvdcFailFieldNumber = 6; + bool is_tcsvdc_fail() const; + void set_is_tcsvdc_fail(bool value); + + // bool is_abs_enabled = 7; + void clear_is_abs_enabled(); + static const int kIsAbsEnabledFieldNumber = 7; + bool is_abs_enabled() const; + void set_is_abs_enabled(bool value); + + // bool is_stab_active = 8; + void clear_is_stab_active(); + static const int kIsStabActiveFieldNumber = 8; + bool is_stab_active() const; + void set_is_stab_active(bool value); + + // bool is_stab_enabled = 9; + void clear_is_stab_enabled(); + static const int kIsStabEnabledFieldNumber = 9; + bool is_stab_enabled() const; + void set_is_stab_enabled(bool value); + + // bool is_trac_active = 10; + void clear_is_trac_active(); + static const int kIsTracActiveFieldNumber = 10; + bool is_trac_active() const; + void set_is_trac_active(bool value); + + // bool is_trac_enabled = 11; + void clear_is_trac_enabled(); + static const int kIsTracEnabledFieldNumber = 11; + bool is_trac_enabled() const; + void set_is_trac_enabled(bool value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Esp) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + bool is_esp_acc_error_; + bool is_esp_on_; + bool is_esp_active_; + bool is_abs_error_; + bool is_abs_active_; + bool is_tcsvdc_fail_; + bool is_abs_enabled_; + bool is_stab_active_; + bool is_stab_enabled_; + bool is_trac_active_; + bool is_trac_enabled_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Ems : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Ems) */ { + public: + Ems(); + virtual ~Ems(); + + Ems(const Ems& from); + + inline Ems& operator=(const Ems& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Ems(Ems&& from) noexcept + : Ems() { + *this = ::std::move(from); + } + + inline Ems& operator=(Ems&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Ems& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Ems* internal_default_instance() { + return reinterpret_cast( + &_Ems_default_instance_); + } + static constexpr int kIndexInFileMessages = + 11; + + void Swap(Ems* other); + friend void swap(Ems& a, Ems& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Ems* New() const final { + return CreateMaybeMessage(NULL); + } + + Ems* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Ems& from); + void MergeFrom(const Ems& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Ems* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef Ems_Type Type; + static const Type STOP = + Ems_Type_STOP; + static const Type CRANK = + Ems_Type_CRANK; + static const Type RUNNING = + Ems_Type_RUNNING; + static const Type INVALID = + Ems_Type_INVALID; + static inline bool Type_IsValid(int value) { + return Ems_Type_IsValid(value); + } + static const Type Type_MIN = + Ems_Type_Type_MIN; + static const Type Type_MAX = + Ems_Type_Type_MAX; + static const int Type_ARRAYSIZE = + Ems_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return Ems_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return Ems_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return Ems_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // double max_engine_torq_percent = 4; + void clear_max_engine_torq_percent(); + static const int kMaxEngineTorqPercentFieldNumber = 4; + double max_engine_torq_percent() const; + void set_max_engine_torq_percent(double value); + + // .apollo.canbus.Ems.Type engine_state = 3; + void clear_engine_state(); + static const int kEngineStateFieldNumber = 3; + ::apollo::canbus::Ems_Type engine_state() const; + void set_engine_state(::apollo::canbus::Ems_Type value); + + // bool is_engine_acc_available = 1; + void clear_is_engine_acc_available(); + static const int kIsEngineAccAvailableFieldNumber = 1; + bool is_engine_acc_available() const; + void set_is_engine_acc_available(bool value); + + // bool is_engine_acc_error = 2; + void clear_is_engine_acc_error(); + static const int kIsEngineAccErrorFieldNumber = 2; + bool is_engine_acc_error() const; + void set_is_engine_acc_error(bool value); + + // bool is_engine_speed_error = 7; + void clear_is_engine_speed_error(); + static const int kIsEngineSpeedErrorFieldNumber = 7; + bool is_engine_speed_error() const; + void set_is_engine_speed_error(bool value); + + // bool is_over_engine_torque = 10; + void clear_is_over_engine_torque(); + static const int kIsOverEngineTorqueFieldNumber = 10; + bool is_over_engine_torque() const; + void set_is_over_engine_torque(bool value); + + // double min_engine_torq_percent = 5; + void clear_min_engine_torq_percent(); + static const int kMinEngineTorqPercentFieldNumber = 5; + double min_engine_torq_percent() const; + void set_min_engine_torq_percent(double value); + + // int32 base_engine_torq_constant = 6; + void clear_base_engine_torq_constant(); + static const int kBaseEngineTorqConstantFieldNumber = 6; + ::google::protobuf::int32 base_engine_torq_constant() const; + void set_base_engine_torq_constant(::google::protobuf::int32 value); + + // int32 engine_torque = 9; + void clear_engine_torque(); + static const int kEngineTorqueFieldNumber = 9; + ::google::protobuf::int32 engine_torque() const; + void set_engine_torque(::google::protobuf::int32 value); + + // double engine_speed = 8; + void clear_engine_speed(); + static const int kEngineSpeedFieldNumber = 8; + double engine_speed() const; + void set_engine_speed(double value); + + // double engine_rpm = 11; + void clear_engine_rpm(); + static const int kEngineRpmFieldNumber = 11; + double engine_rpm() const; + void set_engine_rpm(double value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Ems) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double max_engine_torq_percent_; + int engine_state_; + bool is_engine_acc_available_; + bool is_engine_acc_error_; + bool is_engine_speed_error_; + bool is_over_engine_torque_; + double min_engine_torq_percent_; + ::google::protobuf::int32 base_engine_torq_constant_; + ::google::protobuf::int32 engine_torque_; + double engine_speed_; + double engine_rpm_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Gear : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Gear) */ { + public: + Gear(); + virtual ~Gear(); + + Gear(const Gear& from); + + inline Gear& operator=(const Gear& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Gear(Gear&& from) noexcept + : Gear() { + *this = ::std::move(from); + } + + inline Gear& operator=(Gear&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Gear& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Gear* internal_default_instance() { + return reinterpret_cast( + &_Gear_default_instance_); + } + static constexpr int kIndexInFileMessages = + 12; + + void Swap(Gear* other); + friend void swap(Gear& a, Gear& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Gear* New() const final { + return CreateMaybeMessage(NULL); + } + + Gear* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Gear& from); + void MergeFrom(const Gear& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Gear* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.canbus.Chassis.GearPosition gear_state = 2; + void clear_gear_state(); + static const int kGearStateFieldNumber = 2; + ::apollo::canbus::Chassis_GearPosition gear_state() const; + void set_gear_state(::apollo::canbus::Chassis_GearPosition value); + + // bool is_shift_position_valid = 1; + void clear_is_shift_position_valid(); + static const int kIsShiftPositionValidFieldNumber = 1; + bool is_shift_position_valid() const; + void set_is_shift_position_valid(bool value); + + // bool driver_override = 3; + void clear_driver_override(); + static const int kDriverOverrideFieldNumber = 3; + bool driver_override() const; + void set_driver_override(bool value); + + // bool canbus_fault = 5; + void clear_canbus_fault(); + static const int kCanbusFaultFieldNumber = 5; + bool canbus_fault() const; + void set_canbus_fault(bool value); + + // .apollo.canbus.Chassis.GearPosition gear_cmd = 4; + void clear_gear_cmd(); + static const int kGearCmdFieldNumber = 4; + ::apollo::canbus::Chassis_GearPosition gear_cmd() const; + void set_gear_cmd(::apollo::canbus::Chassis_GearPosition value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Gear) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + int gear_state_; + bool is_shift_position_valid_; + bool driver_override_; + bool canbus_fault_; + int gear_cmd_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Safety : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.Safety) */ { + public: + Safety(); + virtual ~Safety(); + + Safety(const Safety& from); + + inline Safety& operator=(const Safety& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Safety(Safety&& from) noexcept + : Safety() { + *this = ::std::move(from); + } + + inline Safety& operator=(Safety&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Safety& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Safety* internal_default_instance() { + return reinterpret_cast( + &_Safety_default_instance_); + } + static constexpr int kIndexInFileMessages = + 13; + + void Swap(Safety* other); + friend void swap(Safety& a, Safety& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Safety* New() const final { + return CreateMaybeMessage(NULL); + } + + Safety* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Safety& from); + void MergeFrom(const Safety& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Safety* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // int32 emergency_button = 3; + void clear_emergency_button(); + static const int kEmergencyButtonFieldNumber = 3; + ::google::protobuf::int32 emergency_button() const; + void set_emergency_button(::google::protobuf::int32 value); + + // bool is_driver_car_door_close = 1; + void clear_is_driver_car_door_close(); + static const int kIsDriverCarDoorCloseFieldNumber = 1; + bool is_driver_car_door_close() const; + void set_is_driver_car_door_close(bool value); + + // bool is_driver_buckled = 2; + void clear_is_driver_buckled(); + static const int kIsDriverBuckledFieldNumber = 2; + bool is_driver_buckled() const; + void set_is_driver_buckled(bool value); + + // bool has_error = 4; + void clear_has_error(); + static const int kHasErrorFieldNumber = 4; + bool has_error() const; + void set_has_error(bool value); + + // bool is_motor_invertor_fault = 5; + void clear_is_motor_invertor_fault(); + static const int kIsMotorInvertorFaultFieldNumber = 5; + bool is_motor_invertor_fault() const; + void set_is_motor_invertor_fault(bool value); + + // bool is_system_fault = 6; + void clear_is_system_fault(); + static const int kIsSystemFaultFieldNumber = 6; + bool is_system_fault() const; + void set_is_system_fault(bool value); + + // bool is_power_battery_fault = 7; + void clear_is_power_battery_fault(); + static const int kIsPowerBatteryFaultFieldNumber = 7; + bool is_power_battery_fault() const; + void set_is_power_battery_fault(bool value); + + // bool is_motor_invertor_over_temperature = 8; + void clear_is_motor_invertor_over_temperature(); + static const int kIsMotorInvertorOverTemperatureFieldNumber = 8; + bool is_motor_invertor_over_temperature() const; + void set_is_motor_invertor_over_temperature(bool value); + + // bool is_small_battery_charge_discharge_fault = 9; + void clear_is_small_battery_charge_discharge_fault(); + static const int kIsSmallBatteryChargeDischargeFaultFieldNumber = 9; + bool is_small_battery_charge_discharge_fault() const; + void set_is_small_battery_charge_discharge_fault(bool value); + + // int32 driving_mode = 10; + void clear_driving_mode(); + static const int kDrivingModeFieldNumber = 10; + ::google::protobuf::int32 driving_mode() const; + void set_driving_mode(::google::protobuf::int32 value); + + // bool is_passenger_door_open = 11; + void clear_is_passenger_door_open(); + static const int kIsPassengerDoorOpenFieldNumber = 11; + bool is_passenger_door_open() const; + void set_is_passenger_door_open(bool value); + + // bool is_rearleft_door_open = 12; + void clear_is_rearleft_door_open(); + static const int kIsRearleftDoorOpenFieldNumber = 12; + bool is_rearleft_door_open() const; + void set_is_rearleft_door_open(bool value); + + // bool is_rearright_door_open = 13; + void clear_is_rearright_door_open(); + static const int kIsRearrightDoorOpenFieldNumber = 13; + bool is_rearright_door_open() const; + void set_is_rearright_door_open(bool value); + + // bool is_hood_open = 14; + void clear_is_hood_open(); + static const int kIsHoodOpenFieldNumber = 14; + bool is_hood_open() const; + void set_is_hood_open(bool value); + + // bool is_trunk_open = 15; + void clear_is_trunk_open(); + static const int kIsTrunkOpenFieldNumber = 15; + bool is_trunk_open() const; + void set_is_trunk_open(bool value); + + // bool is_passenger_detected = 16; + void clear_is_passenger_detected(); + static const int kIsPassengerDetectedFieldNumber = 16; + bool is_passenger_detected() const; + void set_is_passenger_detected(bool value); + + // bool is_passenger_airbag_enabled = 17; + void clear_is_passenger_airbag_enabled(); + static const int kIsPassengerAirbagEnabledFieldNumber = 17; + bool is_passenger_airbag_enabled() const; + void set_is_passenger_airbag_enabled(bool value); + + // bool is_passenger_buckled = 18; + void clear_is_passenger_buckled(); + static const int kIsPassengerBuckledFieldNumber = 18; + bool is_passenger_buckled() const; + void set_is_passenger_buckled(bool value); + + // int32 front_left_tire_press = 19; + void clear_front_left_tire_press(); + static const int kFrontLeftTirePressFieldNumber = 19; + ::google::protobuf::int32 front_left_tire_press() const; + void set_front_left_tire_press(::google::protobuf::int32 value); + + // int32 front_right_tire_press = 20; + void clear_front_right_tire_press(); + static const int kFrontRightTirePressFieldNumber = 20; + ::google::protobuf::int32 front_right_tire_press() const; + void set_front_right_tire_press(::google::protobuf::int32 value); + + // int32 rear_left_tire_press = 21; + void clear_rear_left_tire_press(); + static const int kRearLeftTirePressFieldNumber = 21; + ::google::protobuf::int32 rear_left_tire_press() const; + void set_rear_left_tire_press(::google::protobuf::int32 value); + + // int32 rear_right_tire_press = 22; + void clear_rear_right_tire_press(); + static const int kRearRightTirePressFieldNumber = 22; + ::google::protobuf::int32 rear_right_tire_press() const; + void set_rear_right_tire_press(::google::protobuf::int32 value); + + // .apollo.canbus.Chassis.DrivingMode car_driving_mode = 23; + void clear_car_driving_mode(); + static const int kCarDrivingModeFieldNumber = 23; + ::apollo::canbus::Chassis_DrivingMode car_driving_mode() const; + void set_car_driving_mode(::apollo::canbus::Chassis_DrivingMode value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.Safety) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::int32 emergency_button_; + bool is_driver_car_door_close_; + bool is_driver_buckled_; + bool has_error_; + bool is_motor_invertor_fault_; + bool is_system_fault_; + bool is_power_battery_fault_; + bool is_motor_invertor_over_temperature_; + bool is_small_battery_charge_discharge_fault_; + ::google::protobuf::int32 driving_mode_; + bool is_passenger_door_open_; + bool is_rearleft_door_open_; + bool is_rearright_door_open_; + bool is_hood_open_; + bool is_trunk_open_; + bool is_passenger_detected_; + bool is_passenger_airbag_enabled_; + bool is_passenger_buckled_; + ::google::protobuf::int32 front_left_tire_press_; + ::google::protobuf::int32 front_right_tire_press_; + ::google::protobuf::int32 rear_left_tire_press_; + ::google::protobuf::int32 rear_right_tire_press_; + int car_driving_mode_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class BasicInfo : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.canbus.BasicInfo) */ { + public: + BasicInfo(); + virtual ~BasicInfo(); + + BasicInfo(const BasicInfo& from); + + inline BasicInfo& operator=(const BasicInfo& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + BasicInfo(BasicInfo&& from) noexcept + : BasicInfo() { + *this = ::std::move(from); + } + + inline BasicInfo& operator=(BasicInfo&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const BasicInfo& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const BasicInfo* internal_default_instance() { + return reinterpret_cast( + &_BasicInfo_default_instance_); + } + static constexpr int kIndexInFileMessages = + 14; + + void Swap(BasicInfo* other); + friend void swap(BasicInfo& a, BasicInfo& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline BasicInfo* New() const final { + return CreateMaybeMessage(NULL); + } + + BasicInfo* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const BasicInfo& from); + void MergeFrom(const BasicInfo& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(BasicInfo* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef BasicInfo_Type Type; + static const Type OFF = + BasicInfo_Type_OFF; + static const Type ACC = + BasicInfo_Type_ACC; + static const Type ON = + BasicInfo_Type_ON; + static const Type START = + BasicInfo_Type_START; + static const Type INVALID = + BasicInfo_Type_INVALID; + static inline bool Type_IsValid(int value) { + return BasicInfo_Type_IsValid(value); + } + static const Type Type_MIN = + BasicInfo_Type_Type_MIN; + static const Type Type_MAX = + BasicInfo_Type_Type_MAX; + static const int Type_ARRAYSIZE = + BasicInfo_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return BasicInfo_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return BasicInfo_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return BasicInfo_Type_Parse(name, value); + } + + typedef BasicInfo_GpsQuality GpsQuality; + static const GpsQuality FIX_NO = + BasicInfo_GpsQuality_FIX_NO; + static const GpsQuality FIX_2D = + BasicInfo_GpsQuality_FIX_2D; + static const GpsQuality FIX_3D = + BasicInfo_GpsQuality_FIX_3D; + static const GpsQuality FIX_INVALID = + BasicInfo_GpsQuality_FIX_INVALID; + static inline bool GpsQuality_IsValid(int value) { + return BasicInfo_GpsQuality_IsValid(value); + } + static const GpsQuality GpsQuality_MIN = + BasicInfo_GpsQuality_GpsQuality_MIN; + static const GpsQuality GpsQuality_MAX = + BasicInfo_GpsQuality_GpsQuality_MAX; + static const int GpsQuality_ARRAYSIZE = + BasicInfo_GpsQuality_GpsQuality_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + GpsQuality_descriptor() { + return BasicInfo_GpsQuality_descriptor(); + } + static inline const ::std::string& GpsQuality_Name(GpsQuality value) { + return BasicInfo_GpsQuality_Name(value); + } + static inline bool GpsQuality_Parse(const ::std::string& name, + GpsQuality* value) { + return BasicInfo_GpsQuality_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.canbus.BasicInfo.Type power_state = 2; + void clear_power_state(); + static const int kPowerStateFieldNumber = 2; + ::apollo::canbus::BasicInfo_Type power_state() const; + void set_power_state(::apollo::canbus::BasicInfo_Type value); + + // bool is_auto_mode = 1; + void clear_is_auto_mode(); + static const int kIsAutoModeFieldNumber = 1; + bool is_auto_mode() const; + void set_is_auto_mode(bool value); + + // bool is_air_bag_deployed = 3; + void clear_is_air_bag_deployed(); + static const int kIsAirBagDeployedFieldNumber = 3; + bool is_air_bag_deployed() const; + void set_is_air_bag_deployed(bool value); + + // bool is_system_error = 6; + void clear_is_system_error(); + static const int kIsSystemErrorFieldNumber = 6; + bool is_system_error() const; + void set_is_system_error(bool value); + + // bool is_human_interrupt = 7; + void clear_is_human_interrupt(); + static const int kIsHumanInterruptFieldNumber = 7; + bool is_human_interrupt() const; + void set_is_human_interrupt(bool value); + + // double odo_meter = 4; + void clear_odo_meter(); + static const int kOdoMeterFieldNumber = 4; + double odo_meter() const; + void set_odo_meter(double value); + + // double drive_range = 5; + void clear_drive_range(); + static const int kDriveRangeFieldNumber = 5; + double drive_range() const; + void set_drive_range(double value); + + // bool acc_on_button = 8; + void clear_acc_on_button(); + static const int kAccOnButtonFieldNumber = 8; + bool acc_on_button() const; + void set_acc_on_button(bool value); + + // bool acc_off_button = 9; + void clear_acc_off_button(); + static const int kAccOffButtonFieldNumber = 9; + bool acc_off_button() const; + void set_acc_off_button(bool value); + + // bool acc_res_button = 10; + void clear_acc_res_button(); + static const int kAccResButtonFieldNumber = 10; + bool acc_res_button() const; + void set_acc_res_button(bool value); + + // bool acc_cancel_button = 11; + void clear_acc_cancel_button(); + static const int kAccCancelButtonFieldNumber = 11; + bool acc_cancel_button() const; + void set_acc_cancel_button(bool value); + + // bool acc_on_off_button = 12; + void clear_acc_on_off_button(); + static const int kAccOnOffButtonFieldNumber = 12; + bool acc_on_off_button() const; + void set_acc_on_off_button(bool value); + + // bool acc_res_cancel_button = 13; + void clear_acc_res_cancel_button(); + static const int kAccResCancelButtonFieldNumber = 13; + bool acc_res_cancel_button() const; + void set_acc_res_cancel_button(bool value); + + // bool acc_inc_spd_button = 14; + void clear_acc_inc_spd_button(); + static const int kAccIncSpdButtonFieldNumber = 14; + bool acc_inc_spd_button() const; + void set_acc_inc_spd_button(bool value); + + // bool acc_dec_spd_button = 15; + void clear_acc_dec_spd_button(); + static const int kAccDecSpdButtonFieldNumber = 15; + bool acc_dec_spd_button() const; + void set_acc_dec_spd_button(bool value); + + // bool acc_inc_gap_button = 16; + void clear_acc_inc_gap_button(); + static const int kAccIncGapButtonFieldNumber = 16; + bool acc_inc_gap_button() const; + void set_acc_inc_gap_button(bool value); + + // bool acc_dec_gap_button = 17; + void clear_acc_dec_gap_button(); + static const int kAccDecGapButtonFieldNumber = 17; + bool acc_dec_gap_button() const; + void set_acc_dec_gap_button(bool value); + + // bool lka_button = 18; + void clear_lka_button(); + static const int kLkaButtonFieldNumber = 18; + bool lka_button() const; + void set_lka_button(bool value); + + // bool canbus_fault = 19; + void clear_canbus_fault(); + static const int kCanbusFaultFieldNumber = 19; + bool canbus_fault() const; + void set_canbus_fault(bool value); + + // int32 year = 23; + void clear_year(); + static const int kYearFieldNumber = 23; + ::google::protobuf::int32 year() const; + void set_year(::google::protobuf::int32 value); + + // double latitude = 20; + void clear_latitude(); + static const int kLatitudeFieldNumber = 20; + double latitude() const; + void set_latitude(double value); + + // double longitude = 21; + void clear_longitude(); + static const int kLongitudeFieldNumber = 21; + double longitude() const; + void set_longitude(double value); + + // int32 month = 24; + void clear_month(); + static const int kMonthFieldNumber = 24; + ::google::protobuf::int32 month() const; + void set_month(::google::protobuf::int32 value); + + // int32 day = 25; + void clear_day(); + static const int kDayFieldNumber = 25; + ::google::protobuf::int32 day() const; + void set_day(::google::protobuf::int32 value); + + // int32 hours = 26; + void clear_hours(); + static const int kHoursFieldNumber = 26; + ::google::protobuf::int32 hours() const; + void set_hours(::google::protobuf::int32 value); + + // int32 minutes = 27; + void clear_minutes(); + static const int kMinutesFieldNumber = 27; + ::google::protobuf::int32 minutes() const; + void set_minutes(::google::protobuf::int32 value); + + // int32 seconds = 28; + void clear_seconds(); + static const int kSecondsFieldNumber = 28; + ::google::protobuf::int32 seconds() const; + void set_seconds(::google::protobuf::int32 value); + + // bool gps_valid = 22; + void clear_gps_valid(); + static const int kGpsValidFieldNumber = 22; + bool gps_valid() const; + void set_gps_valid(bool value); + + // bool is_gps_fault = 31; + void clear_is_gps_fault(); + static const int kIsGpsFaultFieldNumber = 31; + bool is_gps_fault() const; + void set_is_gps_fault(bool value); + + // bool is_inferred = 32; + void clear_is_inferred(); + static const int kIsInferredFieldNumber = 32; + bool is_inferred() const; + void set_is_inferred(bool value); + + // double compass_direction = 29; + void clear_compass_direction(); + static const int kCompassDirectionFieldNumber = 29; + double compass_direction() const; + void set_compass_direction(double value); + + // double pdop = 30; + void clear_pdop(); + static const int kPdopFieldNumber = 30; + double pdop() const; + void set_pdop(double value); + + // double altitude = 33; + void clear_altitude(); + static const int kAltitudeFieldNumber = 33; + double altitude() const; + void set_altitude(double value); + + // double heading = 34; + void clear_heading(); + static const int kHeadingFieldNumber = 34; + double heading() const; + void set_heading(double value); + + // double hdop = 35; + void clear_hdop(); + static const int kHdopFieldNumber = 35; + double hdop() const; + void set_hdop(double value); + + // double vdop = 36; + void clear_vdop(); + static const int kVdopFieldNumber = 36; + double vdop() const; + void set_vdop(double value); + + // .apollo.canbus.BasicInfo.GpsQuality quality = 37; + void clear_quality(); + static const int kQualityFieldNumber = 37; + ::apollo::canbus::BasicInfo_GpsQuality quality() const; + void set_quality(::apollo::canbus::BasicInfo_GpsQuality value); + + // int32 num_satellites = 38; + void clear_num_satellites(); + static const int kNumSatellitesFieldNumber = 38; + ::google::protobuf::int32 num_satellites() const; + void set_num_satellites(::google::protobuf::int32 value); + + // double gps_speed = 39; + void clear_gps_speed(); + static const int kGpsSpeedFieldNumber = 39; + double gps_speed() const; + void set_gps_speed(double value); + + // @@protoc_insertion_point(class_scope:apollo.canbus.BasicInfo) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + int power_state_; + bool is_auto_mode_; + bool is_air_bag_deployed_; + bool is_system_error_; + bool is_human_interrupt_; + double odo_meter_; + double drive_range_; + bool acc_on_button_; + bool acc_off_button_; + bool acc_res_button_; + bool acc_cancel_button_; + bool acc_on_off_button_; + bool acc_res_cancel_button_; + bool acc_inc_spd_button_; + bool acc_dec_spd_button_; + bool acc_inc_gap_button_; + bool acc_dec_gap_button_; + bool lka_button_; + bool canbus_fault_; + ::google::protobuf::int32 year_; + double latitude_; + double longitude_; + ::google::protobuf::int32 month_; + ::google::protobuf::int32 day_; + ::google::protobuf::int32 hours_; + ::google::protobuf::int32 minutes_; + ::google::protobuf::int32 seconds_; + bool gps_valid_; + bool is_gps_fault_; + bool is_inferred_; + double compass_direction_; + double pdop_; + double altitude_; + double heading_; + double hdop_; + double vdop_; + int quality_; + ::google::protobuf::int32 num_satellites_; + double gps_speed_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// ChassisDetail + +// .apollo.canbus.ChassisDetail.Type car_type = 1; +inline void ChassisDetail::clear_car_type() { + car_type_ = 0; +} +inline ::apollo::canbus::ChassisDetail_Type ChassisDetail::car_type() const { + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.car_type) + return static_cast< ::apollo::canbus::ChassisDetail_Type >(car_type_); +} +inline void ChassisDetail::set_car_type(::apollo::canbus::ChassisDetail_Type value) { + + car_type_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.ChassisDetail.car_type) +} + +// .apollo.canbus.BasicInfo basic = 2; +inline bool ChassisDetail::has_basic() const { + return this != internal_default_instance() && basic_ != NULL; +} +inline void ChassisDetail::clear_basic() { + if (GetArenaNoVirtual() == NULL && basic_ != NULL) { + delete basic_; + } + basic_ = NULL; +} +inline const ::apollo::canbus::BasicInfo& ChassisDetail::_internal_basic() const { + return *basic_; +} +inline const ::apollo::canbus::BasicInfo& ChassisDetail::basic() const { + const ::apollo::canbus::BasicInfo* p = basic_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.basic) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_BasicInfo_default_instance_); +} +inline ::apollo::canbus::BasicInfo* ChassisDetail::release_basic() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.basic) + + ::apollo::canbus::BasicInfo* temp = basic_; + basic_ = NULL; + return temp; +} +inline ::apollo::canbus::BasicInfo* ChassisDetail::mutable_basic() { + + if (basic_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::BasicInfo>(GetArenaNoVirtual()); + basic_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.basic) + return basic_; +} +inline void ChassisDetail::set_allocated_basic(::apollo::canbus::BasicInfo* basic) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete basic_; + } + if (basic) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + basic = ::google::protobuf::internal::GetOwnedMessage( + message_arena, basic, submessage_arena); + } + + } else { + + } + basic_ = basic; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.basic) +} + +// .apollo.canbus.Safety safety = 3; +inline bool ChassisDetail::has_safety() const { + return this != internal_default_instance() && safety_ != NULL; +} +inline void ChassisDetail::clear_safety() { + if (GetArenaNoVirtual() == NULL && safety_ != NULL) { + delete safety_; + } + safety_ = NULL; +} +inline const ::apollo::canbus::Safety& ChassisDetail::_internal_safety() const { + return *safety_; +} +inline const ::apollo::canbus::Safety& ChassisDetail::safety() const { + const ::apollo::canbus::Safety* p = safety_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.safety) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Safety_default_instance_); +} +inline ::apollo::canbus::Safety* ChassisDetail::release_safety() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.safety) + + ::apollo::canbus::Safety* temp = safety_; + safety_ = NULL; + return temp; +} +inline ::apollo::canbus::Safety* ChassisDetail::mutable_safety() { + + if (safety_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Safety>(GetArenaNoVirtual()); + safety_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.safety) + return safety_; +} +inline void ChassisDetail::set_allocated_safety(::apollo::canbus::Safety* safety) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete safety_; + } + if (safety) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + safety = ::google::protobuf::internal::GetOwnedMessage( + message_arena, safety, submessage_arena); + } + + } else { + + } + safety_ = safety; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.safety) +} + +// .apollo.canbus.Gear gear = 4; +inline bool ChassisDetail::has_gear() const { + return this != internal_default_instance() && gear_ != NULL; +} +inline void ChassisDetail::clear_gear() { + if (GetArenaNoVirtual() == NULL && gear_ != NULL) { + delete gear_; + } + gear_ = NULL; +} +inline const ::apollo::canbus::Gear& ChassisDetail::_internal_gear() const { + return *gear_; +} +inline const ::apollo::canbus::Gear& ChassisDetail::gear() const { + const ::apollo::canbus::Gear* p = gear_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.gear) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Gear_default_instance_); +} +inline ::apollo::canbus::Gear* ChassisDetail::release_gear() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.gear) + + ::apollo::canbus::Gear* temp = gear_; + gear_ = NULL; + return temp; +} +inline ::apollo::canbus::Gear* ChassisDetail::mutable_gear() { + + if (gear_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Gear>(GetArenaNoVirtual()); + gear_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.gear) + return gear_; +} +inline void ChassisDetail::set_allocated_gear(::apollo::canbus::Gear* gear) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete gear_; + } + if (gear) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + gear = ::google::protobuf::internal::GetOwnedMessage( + message_arena, gear, submessage_arena); + } + + } else { + + } + gear_ = gear; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.gear) +} + +// .apollo.canbus.Ems ems = 5; +inline bool ChassisDetail::has_ems() const { + return this != internal_default_instance() && ems_ != NULL; +} +inline void ChassisDetail::clear_ems() { + if (GetArenaNoVirtual() == NULL && ems_ != NULL) { + delete ems_; + } + ems_ = NULL; +} +inline const ::apollo::canbus::Ems& ChassisDetail::_internal_ems() const { + return *ems_; +} +inline const ::apollo::canbus::Ems& ChassisDetail::ems() const { + const ::apollo::canbus::Ems* p = ems_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.ems) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Ems_default_instance_); +} +inline ::apollo::canbus::Ems* ChassisDetail::release_ems() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.ems) + + ::apollo::canbus::Ems* temp = ems_; + ems_ = NULL; + return temp; +} +inline ::apollo::canbus::Ems* ChassisDetail::mutable_ems() { + + if (ems_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Ems>(GetArenaNoVirtual()); + ems_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.ems) + return ems_; +} +inline void ChassisDetail::set_allocated_ems(::apollo::canbus::Ems* ems) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete ems_; + } + if (ems) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + ems = ::google::protobuf::internal::GetOwnedMessage( + message_arena, ems, submessage_arena); + } + + } else { + + } + ems_ = ems; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.ems) +} + +// .apollo.canbus.Esp esp = 6; +inline bool ChassisDetail::has_esp() const { + return this != internal_default_instance() && esp_ != NULL; +} +inline void ChassisDetail::clear_esp() { + if (GetArenaNoVirtual() == NULL && esp_ != NULL) { + delete esp_; + } + esp_ = NULL; +} +inline const ::apollo::canbus::Esp& ChassisDetail::_internal_esp() const { + return *esp_; +} +inline const ::apollo::canbus::Esp& ChassisDetail::esp() const { + const ::apollo::canbus::Esp* p = esp_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.esp) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Esp_default_instance_); +} +inline ::apollo::canbus::Esp* ChassisDetail::release_esp() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.esp) + + ::apollo::canbus::Esp* temp = esp_; + esp_ = NULL; + return temp; +} +inline ::apollo::canbus::Esp* ChassisDetail::mutable_esp() { + + if (esp_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Esp>(GetArenaNoVirtual()); + esp_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.esp) + return esp_; +} +inline void ChassisDetail::set_allocated_esp(::apollo::canbus::Esp* esp) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete esp_; + } + if (esp) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + esp = ::google::protobuf::internal::GetOwnedMessage( + message_arena, esp, submessage_arena); + } + + } else { + + } + esp_ = esp; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.esp) +} + +// .apollo.canbus.Gas gas = 7; +inline bool ChassisDetail::has_gas() const { + return this != internal_default_instance() && gas_ != NULL; +} +inline void ChassisDetail::clear_gas() { + if (GetArenaNoVirtual() == NULL && gas_ != NULL) { + delete gas_; + } + gas_ = NULL; +} +inline const ::apollo::canbus::Gas& ChassisDetail::_internal_gas() const { + return *gas_; +} +inline const ::apollo::canbus::Gas& ChassisDetail::gas() const { + const ::apollo::canbus::Gas* p = gas_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.gas) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Gas_default_instance_); +} +inline ::apollo::canbus::Gas* ChassisDetail::release_gas() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.gas) + + ::apollo::canbus::Gas* temp = gas_; + gas_ = NULL; + return temp; +} +inline ::apollo::canbus::Gas* ChassisDetail::mutable_gas() { + + if (gas_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Gas>(GetArenaNoVirtual()); + gas_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.gas) + return gas_; +} +inline void ChassisDetail::set_allocated_gas(::apollo::canbus::Gas* gas) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete gas_; + } + if (gas) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + gas = ::google::protobuf::internal::GetOwnedMessage( + message_arena, gas, submessage_arena); + } + + } else { + + } + gas_ = gas; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.gas) +} + +// .apollo.canbus.Epb epb = 8; +inline bool ChassisDetail::has_epb() const { + return this != internal_default_instance() && epb_ != NULL; +} +inline void ChassisDetail::clear_epb() { + if (GetArenaNoVirtual() == NULL && epb_ != NULL) { + delete epb_; + } + epb_ = NULL; +} +inline const ::apollo::canbus::Epb& ChassisDetail::_internal_epb() const { + return *epb_; +} +inline const ::apollo::canbus::Epb& ChassisDetail::epb() const { + const ::apollo::canbus::Epb* p = epb_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.epb) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Epb_default_instance_); +} +inline ::apollo::canbus::Epb* ChassisDetail::release_epb() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.epb) + + ::apollo::canbus::Epb* temp = epb_; + epb_ = NULL; + return temp; +} +inline ::apollo::canbus::Epb* ChassisDetail::mutable_epb() { + + if (epb_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Epb>(GetArenaNoVirtual()); + epb_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.epb) + return epb_; +} +inline void ChassisDetail::set_allocated_epb(::apollo::canbus::Epb* epb) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete epb_; + } + if (epb) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + epb = ::google::protobuf::internal::GetOwnedMessage( + message_arena, epb, submessage_arena); + } + + } else { + + } + epb_ = epb; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.epb) +} + +// .apollo.canbus.Brake brake = 9; +inline bool ChassisDetail::has_brake() const { + return this != internal_default_instance() && brake_ != NULL; +} +inline void ChassisDetail::clear_brake() { + if (GetArenaNoVirtual() == NULL && brake_ != NULL) { + delete brake_; + } + brake_ = NULL; +} +inline const ::apollo::canbus::Brake& ChassisDetail::_internal_brake() const { + return *brake_; +} +inline const ::apollo::canbus::Brake& ChassisDetail::brake() const { + const ::apollo::canbus::Brake* p = brake_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.brake) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Brake_default_instance_); +} +inline ::apollo::canbus::Brake* ChassisDetail::release_brake() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.brake) + + ::apollo::canbus::Brake* temp = brake_; + brake_ = NULL; + return temp; +} +inline ::apollo::canbus::Brake* ChassisDetail::mutable_brake() { + + if (brake_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Brake>(GetArenaNoVirtual()); + brake_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.brake) + return brake_; +} +inline void ChassisDetail::set_allocated_brake(::apollo::canbus::Brake* brake) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete brake_; + } + if (brake) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + brake = ::google::protobuf::internal::GetOwnedMessage( + message_arena, brake, submessage_arena); + } + + } else { + + } + brake_ = brake; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.brake) +} + +// .apollo.canbus.Deceleration deceleration = 10; +inline bool ChassisDetail::has_deceleration() const { + return this != internal_default_instance() && deceleration_ != NULL; +} +inline void ChassisDetail::clear_deceleration() { + if (GetArenaNoVirtual() == NULL && deceleration_ != NULL) { + delete deceleration_; + } + deceleration_ = NULL; +} +inline const ::apollo::canbus::Deceleration& ChassisDetail::_internal_deceleration() const { + return *deceleration_; +} +inline const ::apollo::canbus::Deceleration& ChassisDetail::deceleration() const { + const ::apollo::canbus::Deceleration* p = deceleration_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.deceleration) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Deceleration_default_instance_); +} +inline ::apollo::canbus::Deceleration* ChassisDetail::release_deceleration() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.deceleration) + + ::apollo::canbus::Deceleration* temp = deceleration_; + deceleration_ = NULL; + return temp; +} +inline ::apollo::canbus::Deceleration* ChassisDetail::mutable_deceleration() { + + if (deceleration_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Deceleration>(GetArenaNoVirtual()); + deceleration_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.deceleration) + return deceleration_; +} +inline void ChassisDetail::set_allocated_deceleration(::apollo::canbus::Deceleration* deceleration) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete deceleration_; + } + if (deceleration) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + deceleration = ::google::protobuf::internal::GetOwnedMessage( + message_arena, deceleration, submessage_arena); + } + + } else { + + } + deceleration_ = deceleration; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.deceleration) +} + +// .apollo.canbus.VehicleSpd vehicle_spd = 11; +inline bool ChassisDetail::has_vehicle_spd() const { + return this != internal_default_instance() && vehicle_spd_ != NULL; +} +inline void ChassisDetail::clear_vehicle_spd() { + if (GetArenaNoVirtual() == NULL && vehicle_spd_ != NULL) { + delete vehicle_spd_; + } + vehicle_spd_ = NULL; +} +inline const ::apollo::canbus::VehicleSpd& ChassisDetail::_internal_vehicle_spd() const { + return *vehicle_spd_; +} +inline const ::apollo::canbus::VehicleSpd& ChassisDetail::vehicle_spd() const { + const ::apollo::canbus::VehicleSpd* p = vehicle_spd_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.vehicle_spd) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_VehicleSpd_default_instance_); +} +inline ::apollo::canbus::VehicleSpd* ChassisDetail::release_vehicle_spd() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.vehicle_spd) + + ::apollo::canbus::VehicleSpd* temp = vehicle_spd_; + vehicle_spd_ = NULL; + return temp; +} +inline ::apollo::canbus::VehicleSpd* ChassisDetail::mutable_vehicle_spd() { + + if (vehicle_spd_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::VehicleSpd>(GetArenaNoVirtual()); + vehicle_spd_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.vehicle_spd) + return vehicle_spd_; +} +inline void ChassisDetail::set_allocated_vehicle_spd(::apollo::canbus::VehicleSpd* vehicle_spd) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete vehicle_spd_; + } + if (vehicle_spd) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + vehicle_spd = ::google::protobuf::internal::GetOwnedMessage( + message_arena, vehicle_spd, submessage_arena); + } + + } else { + + } + vehicle_spd_ = vehicle_spd; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.vehicle_spd) +} + +// .apollo.canbus.Eps eps = 12; +inline bool ChassisDetail::has_eps() const { + return this != internal_default_instance() && eps_ != NULL; +} +inline void ChassisDetail::clear_eps() { + if (GetArenaNoVirtual() == NULL && eps_ != NULL) { + delete eps_; + } + eps_ = NULL; +} +inline const ::apollo::canbus::Eps& ChassisDetail::_internal_eps() const { + return *eps_; +} +inline const ::apollo::canbus::Eps& ChassisDetail::eps() const { + const ::apollo::canbus::Eps* p = eps_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.eps) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Eps_default_instance_); +} +inline ::apollo::canbus::Eps* ChassisDetail::release_eps() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.eps) + + ::apollo::canbus::Eps* temp = eps_; + eps_ = NULL; + return temp; +} +inline ::apollo::canbus::Eps* ChassisDetail::mutable_eps() { + + if (eps_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Eps>(GetArenaNoVirtual()); + eps_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.eps) + return eps_; +} +inline void ChassisDetail::set_allocated_eps(::apollo::canbus::Eps* eps) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete eps_; + } + if (eps) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + eps = ::google::protobuf::internal::GetOwnedMessage( + message_arena, eps, submessage_arena); + } + + } else { + + } + eps_ = eps; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.eps) +} + +// .apollo.canbus.Light light = 13; +inline bool ChassisDetail::has_light() const { + return this != internal_default_instance() && light_ != NULL; +} +inline void ChassisDetail::clear_light() { + if (GetArenaNoVirtual() == NULL && light_ != NULL) { + delete light_; + } + light_ = NULL; +} +inline const ::apollo::canbus::Light& ChassisDetail::_internal_light() const { + return *light_; +} +inline const ::apollo::canbus::Light& ChassisDetail::light() const { + const ::apollo::canbus::Light* p = light_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.light) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Light_default_instance_); +} +inline ::apollo::canbus::Light* ChassisDetail::release_light() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.light) + + ::apollo::canbus::Light* temp = light_; + light_ = NULL; + return temp; +} +inline ::apollo::canbus::Light* ChassisDetail::mutable_light() { + + if (light_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Light>(GetArenaNoVirtual()); + light_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.light) + return light_; +} +inline void ChassisDetail::set_allocated_light(::apollo::canbus::Light* light) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete light_; + } + if (light) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + light = ::google::protobuf::internal::GetOwnedMessage( + message_arena, light, submessage_arena); + } + + } else { + + } + light_ = light; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.light) +} + +// .apollo.canbus.Battery battery = 14; +inline bool ChassisDetail::has_battery() const { + return this != internal_default_instance() && battery_ != NULL; +} +inline void ChassisDetail::clear_battery() { + if (GetArenaNoVirtual() == NULL && battery_ != NULL) { + delete battery_; + } + battery_ = NULL; +} +inline const ::apollo::canbus::Battery& ChassisDetail::_internal_battery() const { + return *battery_; +} +inline const ::apollo::canbus::Battery& ChassisDetail::battery() const { + const ::apollo::canbus::Battery* p = battery_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.battery) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Battery_default_instance_); +} +inline ::apollo::canbus::Battery* ChassisDetail::release_battery() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.battery) + + ::apollo::canbus::Battery* temp = battery_; + battery_ = NULL; + return temp; +} +inline ::apollo::canbus::Battery* ChassisDetail::mutable_battery() { + + if (battery_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Battery>(GetArenaNoVirtual()); + battery_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.battery) + return battery_; +} +inline void ChassisDetail::set_allocated_battery(::apollo::canbus::Battery* battery) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete battery_; + } + if (battery) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + battery = ::google::protobuf::internal::GetOwnedMessage( + message_arena, battery, submessage_arena); + } + + } else { + + } + battery_ = battery; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.battery) +} + +// .apollo.canbus.CheckResponseSignal check_response = 15; +inline bool ChassisDetail::has_check_response() const { + return this != internal_default_instance() && check_response_ != NULL; +} +inline void ChassisDetail::clear_check_response() { + if (GetArenaNoVirtual() == NULL && check_response_ != NULL) { + delete check_response_; + } + check_response_ = NULL; +} +inline const ::apollo::canbus::CheckResponseSignal& ChassisDetail::_internal_check_response() const { + return *check_response_; +} +inline const ::apollo::canbus::CheckResponseSignal& ChassisDetail::check_response() const { + const ::apollo::canbus::CheckResponseSignal* p = check_response_; + // @@protoc_insertion_point(field_get:apollo.canbus.ChassisDetail.check_response) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_CheckResponseSignal_default_instance_); +} +inline ::apollo::canbus::CheckResponseSignal* ChassisDetail::release_check_response() { + // @@protoc_insertion_point(field_release:apollo.canbus.ChassisDetail.check_response) + + ::apollo::canbus::CheckResponseSignal* temp = check_response_; + check_response_ = NULL; + return temp; +} +inline ::apollo::canbus::CheckResponseSignal* ChassisDetail::mutable_check_response() { + + if (check_response_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::CheckResponseSignal>(GetArenaNoVirtual()); + check_response_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.canbus.ChassisDetail.check_response) + return check_response_; +} +inline void ChassisDetail::set_allocated_check_response(::apollo::canbus::CheckResponseSignal* check_response) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete check_response_; + } + if (check_response) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + check_response = ::google::protobuf::internal::GetOwnedMessage( + message_arena, check_response, submessage_arena); + } + + } else { + + } + check_response_ = check_response; + // @@protoc_insertion_point(field_set_allocated:apollo.canbus.ChassisDetail.check_response) +} + +// ------------------------------------------------------------------- + +// CheckResponseSignal + +// bool is_eps_online = 1; +inline void CheckResponseSignal::clear_is_eps_online() { + is_eps_online_ = false; +} +inline bool CheckResponseSignal::is_eps_online() const { + // @@protoc_insertion_point(field_get:apollo.canbus.CheckResponseSignal.is_eps_online) + return is_eps_online_; +} +inline void CheckResponseSignal::set_is_eps_online(bool value) { + + is_eps_online_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.CheckResponseSignal.is_eps_online) +} + +// bool is_epb_online = 2; +inline void CheckResponseSignal::clear_is_epb_online() { + is_epb_online_ = false; +} +inline bool CheckResponseSignal::is_epb_online() const { + // @@protoc_insertion_point(field_get:apollo.canbus.CheckResponseSignal.is_epb_online) + return is_epb_online_; +} +inline void CheckResponseSignal::set_is_epb_online(bool value) { + + is_epb_online_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.CheckResponseSignal.is_epb_online) +} + +// bool is_esp_online = 3; +inline void CheckResponseSignal::clear_is_esp_online() { + is_esp_online_ = false; +} +inline bool CheckResponseSignal::is_esp_online() const { + // @@protoc_insertion_point(field_get:apollo.canbus.CheckResponseSignal.is_esp_online) + return is_esp_online_; +} +inline void CheckResponseSignal::set_is_esp_online(bool value) { + + is_esp_online_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.CheckResponseSignal.is_esp_online) +} + +// bool is_vtog_online = 4; +inline void CheckResponseSignal::clear_is_vtog_online() { + is_vtog_online_ = false; +} +inline bool CheckResponseSignal::is_vtog_online() const { + // @@protoc_insertion_point(field_get:apollo.canbus.CheckResponseSignal.is_vtog_online) + return is_vtog_online_; +} +inline void CheckResponseSignal::set_is_vtog_online(bool value) { + + is_vtog_online_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.CheckResponseSignal.is_vtog_online) +} + +// bool is_scu_online = 5; +inline void CheckResponseSignal::clear_is_scu_online() { + is_scu_online_ = false; +} +inline bool CheckResponseSignal::is_scu_online() const { + // @@protoc_insertion_point(field_get:apollo.canbus.CheckResponseSignal.is_scu_online) + return is_scu_online_; +} +inline void CheckResponseSignal::set_is_scu_online(bool value) { + + is_scu_online_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.CheckResponseSignal.is_scu_online) +} + +// bool is_switch_online = 6; +inline void CheckResponseSignal::clear_is_switch_online() { + is_switch_online_ = false; +} +inline bool CheckResponseSignal::is_switch_online() const { + // @@protoc_insertion_point(field_get:apollo.canbus.CheckResponseSignal.is_switch_online) + return is_switch_online_; +} +inline void CheckResponseSignal::set_is_switch_online(bool value) { + + is_switch_online_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.CheckResponseSignal.is_switch_online) +} + +// bool is_vcu_online = 7; +inline void CheckResponseSignal::clear_is_vcu_online() { + is_vcu_online_ = false; +} +inline bool CheckResponseSignal::is_vcu_online() const { + // @@protoc_insertion_point(field_get:apollo.canbus.CheckResponseSignal.is_vcu_online) + return is_vcu_online_; +} +inline void CheckResponseSignal::set_is_vcu_online(bool value) { + + is_vcu_online_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.CheckResponseSignal.is_vcu_online) +} + +// ------------------------------------------------------------------- + +// Battery + +// double battery_percent = 1; +inline void Battery::clear_battery_percent() { + battery_percent_ = 0; +} +inline double Battery::battery_percent() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Battery.battery_percent) + return battery_percent_; +} +inline void Battery::set_battery_percent(double value) { + + battery_percent_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Battery.battery_percent) +} + +// double fuel_level = 2; +inline void Battery::clear_fuel_level() { + fuel_level_ = 0; +} +inline double Battery::fuel_level() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Battery.fuel_level) + return fuel_level_; +} +inline void Battery::set_fuel_level(double value) { + + fuel_level_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Battery.fuel_level) +} + +// ------------------------------------------------------------------- + +// Light + +// .apollo.canbus.Light.TurnLightType turn_light_type = 1; +inline void Light::clear_turn_light_type() { + turn_light_type_ = 0; +} +inline ::apollo::canbus::Light_TurnLightType Light::turn_light_type() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.turn_light_type) + return static_cast< ::apollo::canbus::Light_TurnLightType >(turn_light_type_); +} +inline void Light::set_turn_light_type(::apollo::canbus::Light_TurnLightType value) { + + turn_light_type_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.turn_light_type) +} + +// .apollo.canbus.Light.LampType lamp_type = 2; +inline void Light::clear_lamp_type() { + lamp_type_ = 0; +} +inline ::apollo::canbus::Light_LampType Light::lamp_type() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.lamp_type) + return static_cast< ::apollo::canbus::Light_LampType >(lamp_type_); +} +inline void Light::set_lamp_type(::apollo::canbus::Light_LampType value) { + + lamp_type_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.lamp_type) +} + +// bool is_brake_lamp_on = 3; +inline void Light::clear_is_brake_lamp_on() { + is_brake_lamp_on_ = false; +} +inline bool Light::is_brake_lamp_on() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.is_brake_lamp_on) + return is_brake_lamp_on_; +} +inline void Light::set_is_brake_lamp_on(bool value) { + + is_brake_lamp_on_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.is_brake_lamp_on) +} + +// bool is_auto_light = 4; +inline void Light::clear_is_auto_light() { + is_auto_light_ = false; +} +inline bool Light::is_auto_light() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.is_auto_light) + return is_auto_light_; +} +inline void Light::set_is_auto_light(bool value) { + + is_auto_light_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.is_auto_light) +} + +// int32 wiper_gear = 5; +inline void Light::clear_wiper_gear() { + wiper_gear_ = 0; +} +inline ::google::protobuf::int32 Light::wiper_gear() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.wiper_gear) + return wiper_gear_; +} +inline void Light::set_wiper_gear(::google::protobuf::int32 value) { + + wiper_gear_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.wiper_gear) +} + +// int32 lotion_gear = 6; +inline void Light::clear_lotion_gear() { + lotion_gear_ = 0; +} +inline ::google::protobuf::int32 Light::lotion_gear() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.lotion_gear) + return lotion_gear_; +} +inline void Light::set_lotion_gear(::google::protobuf::int32 value) { + + lotion_gear_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.lotion_gear) +} + +// bool is_horn_on = 7; +inline void Light::clear_is_horn_on() { + is_horn_on_ = false; +} +inline bool Light::is_horn_on() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.is_horn_on) + return is_horn_on_; +} +inline void Light::set_is_horn_on(bool value) { + + is_horn_on_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.is_horn_on) +} + +// .apollo.canbus.Light.LincolnLampType lincoln_lamp_type = 8; +inline void Light::clear_lincoln_lamp_type() { + lincoln_lamp_type_ = 0; +} +inline ::apollo::canbus::Light_LincolnLampType Light::lincoln_lamp_type() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.lincoln_lamp_type) + return static_cast< ::apollo::canbus::Light_LincolnLampType >(lincoln_lamp_type_); +} +inline void Light::set_lincoln_lamp_type(::apollo::canbus::Light_LincolnLampType value) { + + lincoln_lamp_type_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.lincoln_lamp_type) +} + +// .apollo.canbus.Light.LincolnWiperType lincoln_wiper = 9; +inline void Light::clear_lincoln_wiper() { + lincoln_wiper_ = 0; +} +inline ::apollo::canbus::Light_LincolnWiperType Light::lincoln_wiper() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.lincoln_wiper) + return static_cast< ::apollo::canbus::Light_LincolnWiperType >(lincoln_wiper_); +} +inline void Light::set_lincoln_wiper(::apollo::canbus::Light_LincolnWiperType value) { + + lincoln_wiper_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.lincoln_wiper) +} + +// .apollo.canbus.Light.LincolnAmbientType lincoln_ambient = 10; +inline void Light::clear_lincoln_ambient() { + lincoln_ambient_ = 0; +} +inline ::apollo::canbus::Light_LincolnAmbientType Light::lincoln_ambient() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Light.lincoln_ambient) + return static_cast< ::apollo::canbus::Light_LincolnAmbientType >(lincoln_ambient_); +} +inline void Light::set_lincoln_ambient(::apollo::canbus::Light_LincolnAmbientType value) { + + lincoln_ambient_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Light.lincoln_ambient) +} + +// ------------------------------------------------------------------- + +// Eps + +// bool is_eps_fail = 1; +inline void Eps::clear_is_eps_fail() { + is_eps_fail_ = false; +} +inline bool Eps::is_eps_fail() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.is_eps_fail) + return is_eps_fail_; +} +inline void Eps::set_is_eps_fail(bool value) { + + is_eps_fail_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.is_eps_fail) +} + +// .apollo.canbus.Eps.Type eps_control_state = 2; +inline void Eps::clear_eps_control_state() { + eps_control_state_ = 0; +} +inline ::apollo::canbus::Eps_Type Eps::eps_control_state() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.eps_control_state) + return static_cast< ::apollo::canbus::Eps_Type >(eps_control_state_); +} +inline void Eps::set_eps_control_state(::apollo::canbus::Eps_Type value) { + + eps_control_state_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.eps_control_state) +} + +// double eps_driver_hand_torq = 3; +inline void Eps::clear_eps_driver_hand_torq() { + eps_driver_hand_torq_ = 0; +} +inline double Eps::eps_driver_hand_torq() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.eps_driver_hand_torq) + return eps_driver_hand_torq_; +} +inline void Eps::set_eps_driver_hand_torq(double value) { + + eps_driver_hand_torq_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.eps_driver_hand_torq) +} + +// bool is_steering_angle_valid = 4; +inline void Eps::clear_is_steering_angle_valid() { + is_steering_angle_valid_ = false; +} +inline bool Eps::is_steering_angle_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.is_steering_angle_valid) + return is_steering_angle_valid_; +} +inline void Eps::set_is_steering_angle_valid(bool value) { + + is_steering_angle_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.is_steering_angle_valid) +} + +// double steering_angle = 5; +inline void Eps::clear_steering_angle() { + steering_angle_ = 0; +} +inline double Eps::steering_angle() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.steering_angle) + return steering_angle_; +} +inline void Eps::set_steering_angle(double value) { + + steering_angle_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.steering_angle) +} + +// double steering_angle_spd = 6; +inline void Eps::clear_steering_angle_spd() { + steering_angle_spd_ = 0; +} +inline double Eps::steering_angle_spd() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.steering_angle_spd) + return steering_angle_spd_; +} +inline void Eps::set_steering_angle_spd(double value) { + + steering_angle_spd_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.steering_angle_spd) +} + +// bool is_trimming_status = 7; +inline void Eps::clear_is_trimming_status() { + is_trimming_status_ = false; +} +inline bool Eps::is_trimming_status() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.is_trimming_status) + return is_trimming_status_; +} +inline void Eps::set_is_trimming_status(bool value) { + + is_trimming_status_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.is_trimming_status) +} + +// bool is_calibration_status = 8; +inline void Eps::clear_is_calibration_status() { + is_calibration_status_ = false; +} +inline bool Eps::is_calibration_status() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.is_calibration_status) + return is_calibration_status_; +} +inline void Eps::set_is_calibration_status(bool value) { + + is_calibration_status_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.is_calibration_status) +} + +// bool is_failure_status = 9; +inline void Eps::clear_is_failure_status() { + is_failure_status_ = false; +} +inline bool Eps::is_failure_status() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.is_failure_status) + return is_failure_status_; +} +inline void Eps::set_is_failure_status(bool value) { + + is_failure_status_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.is_failure_status) +} + +// int32 allow_enter_autonomous_mode = 10; +inline void Eps::clear_allow_enter_autonomous_mode() { + allow_enter_autonomous_mode_ = 0; +} +inline ::google::protobuf::int32 Eps::allow_enter_autonomous_mode() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.allow_enter_autonomous_mode) + return allow_enter_autonomous_mode_; +} +inline void Eps::set_allow_enter_autonomous_mode(::google::protobuf::int32 value) { + + allow_enter_autonomous_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.allow_enter_autonomous_mode) +} + +// int32 current_driving_mode = 11; +inline void Eps::clear_current_driving_mode() { + current_driving_mode_ = 0; +} +inline ::google::protobuf::int32 Eps::current_driving_mode() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.current_driving_mode) + return current_driving_mode_; +} +inline void Eps::set_current_driving_mode(::google::protobuf::int32 value) { + + current_driving_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.current_driving_mode) +} + +// double steering_angle_cmd = 12; +inline void Eps::clear_steering_angle_cmd() { + steering_angle_cmd_ = 0; +} +inline double Eps::steering_angle_cmd() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.steering_angle_cmd) + return steering_angle_cmd_; +} +inline void Eps::set_steering_angle_cmd(double value) { + + steering_angle_cmd_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.steering_angle_cmd) +} + +// double vehicle_speed = 13; +inline void Eps::clear_vehicle_speed() { + vehicle_speed_ = 0; +} +inline double Eps::vehicle_speed() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.vehicle_speed) + return vehicle_speed_; +} +inline void Eps::set_vehicle_speed(double value) { + + vehicle_speed_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.vehicle_speed) +} + +// double epas_torque = 14; +inline void Eps::clear_epas_torque() { + epas_torque_ = 0; +} +inline double Eps::epas_torque() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.epas_torque) + return epas_torque_; +} +inline void Eps::set_epas_torque(double value) { + + epas_torque_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.epas_torque) +} + +// bool steering_enabled = 15; +inline void Eps::clear_steering_enabled() { + steering_enabled_ = false; +} +inline bool Eps::steering_enabled() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.steering_enabled) + return steering_enabled_; +} +inline void Eps::set_steering_enabled(bool value) { + + steering_enabled_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.steering_enabled) +} + +// bool driver_override = 16; +inline void Eps::clear_driver_override() { + driver_override_ = false; +} +inline bool Eps::driver_override() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.driver_override) + return driver_override_; +} +inline void Eps::set_driver_override(bool value) { + + driver_override_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.driver_override) +} + +// bool driver_activity = 17; +inline void Eps::clear_driver_activity() { + driver_activity_ = false; +} +inline bool Eps::driver_activity() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.driver_activity) + return driver_activity_; +} +inline void Eps::set_driver_activity(bool value) { + + driver_activity_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.driver_activity) +} + +// bool watchdog_fault = 18; +inline void Eps::clear_watchdog_fault() { + watchdog_fault_ = false; +} +inline bool Eps::watchdog_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.watchdog_fault) + return watchdog_fault_; +} +inline void Eps::set_watchdog_fault(bool value) { + + watchdog_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.watchdog_fault) +} + +// bool channel_1_fault = 19; +inline void Eps::clear_channel_1_fault() { + channel_1_fault_ = false; +} +inline bool Eps::channel_1_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.channel_1_fault) + return channel_1_fault_; +} +inline void Eps::set_channel_1_fault(bool value) { + + channel_1_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.channel_1_fault) +} + +// bool channel_2_fault = 20; +inline void Eps::clear_channel_2_fault() { + channel_2_fault_ = false; +} +inline bool Eps::channel_2_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.channel_2_fault) + return channel_2_fault_; +} +inline void Eps::set_channel_2_fault(bool value) { + + channel_2_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.channel_2_fault) +} + +// bool calibration_fault = 21; +inline void Eps::clear_calibration_fault() { + calibration_fault_ = false; +} +inline bool Eps::calibration_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.calibration_fault) + return calibration_fault_; +} +inline void Eps::set_calibration_fault(bool value) { + + calibration_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.calibration_fault) +} + +// bool connector_fault = 22; +inline void Eps::clear_connector_fault() { + connector_fault_ = false; +} +inline bool Eps::connector_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.connector_fault) + return connector_fault_; +} +inline void Eps::set_connector_fault(bool value) { + + connector_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.connector_fault) +} + +// double timestamp_65 = 23; +inline void Eps::clear_timestamp_65() { + timestamp_65_ = 0; +} +inline double Eps::timestamp_65() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.timestamp_65) + return timestamp_65_; +} +inline void Eps::set_timestamp_65(double value) { + + timestamp_65_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.timestamp_65) +} + +// int32 major_version = 24; +inline void Eps::clear_major_version() { + major_version_ = 0; +} +inline ::google::protobuf::int32 Eps::major_version() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.major_version) + return major_version_; +} +inline void Eps::set_major_version(::google::protobuf::int32 value) { + + major_version_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.major_version) +} + +// int32 minor_version = 25; +inline void Eps::clear_minor_version() { + minor_version_ = 0; +} +inline ::google::protobuf::int32 Eps::minor_version() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.minor_version) + return minor_version_; +} +inline void Eps::set_minor_version(::google::protobuf::int32 value) { + + minor_version_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.minor_version) +} + +// int32 build_number = 26; +inline void Eps::clear_build_number() { + build_number_ = 0; +} +inline ::google::protobuf::int32 Eps::build_number() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Eps.build_number) + return build_number_; +} +inline void Eps::set_build_number(::google::protobuf::int32 value) { + + build_number_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Eps.build_number) +} + +// ------------------------------------------------------------------- + +// VehicleSpd + +// bool is_vehicle_standstill = 1; +inline void VehicleSpd::clear_is_vehicle_standstill() { + is_vehicle_standstill_ = false; +} +inline bool VehicleSpd::is_vehicle_standstill() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.is_vehicle_standstill) + return is_vehicle_standstill_; +} +inline void VehicleSpd::set_is_vehicle_standstill(bool value) { + + is_vehicle_standstill_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.is_vehicle_standstill) +} + +// bool is_vehicle_spd_valid = 2; +inline void VehicleSpd::clear_is_vehicle_spd_valid() { + is_vehicle_spd_valid_ = false; +} +inline bool VehicleSpd::is_vehicle_spd_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.is_vehicle_spd_valid) + return is_vehicle_spd_valid_; +} +inline void VehicleSpd::set_is_vehicle_spd_valid(bool value) { + + is_vehicle_spd_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.is_vehicle_spd_valid) +} + +// double vehicle_spd = 3; +inline void VehicleSpd::clear_vehicle_spd() { + vehicle_spd_ = 0; +} +inline double VehicleSpd::vehicle_spd() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.vehicle_spd) + return vehicle_spd_; +} +inline void VehicleSpd::set_vehicle_spd(double value) { + + vehicle_spd_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.vehicle_spd) +} + +// bool is_wheel_spd_rr_valid = 4; +inline void VehicleSpd::clear_is_wheel_spd_rr_valid() { + is_wheel_spd_rr_valid_ = false; +} +inline bool VehicleSpd::is_wheel_spd_rr_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.is_wheel_spd_rr_valid) + return is_wheel_spd_rr_valid_; +} +inline void VehicleSpd::set_is_wheel_spd_rr_valid(bool value) { + + is_wheel_spd_rr_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.is_wheel_spd_rr_valid) +} + +// .apollo.canbus.VehicleSpd.Type wheel_direction_rr = 5; +inline void VehicleSpd::clear_wheel_direction_rr() { + wheel_direction_rr_ = 0; +} +inline ::apollo::canbus::VehicleSpd_Type VehicleSpd::wheel_direction_rr() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.wheel_direction_rr) + return static_cast< ::apollo::canbus::VehicleSpd_Type >(wheel_direction_rr_); +} +inline void VehicleSpd::set_wheel_direction_rr(::apollo::canbus::VehicleSpd_Type value) { + + wheel_direction_rr_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.wheel_direction_rr) +} + +// double wheel_spd_rr = 6; +inline void VehicleSpd::clear_wheel_spd_rr() { + wheel_spd_rr_ = 0; +} +inline double VehicleSpd::wheel_spd_rr() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.wheel_spd_rr) + return wheel_spd_rr_; +} +inline void VehicleSpd::set_wheel_spd_rr(double value) { + + wheel_spd_rr_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.wheel_spd_rr) +} + +// bool is_wheel_spd_rl_valid = 7; +inline void VehicleSpd::clear_is_wheel_spd_rl_valid() { + is_wheel_spd_rl_valid_ = false; +} +inline bool VehicleSpd::is_wheel_spd_rl_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.is_wheel_spd_rl_valid) + return is_wheel_spd_rl_valid_; +} +inline void VehicleSpd::set_is_wheel_spd_rl_valid(bool value) { + + is_wheel_spd_rl_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.is_wheel_spd_rl_valid) +} + +// .apollo.canbus.VehicleSpd.Type wheel_direction_rl = 8; +inline void VehicleSpd::clear_wheel_direction_rl() { + wheel_direction_rl_ = 0; +} +inline ::apollo::canbus::VehicleSpd_Type VehicleSpd::wheel_direction_rl() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.wheel_direction_rl) + return static_cast< ::apollo::canbus::VehicleSpd_Type >(wheel_direction_rl_); +} +inline void VehicleSpd::set_wheel_direction_rl(::apollo::canbus::VehicleSpd_Type value) { + + wheel_direction_rl_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.wheel_direction_rl) +} + +// double wheel_spd_rl = 9; +inline void VehicleSpd::clear_wheel_spd_rl() { + wheel_spd_rl_ = 0; +} +inline double VehicleSpd::wheel_spd_rl() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.wheel_spd_rl) + return wheel_spd_rl_; +} +inline void VehicleSpd::set_wheel_spd_rl(double value) { + + wheel_spd_rl_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.wheel_spd_rl) +} + +// bool is_wheel_spd_fr_valid = 10; +inline void VehicleSpd::clear_is_wheel_spd_fr_valid() { + is_wheel_spd_fr_valid_ = false; +} +inline bool VehicleSpd::is_wheel_spd_fr_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.is_wheel_spd_fr_valid) + return is_wheel_spd_fr_valid_; +} +inline void VehicleSpd::set_is_wheel_spd_fr_valid(bool value) { + + is_wheel_spd_fr_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.is_wheel_spd_fr_valid) +} + +// .apollo.canbus.VehicleSpd.Type wheel_direction_fr = 11; +inline void VehicleSpd::clear_wheel_direction_fr() { + wheel_direction_fr_ = 0; +} +inline ::apollo::canbus::VehicleSpd_Type VehicleSpd::wheel_direction_fr() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.wheel_direction_fr) + return static_cast< ::apollo::canbus::VehicleSpd_Type >(wheel_direction_fr_); +} +inline void VehicleSpd::set_wheel_direction_fr(::apollo::canbus::VehicleSpd_Type value) { + + wheel_direction_fr_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.wheel_direction_fr) +} + +// double wheel_spd_fr = 12; +inline void VehicleSpd::clear_wheel_spd_fr() { + wheel_spd_fr_ = 0; +} +inline double VehicleSpd::wheel_spd_fr() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.wheel_spd_fr) + return wheel_spd_fr_; +} +inline void VehicleSpd::set_wheel_spd_fr(double value) { + + wheel_spd_fr_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.wheel_spd_fr) +} + +// bool is_wheel_spd_fl_valid = 13; +inline void VehicleSpd::clear_is_wheel_spd_fl_valid() { + is_wheel_spd_fl_valid_ = false; +} +inline bool VehicleSpd::is_wheel_spd_fl_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.is_wheel_spd_fl_valid) + return is_wheel_spd_fl_valid_; +} +inline void VehicleSpd::set_is_wheel_spd_fl_valid(bool value) { + + is_wheel_spd_fl_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.is_wheel_spd_fl_valid) +} + +// .apollo.canbus.VehicleSpd.Type wheel_direction_fl = 14; +inline void VehicleSpd::clear_wheel_direction_fl() { + wheel_direction_fl_ = 0; +} +inline ::apollo::canbus::VehicleSpd_Type VehicleSpd::wheel_direction_fl() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.wheel_direction_fl) + return static_cast< ::apollo::canbus::VehicleSpd_Type >(wheel_direction_fl_); +} +inline void VehicleSpd::set_wheel_direction_fl(::apollo::canbus::VehicleSpd_Type value) { + + wheel_direction_fl_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.wheel_direction_fl) +} + +// double wheel_spd_fl = 15; +inline void VehicleSpd::clear_wheel_spd_fl() { + wheel_spd_fl_ = 0; +} +inline double VehicleSpd::wheel_spd_fl() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.wheel_spd_fl) + return wheel_spd_fl_; +} +inline void VehicleSpd::set_wheel_spd_fl(double value) { + + wheel_spd_fl_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.wheel_spd_fl) +} + +// bool is_yaw_rate_valid = 16; +inline void VehicleSpd::clear_is_yaw_rate_valid() { + is_yaw_rate_valid_ = false; +} +inline bool VehicleSpd::is_yaw_rate_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.is_yaw_rate_valid) + return is_yaw_rate_valid_; +} +inline void VehicleSpd::set_is_yaw_rate_valid(bool value) { + + is_yaw_rate_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.is_yaw_rate_valid) +} + +// double yaw_rate = 17; +inline void VehicleSpd::clear_yaw_rate() { + yaw_rate_ = 0; +} +inline double VehicleSpd::yaw_rate() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.yaw_rate) + return yaw_rate_; +} +inline void VehicleSpd::set_yaw_rate(double value) { + + yaw_rate_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.yaw_rate) +} + +// double yaw_rate_offset = 18; +inline void VehicleSpd::clear_yaw_rate_offset() { + yaw_rate_offset_ = 0; +} +inline double VehicleSpd::yaw_rate_offset() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.yaw_rate_offset) + return yaw_rate_offset_; +} +inline void VehicleSpd::set_yaw_rate_offset(double value) { + + yaw_rate_offset_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.yaw_rate_offset) +} + +// bool is_ax_valid = 19; +inline void VehicleSpd::clear_is_ax_valid() { + is_ax_valid_ = false; +} +inline bool VehicleSpd::is_ax_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.is_ax_valid) + return is_ax_valid_; +} +inline void VehicleSpd::set_is_ax_valid(bool value) { + + is_ax_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.is_ax_valid) +} + +// double ax = 20; +inline void VehicleSpd::clear_ax() { + ax_ = 0; +} +inline double VehicleSpd::ax() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.ax) + return ax_; +} +inline void VehicleSpd::set_ax(double value) { + + ax_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.ax) +} + +// double ax_offset = 21; +inline void VehicleSpd::clear_ax_offset() { + ax_offset_ = 0; +} +inline double VehicleSpd::ax_offset() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.ax_offset) + return ax_offset_; +} +inline void VehicleSpd::set_ax_offset(double value) { + + ax_offset_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.ax_offset) +} + +// bool is_ay_valid = 22; +inline void VehicleSpd::clear_is_ay_valid() { + is_ay_valid_ = false; +} +inline bool VehicleSpd::is_ay_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.is_ay_valid) + return is_ay_valid_; +} +inline void VehicleSpd::set_is_ay_valid(bool value) { + + is_ay_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.is_ay_valid) +} + +// double ay = 23; +inline void VehicleSpd::clear_ay() { + ay_ = 0; +} +inline double VehicleSpd::ay() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.ay) + return ay_; +} +inline void VehicleSpd::set_ay(double value) { + + ay_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.ay) +} + +// double ay_offset = 24; +inline void VehicleSpd::clear_ay_offset() { + ay_offset_ = 0; +} +inline double VehicleSpd::ay_offset() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.ay_offset) + return ay_offset_; +} +inline void VehicleSpd::set_ay_offset(double value) { + + ay_offset_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.ay_offset) +} + +// double lat_acc = 25; +inline void VehicleSpd::clear_lat_acc() { + lat_acc_ = 0; +} +inline double VehicleSpd::lat_acc() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.lat_acc) + return lat_acc_; +} +inline void VehicleSpd::set_lat_acc(double value) { + + lat_acc_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.lat_acc) +} + +// double long_acc = 26; +inline void VehicleSpd::clear_long_acc() { + long_acc_ = 0; +} +inline double VehicleSpd::long_acc() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.long_acc) + return long_acc_; +} +inline void VehicleSpd::set_long_acc(double value) { + + long_acc_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.long_acc) +} + +// double vert_acc = 27; +inline void VehicleSpd::clear_vert_acc() { + vert_acc_ = 0; +} +inline double VehicleSpd::vert_acc() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.vert_acc) + return vert_acc_; +} +inline void VehicleSpd::set_vert_acc(double value) { + + vert_acc_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.vert_acc) +} + +// double roll_rate = 28; +inline void VehicleSpd::clear_roll_rate() { + roll_rate_ = 0; +} +inline double VehicleSpd::roll_rate() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.roll_rate) + return roll_rate_; +} +inline void VehicleSpd::set_roll_rate(double value) { + + roll_rate_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.roll_rate) +} + +// double acc_est = 29; +inline void VehicleSpd::clear_acc_est() { + acc_est_ = 0; +} +inline double VehicleSpd::acc_est() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.acc_est) + return acc_est_; +} +inline void VehicleSpd::set_acc_est(double value) { + + acc_est_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.acc_est) +} + +// double timestamp_sec = 30; +inline void VehicleSpd::clear_timestamp_sec() { + timestamp_sec_ = 0; +} +inline double VehicleSpd::timestamp_sec() const { + // @@protoc_insertion_point(field_get:apollo.canbus.VehicleSpd.timestamp_sec) + return timestamp_sec_; +} +inline void VehicleSpd::set_timestamp_sec(double value) { + + timestamp_sec_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.VehicleSpd.timestamp_sec) +} + +// ------------------------------------------------------------------- + +// Deceleration + +// bool is_deceleration_available = 1; +inline void Deceleration::clear_is_deceleration_available() { + is_deceleration_available_ = false; +} +inline bool Deceleration::is_deceleration_available() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Deceleration.is_deceleration_available) + return is_deceleration_available_; +} +inline void Deceleration::set_is_deceleration_available(bool value) { + + is_deceleration_available_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Deceleration.is_deceleration_available) +} + +// bool is_deceleration_active = 2; +inline void Deceleration::clear_is_deceleration_active() { + is_deceleration_active_ = false; +} +inline bool Deceleration::is_deceleration_active() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Deceleration.is_deceleration_active) + return is_deceleration_active_; +} +inline void Deceleration::set_is_deceleration_active(bool value) { + + is_deceleration_active_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Deceleration.is_deceleration_active) +} + +// double deceleration = 3; +inline void Deceleration::clear_deceleration() { + deceleration_ = 0; +} +inline double Deceleration::deceleration() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Deceleration.deceleration) + return deceleration_; +} +inline void Deceleration::set_deceleration(double value) { + + deceleration_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Deceleration.deceleration) +} + +// double is_evb_fail = 4; +inline void Deceleration::clear_is_evb_fail() { + is_evb_fail_ = 0; +} +inline double Deceleration::is_evb_fail() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Deceleration.is_evb_fail) + return is_evb_fail_; +} +inline void Deceleration::set_is_evb_fail(double value) { + + is_evb_fail_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Deceleration.is_evb_fail) +} + +// double evb_pressure = 5; +inline void Deceleration::clear_evb_pressure() { + evb_pressure_ = 0; +} +inline double Deceleration::evb_pressure() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Deceleration.evb_pressure) + return evb_pressure_; +} +inline void Deceleration::set_evb_pressure(double value) { + + evb_pressure_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Deceleration.evb_pressure) +} + +// double brake_pressure = 6; +inline void Deceleration::clear_brake_pressure() { + brake_pressure_ = 0; +} +inline double Deceleration::brake_pressure() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Deceleration.brake_pressure) + return brake_pressure_; +} +inline void Deceleration::set_brake_pressure(double value) { + + brake_pressure_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Deceleration.brake_pressure) +} + +// double brake_pressure_spd = 7; +inline void Deceleration::clear_brake_pressure_spd() { + brake_pressure_spd_ = 0; +} +inline double Deceleration::brake_pressure_spd() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Deceleration.brake_pressure_spd) + return brake_pressure_spd_; +} +inline void Deceleration::set_brake_pressure_spd(double value) { + + brake_pressure_spd_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Deceleration.brake_pressure_spd) +} + +// ------------------------------------------------------------------- + +// Brake + +// bool is_brake_pedal_pressed = 1; +inline void Brake::clear_is_brake_pedal_pressed() { + is_brake_pedal_pressed_ = false; +} +inline bool Brake::is_brake_pedal_pressed() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.is_brake_pedal_pressed) + return is_brake_pedal_pressed_; +} +inline void Brake::set_is_brake_pedal_pressed(bool value) { + + is_brake_pedal_pressed_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.is_brake_pedal_pressed) +} + +// bool is_brake_force_exist = 2; +inline void Brake::clear_is_brake_force_exist() { + is_brake_force_exist_ = false; +} +inline bool Brake::is_brake_force_exist() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.is_brake_force_exist) + return is_brake_force_exist_; +} +inline void Brake::set_is_brake_force_exist(bool value) { + + is_brake_force_exist_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.is_brake_force_exist) +} + +// bool is_brake_over_heat = 3; +inline void Brake::clear_is_brake_over_heat() { + is_brake_over_heat_ = false; +} +inline bool Brake::is_brake_over_heat() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.is_brake_over_heat) + return is_brake_over_heat_; +} +inline void Brake::set_is_brake_over_heat(bool value) { + + is_brake_over_heat_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.is_brake_over_heat) +} + +// bool is_hand_brake_on = 4; +inline void Brake::clear_is_hand_brake_on() { + is_hand_brake_on_ = false; +} +inline bool Brake::is_hand_brake_on() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.is_hand_brake_on) + return is_hand_brake_on_; +} +inline void Brake::set_is_hand_brake_on(bool value) { + + is_hand_brake_on_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.is_hand_brake_on) +} + +// double brake_pedal_position = 5; +inline void Brake::clear_brake_pedal_position() { + brake_pedal_position_ = 0; +} +inline double Brake::brake_pedal_position() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.brake_pedal_position) + return brake_pedal_position_; +} +inline void Brake::set_brake_pedal_position(double value) { + + brake_pedal_position_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.brake_pedal_position) +} + +// bool is_brake_valid = 6; +inline void Brake::clear_is_brake_valid() { + is_brake_valid_ = false; +} +inline bool Brake::is_brake_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.is_brake_valid) + return is_brake_valid_; +} +inline void Brake::set_is_brake_valid(bool value) { + + is_brake_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.is_brake_valid) +} + +// double brake_input = 7; +inline void Brake::clear_brake_input() { + brake_input_ = 0; +} +inline double Brake::brake_input() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.brake_input) + return brake_input_; +} +inline void Brake::set_brake_input(double value) { + + brake_input_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.brake_input) +} + +// double brake_cmd = 8; +inline void Brake::clear_brake_cmd() { + brake_cmd_ = 0; +} +inline double Brake::brake_cmd() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.brake_cmd) + return brake_cmd_; +} +inline void Brake::set_brake_cmd(double value) { + + brake_cmd_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.brake_cmd) +} + +// double brake_output = 9; +inline void Brake::clear_brake_output() { + brake_output_ = 0; +} +inline double Brake::brake_output() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.brake_output) + return brake_output_; +} +inline void Brake::set_brake_output(double value) { + + brake_output_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.brake_output) +} + +// bool boo_input = 10; +inline void Brake::clear_boo_input() { + boo_input_ = false; +} +inline bool Brake::boo_input() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.boo_input) + return boo_input_; +} +inline void Brake::set_boo_input(bool value) { + + boo_input_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.boo_input) +} + +// bool boo_cmd = 11; +inline void Brake::clear_boo_cmd() { + boo_cmd_ = false; +} +inline bool Brake::boo_cmd() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.boo_cmd) + return boo_cmd_; +} +inline void Brake::set_boo_cmd(bool value) { + + boo_cmd_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.boo_cmd) +} + +// bool boo_output = 12; +inline void Brake::clear_boo_output() { + boo_output_ = false; +} +inline bool Brake::boo_output() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.boo_output) + return boo_output_; +} +inline void Brake::set_boo_output(bool value) { + + boo_output_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.boo_output) +} + +// bool watchdog_applying_brakes = 13; +inline void Brake::clear_watchdog_applying_brakes() { + watchdog_applying_brakes_ = false; +} +inline bool Brake::watchdog_applying_brakes() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.watchdog_applying_brakes) + return watchdog_applying_brakes_; +} +inline void Brake::set_watchdog_applying_brakes(bool value) { + + watchdog_applying_brakes_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.watchdog_applying_brakes) +} + +// int32 watchdog_source = 14; +inline void Brake::clear_watchdog_source() { + watchdog_source_ = 0; +} +inline ::google::protobuf::int32 Brake::watchdog_source() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.watchdog_source) + return watchdog_source_; +} +inline void Brake::set_watchdog_source(::google::protobuf::int32 value) { + + watchdog_source_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.watchdog_source) +} + +// bool brake_enabled = 15; +inline void Brake::clear_brake_enabled() { + brake_enabled_ = false; +} +inline bool Brake::brake_enabled() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.brake_enabled) + return brake_enabled_; +} +inline void Brake::set_brake_enabled(bool value) { + + brake_enabled_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.brake_enabled) +} + +// bool driver_override = 16; +inline void Brake::clear_driver_override() { + driver_override_ = false; +} +inline bool Brake::driver_override() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.driver_override) + return driver_override_; +} +inline void Brake::set_driver_override(bool value) { + + driver_override_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.driver_override) +} + +// bool driver_activity = 17; +inline void Brake::clear_driver_activity() { + driver_activity_ = false; +} +inline bool Brake::driver_activity() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.driver_activity) + return driver_activity_; +} +inline void Brake::set_driver_activity(bool value) { + + driver_activity_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.driver_activity) +} + +// bool watchdog_fault = 18; +inline void Brake::clear_watchdog_fault() { + watchdog_fault_ = false; +} +inline bool Brake::watchdog_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.watchdog_fault) + return watchdog_fault_; +} +inline void Brake::set_watchdog_fault(bool value) { + + watchdog_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.watchdog_fault) +} + +// bool channel_1_fault = 19; +inline void Brake::clear_channel_1_fault() { + channel_1_fault_ = false; +} +inline bool Brake::channel_1_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.channel_1_fault) + return channel_1_fault_; +} +inline void Brake::set_channel_1_fault(bool value) { + + channel_1_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.channel_1_fault) +} + +// bool channel_2_fault = 20; +inline void Brake::clear_channel_2_fault() { + channel_2_fault_ = false; +} +inline bool Brake::channel_2_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.channel_2_fault) + return channel_2_fault_; +} +inline void Brake::set_channel_2_fault(bool value) { + + channel_2_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.channel_2_fault) +} + +// bool boo_fault = 21; +inline void Brake::clear_boo_fault() { + boo_fault_ = false; +} +inline bool Brake::boo_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.boo_fault) + return boo_fault_; +} +inline void Brake::set_boo_fault(bool value) { + + boo_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.boo_fault) +} + +// bool connector_fault = 22; +inline void Brake::clear_connector_fault() { + connector_fault_ = false; +} +inline bool Brake::connector_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.connector_fault) + return connector_fault_; +} +inline void Brake::set_connector_fault(bool value) { + + connector_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.connector_fault) +} + +// int32 brake_torque_req = 23; +inline void Brake::clear_brake_torque_req() { + brake_torque_req_ = 0; +} +inline ::google::protobuf::int32 Brake::brake_torque_req() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.brake_torque_req) + return brake_torque_req_; +} +inline void Brake::set_brake_torque_req(::google::protobuf::int32 value) { + + brake_torque_req_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.brake_torque_req) +} + +// .apollo.canbus.Brake.HSAStatusType hsa_status = 24; +inline void Brake::clear_hsa_status() { + hsa_status_ = 0; +} +inline ::apollo::canbus::Brake_HSAStatusType Brake::hsa_status() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.hsa_status) + return static_cast< ::apollo::canbus::Brake_HSAStatusType >(hsa_status_); +} +inline void Brake::set_hsa_status(::apollo::canbus::Brake_HSAStatusType value) { + + hsa_status_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.hsa_status) +} + +// int32 brake_torque_act = 25; +inline void Brake::clear_brake_torque_act() { + brake_torque_act_ = 0; +} +inline ::google::protobuf::int32 Brake::brake_torque_act() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.brake_torque_act) + return brake_torque_act_; +} +inline void Brake::set_brake_torque_act(::google::protobuf::int32 value) { + + brake_torque_act_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.brake_torque_act) +} + +// .apollo.canbus.Brake.HSAModeType hsa_mode = 26; +inline void Brake::clear_hsa_mode() { + hsa_mode_ = 0; +} +inline ::apollo::canbus::Brake_HSAModeType Brake::hsa_mode() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.hsa_mode) + return static_cast< ::apollo::canbus::Brake_HSAModeType >(hsa_mode_); +} +inline void Brake::set_hsa_mode(::apollo::canbus::Brake_HSAModeType value) { + + hsa_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.hsa_mode) +} + +// int32 wheel_torque_act = 27; +inline void Brake::clear_wheel_torque_act() { + wheel_torque_act_ = 0; +} +inline ::google::protobuf::int32 Brake::wheel_torque_act() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.wheel_torque_act) + return wheel_torque_act_; +} +inline void Brake::set_wheel_torque_act(::google::protobuf::int32 value) { + + wheel_torque_act_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.wheel_torque_act) +} + +// int32 major_version = 28; +inline void Brake::clear_major_version() { + major_version_ = 0; +} +inline ::google::protobuf::int32 Brake::major_version() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.major_version) + return major_version_; +} +inline void Brake::set_major_version(::google::protobuf::int32 value) { + + major_version_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.major_version) +} + +// int32 minor_version = 29; +inline void Brake::clear_minor_version() { + minor_version_ = 0; +} +inline ::google::protobuf::int32 Brake::minor_version() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.minor_version) + return minor_version_; +} +inline void Brake::set_minor_version(::google::protobuf::int32 value) { + + minor_version_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.minor_version) +} + +// int32 build_number = 30; +inline void Brake::clear_build_number() { + build_number_ = 0; +} +inline ::google::protobuf::int32 Brake::build_number() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Brake.build_number) + return build_number_; +} +inline void Brake::set_build_number(::google::protobuf::int32 value) { + + build_number_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Brake.build_number) +} + +// ------------------------------------------------------------------- + +// Epb + +// bool is_epb_error = 1; +inline void Epb::clear_is_epb_error() { + is_epb_error_ = false; +} +inline bool Epb::is_epb_error() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Epb.is_epb_error) + return is_epb_error_; +} +inline void Epb::set_is_epb_error(bool value) { + + is_epb_error_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Epb.is_epb_error) +} + +// bool is_epb_released = 2; +inline void Epb::clear_is_epb_released() { + is_epb_released_ = false; +} +inline bool Epb::is_epb_released() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Epb.is_epb_released) + return is_epb_released_; +} +inline void Epb::set_is_epb_released(bool value) { + + is_epb_released_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Epb.is_epb_released) +} + +// int32 epb_status = 3; +inline void Epb::clear_epb_status() { + epb_status_ = 0; +} +inline ::google::protobuf::int32 Epb::epb_status() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Epb.epb_status) + return epb_status_; +} +inline void Epb::set_epb_status(::google::protobuf::int32 value) { + + epb_status_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Epb.epb_status) +} + +// .apollo.canbus.Epb.PBrakeType parking_brake_status = 4; +inline void Epb::clear_parking_brake_status() { + parking_brake_status_ = 0; +} +inline ::apollo::canbus::Epb_PBrakeType Epb::parking_brake_status() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Epb.parking_brake_status) + return static_cast< ::apollo::canbus::Epb_PBrakeType >(parking_brake_status_); +} +inline void Epb::set_parking_brake_status(::apollo::canbus::Epb_PBrakeType value) { + + parking_brake_status_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Epb.parking_brake_status) +} + +// ------------------------------------------------------------------- + +// Gas + +// bool is_gas_pedal_error = 1; +inline void Gas::clear_is_gas_pedal_error() { + is_gas_pedal_error_ = false; +} +inline bool Gas::is_gas_pedal_error() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.is_gas_pedal_error) + return is_gas_pedal_error_; +} +inline void Gas::set_is_gas_pedal_error(bool value) { + + is_gas_pedal_error_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.is_gas_pedal_error) +} + +// bool is_gas_pedal_pressed_more = 2; +inline void Gas::clear_is_gas_pedal_pressed_more() { + is_gas_pedal_pressed_more_ = false; +} +inline bool Gas::is_gas_pedal_pressed_more() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.is_gas_pedal_pressed_more) + return is_gas_pedal_pressed_more_; +} +inline void Gas::set_is_gas_pedal_pressed_more(bool value) { + + is_gas_pedal_pressed_more_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.is_gas_pedal_pressed_more) +} + +// double gas_pedal_position = 3; +inline void Gas::clear_gas_pedal_position() { + gas_pedal_position_ = 0; +} +inline double Gas::gas_pedal_position() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.gas_pedal_position) + return gas_pedal_position_; +} +inline void Gas::set_gas_pedal_position(double value) { + + gas_pedal_position_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.gas_pedal_position) +} + +// bool is_gas_valid = 4; +inline void Gas::clear_is_gas_valid() { + is_gas_valid_ = false; +} +inline bool Gas::is_gas_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.is_gas_valid) + return is_gas_valid_; +} +inline void Gas::set_is_gas_valid(bool value) { + + is_gas_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.is_gas_valid) +} + +// double throttle_input = 5; +inline void Gas::clear_throttle_input() { + throttle_input_ = 0; +} +inline double Gas::throttle_input() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.throttle_input) + return throttle_input_; +} +inline void Gas::set_throttle_input(double value) { + + throttle_input_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.throttle_input) +} + +// double throttle_cmd = 6; +inline void Gas::clear_throttle_cmd() { + throttle_cmd_ = 0; +} +inline double Gas::throttle_cmd() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.throttle_cmd) + return throttle_cmd_; +} +inline void Gas::set_throttle_cmd(double value) { + + throttle_cmd_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.throttle_cmd) +} + +// double throttle_output = 7; +inline void Gas::clear_throttle_output() { + throttle_output_ = 0; +} +inline double Gas::throttle_output() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.throttle_output) + return throttle_output_; +} +inline void Gas::set_throttle_output(double value) { + + throttle_output_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.throttle_output) +} + +// int32 watchdog_source = 8; +inline void Gas::clear_watchdog_source() { + watchdog_source_ = 0; +} +inline ::google::protobuf::int32 Gas::watchdog_source() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.watchdog_source) + return watchdog_source_; +} +inline void Gas::set_watchdog_source(::google::protobuf::int32 value) { + + watchdog_source_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.watchdog_source) +} + +// bool throttle_enabled = 9; +inline void Gas::clear_throttle_enabled() { + throttle_enabled_ = false; +} +inline bool Gas::throttle_enabled() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.throttle_enabled) + return throttle_enabled_; +} +inline void Gas::set_throttle_enabled(bool value) { + + throttle_enabled_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.throttle_enabled) +} + +// bool driver_override = 10; +inline void Gas::clear_driver_override() { + driver_override_ = false; +} +inline bool Gas::driver_override() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.driver_override) + return driver_override_; +} +inline void Gas::set_driver_override(bool value) { + + driver_override_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.driver_override) +} + +// bool driver_activity = 11; +inline void Gas::clear_driver_activity() { + driver_activity_ = false; +} +inline bool Gas::driver_activity() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.driver_activity) + return driver_activity_; +} +inline void Gas::set_driver_activity(bool value) { + + driver_activity_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.driver_activity) +} + +// bool watchdog_fault = 12; +inline void Gas::clear_watchdog_fault() { + watchdog_fault_ = false; +} +inline bool Gas::watchdog_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.watchdog_fault) + return watchdog_fault_; +} +inline void Gas::set_watchdog_fault(bool value) { + + watchdog_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.watchdog_fault) +} + +// bool channel_1_fault = 13; +inline void Gas::clear_channel_1_fault() { + channel_1_fault_ = false; +} +inline bool Gas::channel_1_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.channel_1_fault) + return channel_1_fault_; +} +inline void Gas::set_channel_1_fault(bool value) { + + channel_1_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.channel_1_fault) +} + +// bool channel_2_fault = 14; +inline void Gas::clear_channel_2_fault() { + channel_2_fault_ = false; +} +inline bool Gas::channel_2_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.channel_2_fault) + return channel_2_fault_; +} +inline void Gas::set_channel_2_fault(bool value) { + + channel_2_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.channel_2_fault) +} + +// bool connector_fault = 15; +inline void Gas::clear_connector_fault() { + connector_fault_ = false; +} +inline bool Gas::connector_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.connector_fault) + return connector_fault_; +} +inline void Gas::set_connector_fault(bool value) { + + connector_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.connector_fault) +} + +// double accelerator_pedal = 16; +inline void Gas::clear_accelerator_pedal() { + accelerator_pedal_ = 0; +} +inline double Gas::accelerator_pedal() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.accelerator_pedal) + return accelerator_pedal_; +} +inline void Gas::set_accelerator_pedal(double value) { + + accelerator_pedal_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.accelerator_pedal) +} + +// double accelerator_pedal_rate = 17; +inline void Gas::clear_accelerator_pedal_rate() { + accelerator_pedal_rate_ = 0; +} +inline double Gas::accelerator_pedal_rate() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.accelerator_pedal_rate) + return accelerator_pedal_rate_; +} +inline void Gas::set_accelerator_pedal_rate(double value) { + + accelerator_pedal_rate_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.accelerator_pedal_rate) +} + +// int32 major_version = 18; +inline void Gas::clear_major_version() { + major_version_ = 0; +} +inline ::google::protobuf::int32 Gas::major_version() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.major_version) + return major_version_; +} +inline void Gas::set_major_version(::google::protobuf::int32 value) { + + major_version_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.major_version) +} + +// int32 minor_version = 19; +inline void Gas::clear_minor_version() { + minor_version_ = 0; +} +inline ::google::protobuf::int32 Gas::minor_version() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.minor_version) + return minor_version_; +} +inline void Gas::set_minor_version(::google::protobuf::int32 value) { + + minor_version_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.minor_version) +} + +// int32 build_number = 20; +inline void Gas::clear_build_number() { + build_number_ = 0; +} +inline ::google::protobuf::int32 Gas::build_number() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gas.build_number) + return build_number_; +} +inline void Gas::set_build_number(::google::protobuf::int32 value) { + + build_number_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gas.build_number) +} + +// ------------------------------------------------------------------- + +// Esp + +// bool is_esp_acc_error = 1; +inline void Esp::clear_is_esp_acc_error() { + is_esp_acc_error_ = false; +} +inline bool Esp::is_esp_acc_error() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_esp_acc_error) + return is_esp_acc_error_; +} +inline void Esp::set_is_esp_acc_error(bool value) { + + is_esp_acc_error_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_esp_acc_error) +} + +// bool is_esp_on = 2; +inline void Esp::clear_is_esp_on() { + is_esp_on_ = false; +} +inline bool Esp::is_esp_on() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_esp_on) + return is_esp_on_; +} +inline void Esp::set_is_esp_on(bool value) { + + is_esp_on_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_esp_on) +} + +// bool is_esp_active = 3; +inline void Esp::clear_is_esp_active() { + is_esp_active_ = false; +} +inline bool Esp::is_esp_active() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_esp_active) + return is_esp_active_; +} +inline void Esp::set_is_esp_active(bool value) { + + is_esp_active_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_esp_active) +} + +// bool is_abs_error = 4; +inline void Esp::clear_is_abs_error() { + is_abs_error_ = false; +} +inline bool Esp::is_abs_error() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_abs_error) + return is_abs_error_; +} +inline void Esp::set_is_abs_error(bool value) { + + is_abs_error_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_abs_error) +} + +// bool is_abs_active = 5; +inline void Esp::clear_is_abs_active() { + is_abs_active_ = false; +} +inline bool Esp::is_abs_active() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_abs_active) + return is_abs_active_; +} +inline void Esp::set_is_abs_active(bool value) { + + is_abs_active_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_abs_active) +} + +// bool is_tcsvdc_fail = 6; +inline void Esp::clear_is_tcsvdc_fail() { + is_tcsvdc_fail_ = false; +} +inline bool Esp::is_tcsvdc_fail() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_tcsvdc_fail) + return is_tcsvdc_fail_; +} +inline void Esp::set_is_tcsvdc_fail(bool value) { + + is_tcsvdc_fail_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_tcsvdc_fail) +} + +// bool is_abs_enabled = 7; +inline void Esp::clear_is_abs_enabled() { + is_abs_enabled_ = false; +} +inline bool Esp::is_abs_enabled() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_abs_enabled) + return is_abs_enabled_; +} +inline void Esp::set_is_abs_enabled(bool value) { + + is_abs_enabled_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_abs_enabled) +} + +// bool is_stab_active = 8; +inline void Esp::clear_is_stab_active() { + is_stab_active_ = false; +} +inline bool Esp::is_stab_active() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_stab_active) + return is_stab_active_; +} +inline void Esp::set_is_stab_active(bool value) { + + is_stab_active_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_stab_active) +} + +// bool is_stab_enabled = 9; +inline void Esp::clear_is_stab_enabled() { + is_stab_enabled_ = false; +} +inline bool Esp::is_stab_enabled() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_stab_enabled) + return is_stab_enabled_; +} +inline void Esp::set_is_stab_enabled(bool value) { + + is_stab_enabled_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_stab_enabled) +} + +// bool is_trac_active = 10; +inline void Esp::clear_is_trac_active() { + is_trac_active_ = false; +} +inline bool Esp::is_trac_active() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_trac_active) + return is_trac_active_; +} +inline void Esp::set_is_trac_active(bool value) { + + is_trac_active_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_trac_active) +} + +// bool is_trac_enabled = 11; +inline void Esp::clear_is_trac_enabled() { + is_trac_enabled_ = false; +} +inline bool Esp::is_trac_enabled() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Esp.is_trac_enabled) + return is_trac_enabled_; +} +inline void Esp::set_is_trac_enabled(bool value) { + + is_trac_enabled_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Esp.is_trac_enabled) +} + +// ------------------------------------------------------------------- + +// Ems + +// bool is_engine_acc_available = 1; +inline void Ems::clear_is_engine_acc_available() { + is_engine_acc_available_ = false; +} +inline bool Ems::is_engine_acc_available() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.is_engine_acc_available) + return is_engine_acc_available_; +} +inline void Ems::set_is_engine_acc_available(bool value) { + + is_engine_acc_available_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.is_engine_acc_available) +} + +// bool is_engine_acc_error = 2; +inline void Ems::clear_is_engine_acc_error() { + is_engine_acc_error_ = false; +} +inline bool Ems::is_engine_acc_error() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.is_engine_acc_error) + return is_engine_acc_error_; +} +inline void Ems::set_is_engine_acc_error(bool value) { + + is_engine_acc_error_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.is_engine_acc_error) +} + +// .apollo.canbus.Ems.Type engine_state = 3; +inline void Ems::clear_engine_state() { + engine_state_ = 0; +} +inline ::apollo::canbus::Ems_Type Ems::engine_state() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.engine_state) + return static_cast< ::apollo::canbus::Ems_Type >(engine_state_); +} +inline void Ems::set_engine_state(::apollo::canbus::Ems_Type value) { + + engine_state_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.engine_state) +} + +// double max_engine_torq_percent = 4; +inline void Ems::clear_max_engine_torq_percent() { + max_engine_torq_percent_ = 0; +} +inline double Ems::max_engine_torq_percent() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.max_engine_torq_percent) + return max_engine_torq_percent_; +} +inline void Ems::set_max_engine_torq_percent(double value) { + + max_engine_torq_percent_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.max_engine_torq_percent) +} + +// double min_engine_torq_percent = 5; +inline void Ems::clear_min_engine_torq_percent() { + min_engine_torq_percent_ = 0; +} +inline double Ems::min_engine_torq_percent() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.min_engine_torq_percent) + return min_engine_torq_percent_; +} +inline void Ems::set_min_engine_torq_percent(double value) { + + min_engine_torq_percent_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.min_engine_torq_percent) +} + +// int32 base_engine_torq_constant = 6; +inline void Ems::clear_base_engine_torq_constant() { + base_engine_torq_constant_ = 0; +} +inline ::google::protobuf::int32 Ems::base_engine_torq_constant() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.base_engine_torq_constant) + return base_engine_torq_constant_; +} +inline void Ems::set_base_engine_torq_constant(::google::protobuf::int32 value) { + + base_engine_torq_constant_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.base_engine_torq_constant) +} + +// bool is_engine_speed_error = 7; +inline void Ems::clear_is_engine_speed_error() { + is_engine_speed_error_ = false; +} +inline bool Ems::is_engine_speed_error() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.is_engine_speed_error) + return is_engine_speed_error_; +} +inline void Ems::set_is_engine_speed_error(bool value) { + + is_engine_speed_error_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.is_engine_speed_error) +} + +// double engine_speed = 8; +inline void Ems::clear_engine_speed() { + engine_speed_ = 0; +} +inline double Ems::engine_speed() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.engine_speed) + return engine_speed_; +} +inline void Ems::set_engine_speed(double value) { + + engine_speed_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.engine_speed) +} + +// int32 engine_torque = 9; +inline void Ems::clear_engine_torque() { + engine_torque_ = 0; +} +inline ::google::protobuf::int32 Ems::engine_torque() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.engine_torque) + return engine_torque_; +} +inline void Ems::set_engine_torque(::google::protobuf::int32 value) { + + engine_torque_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.engine_torque) +} + +// bool is_over_engine_torque = 10; +inline void Ems::clear_is_over_engine_torque() { + is_over_engine_torque_ = false; +} +inline bool Ems::is_over_engine_torque() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.is_over_engine_torque) + return is_over_engine_torque_; +} +inline void Ems::set_is_over_engine_torque(bool value) { + + is_over_engine_torque_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.is_over_engine_torque) +} + +// double engine_rpm = 11; +inline void Ems::clear_engine_rpm() { + engine_rpm_ = 0; +} +inline double Ems::engine_rpm() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Ems.engine_rpm) + return engine_rpm_; +} +inline void Ems::set_engine_rpm(double value) { + + engine_rpm_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Ems.engine_rpm) +} + +// ------------------------------------------------------------------- + +// Gear + +// bool is_shift_position_valid = 1; +inline void Gear::clear_is_shift_position_valid() { + is_shift_position_valid_ = false; +} +inline bool Gear::is_shift_position_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gear.is_shift_position_valid) + return is_shift_position_valid_; +} +inline void Gear::set_is_shift_position_valid(bool value) { + + is_shift_position_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gear.is_shift_position_valid) +} + +// .apollo.canbus.Chassis.GearPosition gear_state = 2; +inline void Gear::clear_gear_state() { + gear_state_ = 0; +} +inline ::apollo::canbus::Chassis_GearPosition Gear::gear_state() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gear.gear_state) + return static_cast< ::apollo::canbus::Chassis_GearPosition >(gear_state_); +} +inline void Gear::set_gear_state(::apollo::canbus::Chassis_GearPosition value) { + + gear_state_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gear.gear_state) +} + +// bool driver_override = 3; +inline void Gear::clear_driver_override() { + driver_override_ = false; +} +inline bool Gear::driver_override() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gear.driver_override) + return driver_override_; +} +inline void Gear::set_driver_override(bool value) { + + driver_override_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gear.driver_override) +} + +// .apollo.canbus.Chassis.GearPosition gear_cmd = 4; +inline void Gear::clear_gear_cmd() { + gear_cmd_ = 0; +} +inline ::apollo::canbus::Chassis_GearPosition Gear::gear_cmd() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gear.gear_cmd) + return static_cast< ::apollo::canbus::Chassis_GearPosition >(gear_cmd_); +} +inline void Gear::set_gear_cmd(::apollo::canbus::Chassis_GearPosition value) { + + gear_cmd_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gear.gear_cmd) +} + +// bool canbus_fault = 5; +inline void Gear::clear_canbus_fault() { + canbus_fault_ = false; +} +inline bool Gear::canbus_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Gear.canbus_fault) + return canbus_fault_; +} +inline void Gear::set_canbus_fault(bool value) { + + canbus_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Gear.canbus_fault) +} + +// ------------------------------------------------------------------- + +// Safety + +// bool is_driver_car_door_close = 1; +inline void Safety::clear_is_driver_car_door_close() { + is_driver_car_door_close_ = false; +} +inline bool Safety::is_driver_car_door_close() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_driver_car_door_close) + return is_driver_car_door_close_; +} +inline void Safety::set_is_driver_car_door_close(bool value) { + + is_driver_car_door_close_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_driver_car_door_close) +} + +// bool is_driver_buckled = 2; +inline void Safety::clear_is_driver_buckled() { + is_driver_buckled_ = false; +} +inline bool Safety::is_driver_buckled() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_driver_buckled) + return is_driver_buckled_; +} +inline void Safety::set_is_driver_buckled(bool value) { + + is_driver_buckled_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_driver_buckled) +} + +// int32 emergency_button = 3; +inline void Safety::clear_emergency_button() { + emergency_button_ = 0; +} +inline ::google::protobuf::int32 Safety::emergency_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.emergency_button) + return emergency_button_; +} +inline void Safety::set_emergency_button(::google::protobuf::int32 value) { + + emergency_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.emergency_button) +} + +// bool has_error = 4; +inline void Safety::clear_has_error() { + has_error_ = false; +} +inline bool Safety::has_error() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.has_error) + return has_error_; +} +inline void Safety::set_has_error(bool value) { + + has_error_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.has_error) +} + +// bool is_motor_invertor_fault = 5; +inline void Safety::clear_is_motor_invertor_fault() { + is_motor_invertor_fault_ = false; +} +inline bool Safety::is_motor_invertor_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_motor_invertor_fault) + return is_motor_invertor_fault_; +} +inline void Safety::set_is_motor_invertor_fault(bool value) { + + is_motor_invertor_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_motor_invertor_fault) +} + +// bool is_system_fault = 6; +inline void Safety::clear_is_system_fault() { + is_system_fault_ = false; +} +inline bool Safety::is_system_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_system_fault) + return is_system_fault_; +} +inline void Safety::set_is_system_fault(bool value) { + + is_system_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_system_fault) +} + +// bool is_power_battery_fault = 7; +inline void Safety::clear_is_power_battery_fault() { + is_power_battery_fault_ = false; +} +inline bool Safety::is_power_battery_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_power_battery_fault) + return is_power_battery_fault_; +} +inline void Safety::set_is_power_battery_fault(bool value) { + + is_power_battery_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_power_battery_fault) +} + +// bool is_motor_invertor_over_temperature = 8; +inline void Safety::clear_is_motor_invertor_over_temperature() { + is_motor_invertor_over_temperature_ = false; +} +inline bool Safety::is_motor_invertor_over_temperature() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_motor_invertor_over_temperature) + return is_motor_invertor_over_temperature_; +} +inline void Safety::set_is_motor_invertor_over_temperature(bool value) { + + is_motor_invertor_over_temperature_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_motor_invertor_over_temperature) +} + +// bool is_small_battery_charge_discharge_fault = 9; +inline void Safety::clear_is_small_battery_charge_discharge_fault() { + is_small_battery_charge_discharge_fault_ = false; +} +inline bool Safety::is_small_battery_charge_discharge_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_small_battery_charge_discharge_fault) + return is_small_battery_charge_discharge_fault_; +} +inline void Safety::set_is_small_battery_charge_discharge_fault(bool value) { + + is_small_battery_charge_discharge_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_small_battery_charge_discharge_fault) +} + +// int32 driving_mode = 10; +inline void Safety::clear_driving_mode() { + driving_mode_ = 0; +} +inline ::google::protobuf::int32 Safety::driving_mode() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.driving_mode) + return driving_mode_; +} +inline void Safety::set_driving_mode(::google::protobuf::int32 value) { + + driving_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.driving_mode) +} + +// bool is_passenger_door_open = 11; +inline void Safety::clear_is_passenger_door_open() { + is_passenger_door_open_ = false; +} +inline bool Safety::is_passenger_door_open() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_passenger_door_open) + return is_passenger_door_open_; +} +inline void Safety::set_is_passenger_door_open(bool value) { + + is_passenger_door_open_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_passenger_door_open) +} + +// bool is_rearleft_door_open = 12; +inline void Safety::clear_is_rearleft_door_open() { + is_rearleft_door_open_ = false; +} +inline bool Safety::is_rearleft_door_open() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_rearleft_door_open) + return is_rearleft_door_open_; +} +inline void Safety::set_is_rearleft_door_open(bool value) { + + is_rearleft_door_open_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_rearleft_door_open) +} + +// bool is_rearright_door_open = 13; +inline void Safety::clear_is_rearright_door_open() { + is_rearright_door_open_ = false; +} +inline bool Safety::is_rearright_door_open() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_rearright_door_open) + return is_rearright_door_open_; +} +inline void Safety::set_is_rearright_door_open(bool value) { + + is_rearright_door_open_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_rearright_door_open) +} + +// bool is_hood_open = 14; +inline void Safety::clear_is_hood_open() { + is_hood_open_ = false; +} +inline bool Safety::is_hood_open() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_hood_open) + return is_hood_open_; +} +inline void Safety::set_is_hood_open(bool value) { + + is_hood_open_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_hood_open) +} + +// bool is_trunk_open = 15; +inline void Safety::clear_is_trunk_open() { + is_trunk_open_ = false; +} +inline bool Safety::is_trunk_open() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_trunk_open) + return is_trunk_open_; +} +inline void Safety::set_is_trunk_open(bool value) { + + is_trunk_open_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_trunk_open) +} + +// bool is_passenger_detected = 16; +inline void Safety::clear_is_passenger_detected() { + is_passenger_detected_ = false; +} +inline bool Safety::is_passenger_detected() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_passenger_detected) + return is_passenger_detected_; +} +inline void Safety::set_is_passenger_detected(bool value) { + + is_passenger_detected_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_passenger_detected) +} + +// bool is_passenger_airbag_enabled = 17; +inline void Safety::clear_is_passenger_airbag_enabled() { + is_passenger_airbag_enabled_ = false; +} +inline bool Safety::is_passenger_airbag_enabled() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_passenger_airbag_enabled) + return is_passenger_airbag_enabled_; +} +inline void Safety::set_is_passenger_airbag_enabled(bool value) { + + is_passenger_airbag_enabled_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_passenger_airbag_enabled) +} + +// bool is_passenger_buckled = 18; +inline void Safety::clear_is_passenger_buckled() { + is_passenger_buckled_ = false; +} +inline bool Safety::is_passenger_buckled() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.is_passenger_buckled) + return is_passenger_buckled_; +} +inline void Safety::set_is_passenger_buckled(bool value) { + + is_passenger_buckled_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.is_passenger_buckled) +} + +// int32 front_left_tire_press = 19; +inline void Safety::clear_front_left_tire_press() { + front_left_tire_press_ = 0; +} +inline ::google::protobuf::int32 Safety::front_left_tire_press() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.front_left_tire_press) + return front_left_tire_press_; +} +inline void Safety::set_front_left_tire_press(::google::protobuf::int32 value) { + + front_left_tire_press_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.front_left_tire_press) +} + +// int32 front_right_tire_press = 20; +inline void Safety::clear_front_right_tire_press() { + front_right_tire_press_ = 0; +} +inline ::google::protobuf::int32 Safety::front_right_tire_press() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.front_right_tire_press) + return front_right_tire_press_; +} +inline void Safety::set_front_right_tire_press(::google::protobuf::int32 value) { + + front_right_tire_press_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.front_right_tire_press) +} + +// int32 rear_left_tire_press = 21; +inline void Safety::clear_rear_left_tire_press() { + rear_left_tire_press_ = 0; +} +inline ::google::protobuf::int32 Safety::rear_left_tire_press() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.rear_left_tire_press) + return rear_left_tire_press_; +} +inline void Safety::set_rear_left_tire_press(::google::protobuf::int32 value) { + + rear_left_tire_press_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.rear_left_tire_press) +} + +// int32 rear_right_tire_press = 22; +inline void Safety::clear_rear_right_tire_press() { + rear_right_tire_press_ = 0; +} +inline ::google::protobuf::int32 Safety::rear_right_tire_press() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.rear_right_tire_press) + return rear_right_tire_press_; +} +inline void Safety::set_rear_right_tire_press(::google::protobuf::int32 value) { + + rear_right_tire_press_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.rear_right_tire_press) +} + +// .apollo.canbus.Chassis.DrivingMode car_driving_mode = 23; +inline void Safety::clear_car_driving_mode() { + car_driving_mode_ = 0; +} +inline ::apollo::canbus::Chassis_DrivingMode Safety::car_driving_mode() const { + // @@protoc_insertion_point(field_get:apollo.canbus.Safety.car_driving_mode) + return static_cast< ::apollo::canbus::Chassis_DrivingMode >(car_driving_mode_); +} +inline void Safety::set_car_driving_mode(::apollo::canbus::Chassis_DrivingMode value) { + + car_driving_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.Safety.car_driving_mode) +} + +// ------------------------------------------------------------------- + +// BasicInfo + +// bool is_auto_mode = 1; +inline void BasicInfo::clear_is_auto_mode() { + is_auto_mode_ = false; +} +inline bool BasicInfo::is_auto_mode() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.is_auto_mode) + return is_auto_mode_; +} +inline void BasicInfo::set_is_auto_mode(bool value) { + + is_auto_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.is_auto_mode) +} + +// .apollo.canbus.BasicInfo.Type power_state = 2; +inline void BasicInfo::clear_power_state() { + power_state_ = 0; +} +inline ::apollo::canbus::BasicInfo_Type BasicInfo::power_state() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.power_state) + return static_cast< ::apollo::canbus::BasicInfo_Type >(power_state_); +} +inline void BasicInfo::set_power_state(::apollo::canbus::BasicInfo_Type value) { + + power_state_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.power_state) +} + +// bool is_air_bag_deployed = 3; +inline void BasicInfo::clear_is_air_bag_deployed() { + is_air_bag_deployed_ = false; +} +inline bool BasicInfo::is_air_bag_deployed() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.is_air_bag_deployed) + return is_air_bag_deployed_; +} +inline void BasicInfo::set_is_air_bag_deployed(bool value) { + + is_air_bag_deployed_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.is_air_bag_deployed) +} + +// double odo_meter = 4; +inline void BasicInfo::clear_odo_meter() { + odo_meter_ = 0; +} +inline double BasicInfo::odo_meter() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.odo_meter) + return odo_meter_; +} +inline void BasicInfo::set_odo_meter(double value) { + + odo_meter_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.odo_meter) +} + +// double drive_range = 5; +inline void BasicInfo::clear_drive_range() { + drive_range_ = 0; +} +inline double BasicInfo::drive_range() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.drive_range) + return drive_range_; +} +inline void BasicInfo::set_drive_range(double value) { + + drive_range_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.drive_range) +} + +// bool is_system_error = 6; +inline void BasicInfo::clear_is_system_error() { + is_system_error_ = false; +} +inline bool BasicInfo::is_system_error() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.is_system_error) + return is_system_error_; +} +inline void BasicInfo::set_is_system_error(bool value) { + + is_system_error_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.is_system_error) +} + +// bool is_human_interrupt = 7; +inline void BasicInfo::clear_is_human_interrupt() { + is_human_interrupt_ = false; +} +inline bool BasicInfo::is_human_interrupt() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.is_human_interrupt) + return is_human_interrupt_; +} +inline void BasicInfo::set_is_human_interrupt(bool value) { + + is_human_interrupt_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.is_human_interrupt) +} + +// bool acc_on_button = 8; +inline void BasicInfo::clear_acc_on_button() { + acc_on_button_ = false; +} +inline bool BasicInfo::acc_on_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_on_button) + return acc_on_button_; +} +inline void BasicInfo::set_acc_on_button(bool value) { + + acc_on_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_on_button) +} + +// bool acc_off_button = 9; +inline void BasicInfo::clear_acc_off_button() { + acc_off_button_ = false; +} +inline bool BasicInfo::acc_off_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_off_button) + return acc_off_button_; +} +inline void BasicInfo::set_acc_off_button(bool value) { + + acc_off_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_off_button) +} + +// bool acc_res_button = 10; +inline void BasicInfo::clear_acc_res_button() { + acc_res_button_ = false; +} +inline bool BasicInfo::acc_res_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_res_button) + return acc_res_button_; +} +inline void BasicInfo::set_acc_res_button(bool value) { + + acc_res_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_res_button) +} + +// bool acc_cancel_button = 11; +inline void BasicInfo::clear_acc_cancel_button() { + acc_cancel_button_ = false; +} +inline bool BasicInfo::acc_cancel_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_cancel_button) + return acc_cancel_button_; +} +inline void BasicInfo::set_acc_cancel_button(bool value) { + + acc_cancel_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_cancel_button) +} + +// bool acc_on_off_button = 12; +inline void BasicInfo::clear_acc_on_off_button() { + acc_on_off_button_ = false; +} +inline bool BasicInfo::acc_on_off_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_on_off_button) + return acc_on_off_button_; +} +inline void BasicInfo::set_acc_on_off_button(bool value) { + + acc_on_off_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_on_off_button) +} + +// bool acc_res_cancel_button = 13; +inline void BasicInfo::clear_acc_res_cancel_button() { + acc_res_cancel_button_ = false; +} +inline bool BasicInfo::acc_res_cancel_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_res_cancel_button) + return acc_res_cancel_button_; +} +inline void BasicInfo::set_acc_res_cancel_button(bool value) { + + acc_res_cancel_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_res_cancel_button) +} + +// bool acc_inc_spd_button = 14; +inline void BasicInfo::clear_acc_inc_spd_button() { + acc_inc_spd_button_ = false; +} +inline bool BasicInfo::acc_inc_spd_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_inc_spd_button) + return acc_inc_spd_button_; +} +inline void BasicInfo::set_acc_inc_spd_button(bool value) { + + acc_inc_spd_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_inc_spd_button) +} + +// bool acc_dec_spd_button = 15; +inline void BasicInfo::clear_acc_dec_spd_button() { + acc_dec_spd_button_ = false; +} +inline bool BasicInfo::acc_dec_spd_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_dec_spd_button) + return acc_dec_spd_button_; +} +inline void BasicInfo::set_acc_dec_spd_button(bool value) { + + acc_dec_spd_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_dec_spd_button) +} + +// bool acc_inc_gap_button = 16; +inline void BasicInfo::clear_acc_inc_gap_button() { + acc_inc_gap_button_ = false; +} +inline bool BasicInfo::acc_inc_gap_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_inc_gap_button) + return acc_inc_gap_button_; +} +inline void BasicInfo::set_acc_inc_gap_button(bool value) { + + acc_inc_gap_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_inc_gap_button) +} + +// bool acc_dec_gap_button = 17; +inline void BasicInfo::clear_acc_dec_gap_button() { + acc_dec_gap_button_ = false; +} +inline bool BasicInfo::acc_dec_gap_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.acc_dec_gap_button) + return acc_dec_gap_button_; +} +inline void BasicInfo::set_acc_dec_gap_button(bool value) { + + acc_dec_gap_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.acc_dec_gap_button) +} + +// bool lka_button = 18; +inline void BasicInfo::clear_lka_button() { + lka_button_ = false; +} +inline bool BasicInfo::lka_button() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.lka_button) + return lka_button_; +} +inline void BasicInfo::set_lka_button(bool value) { + + lka_button_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.lka_button) +} + +// bool canbus_fault = 19; +inline void BasicInfo::clear_canbus_fault() { + canbus_fault_ = false; +} +inline bool BasicInfo::canbus_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.canbus_fault) + return canbus_fault_; +} +inline void BasicInfo::set_canbus_fault(bool value) { + + canbus_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.canbus_fault) +} + +// double latitude = 20; +inline void BasicInfo::clear_latitude() { + latitude_ = 0; +} +inline double BasicInfo::latitude() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.latitude) + return latitude_; +} +inline void BasicInfo::set_latitude(double value) { + + latitude_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.latitude) +} + +// double longitude = 21; +inline void BasicInfo::clear_longitude() { + longitude_ = 0; +} +inline double BasicInfo::longitude() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.longitude) + return longitude_; +} +inline void BasicInfo::set_longitude(double value) { + + longitude_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.longitude) +} + +// bool gps_valid = 22; +inline void BasicInfo::clear_gps_valid() { + gps_valid_ = false; +} +inline bool BasicInfo::gps_valid() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.gps_valid) + return gps_valid_; +} +inline void BasicInfo::set_gps_valid(bool value) { + + gps_valid_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.gps_valid) +} + +// int32 year = 23; +inline void BasicInfo::clear_year() { + year_ = 0; +} +inline ::google::protobuf::int32 BasicInfo::year() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.year) + return year_; +} +inline void BasicInfo::set_year(::google::protobuf::int32 value) { + + year_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.year) +} + +// int32 month = 24; +inline void BasicInfo::clear_month() { + month_ = 0; +} +inline ::google::protobuf::int32 BasicInfo::month() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.month) + return month_; +} +inline void BasicInfo::set_month(::google::protobuf::int32 value) { + + month_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.month) +} + +// int32 day = 25; +inline void BasicInfo::clear_day() { + day_ = 0; +} +inline ::google::protobuf::int32 BasicInfo::day() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.day) + return day_; +} +inline void BasicInfo::set_day(::google::protobuf::int32 value) { + + day_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.day) +} + +// int32 hours = 26; +inline void BasicInfo::clear_hours() { + hours_ = 0; +} +inline ::google::protobuf::int32 BasicInfo::hours() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.hours) + return hours_; +} +inline void BasicInfo::set_hours(::google::protobuf::int32 value) { + + hours_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.hours) +} + +// int32 minutes = 27; +inline void BasicInfo::clear_minutes() { + minutes_ = 0; +} +inline ::google::protobuf::int32 BasicInfo::minutes() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.minutes) + return minutes_; +} +inline void BasicInfo::set_minutes(::google::protobuf::int32 value) { + + minutes_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.minutes) +} + +// int32 seconds = 28; +inline void BasicInfo::clear_seconds() { + seconds_ = 0; +} +inline ::google::protobuf::int32 BasicInfo::seconds() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.seconds) + return seconds_; +} +inline void BasicInfo::set_seconds(::google::protobuf::int32 value) { + + seconds_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.seconds) +} + +// double compass_direction = 29; +inline void BasicInfo::clear_compass_direction() { + compass_direction_ = 0; +} +inline double BasicInfo::compass_direction() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.compass_direction) + return compass_direction_; +} +inline void BasicInfo::set_compass_direction(double value) { + + compass_direction_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.compass_direction) +} + +// double pdop = 30; +inline void BasicInfo::clear_pdop() { + pdop_ = 0; +} +inline double BasicInfo::pdop() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.pdop) + return pdop_; +} +inline void BasicInfo::set_pdop(double value) { + + pdop_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.pdop) +} + +// bool is_gps_fault = 31; +inline void BasicInfo::clear_is_gps_fault() { + is_gps_fault_ = false; +} +inline bool BasicInfo::is_gps_fault() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.is_gps_fault) + return is_gps_fault_; +} +inline void BasicInfo::set_is_gps_fault(bool value) { + + is_gps_fault_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.is_gps_fault) +} + +// bool is_inferred = 32; +inline void BasicInfo::clear_is_inferred() { + is_inferred_ = false; +} +inline bool BasicInfo::is_inferred() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.is_inferred) + return is_inferred_; +} +inline void BasicInfo::set_is_inferred(bool value) { + + is_inferred_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.is_inferred) +} + +// double altitude = 33; +inline void BasicInfo::clear_altitude() { + altitude_ = 0; +} +inline double BasicInfo::altitude() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.altitude) + return altitude_; +} +inline void BasicInfo::set_altitude(double value) { + + altitude_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.altitude) +} + +// double heading = 34; +inline void BasicInfo::clear_heading() { + heading_ = 0; +} +inline double BasicInfo::heading() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.heading) + return heading_; +} +inline void BasicInfo::set_heading(double value) { + + heading_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.heading) +} + +// double hdop = 35; +inline void BasicInfo::clear_hdop() { + hdop_ = 0; +} +inline double BasicInfo::hdop() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.hdop) + return hdop_; +} +inline void BasicInfo::set_hdop(double value) { + + hdop_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.hdop) +} + +// double vdop = 36; +inline void BasicInfo::clear_vdop() { + vdop_ = 0; +} +inline double BasicInfo::vdop() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.vdop) + return vdop_; +} +inline void BasicInfo::set_vdop(double value) { + + vdop_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.vdop) +} + +// .apollo.canbus.BasicInfo.GpsQuality quality = 37; +inline void BasicInfo::clear_quality() { + quality_ = 0; +} +inline ::apollo::canbus::BasicInfo_GpsQuality BasicInfo::quality() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.quality) + return static_cast< ::apollo::canbus::BasicInfo_GpsQuality >(quality_); +} +inline void BasicInfo::set_quality(::apollo::canbus::BasicInfo_GpsQuality value) { + + quality_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.quality) +} + +// int32 num_satellites = 38; +inline void BasicInfo::clear_num_satellites() { + num_satellites_ = 0; +} +inline ::google::protobuf::int32 BasicInfo::num_satellites() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.num_satellites) + return num_satellites_; +} +inline void BasicInfo::set_num_satellites(::google::protobuf::int32 value) { + + num_satellites_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.num_satellites) +} + +// double gps_speed = 39; +inline void BasicInfo::clear_gps_speed() { + gps_speed_ = 0; +} +inline double BasicInfo::gps_speed() const { + // @@protoc_insertion_point(field_get:apollo.canbus.BasicInfo.gps_speed) + return gps_speed_; +} +inline void BasicInfo::set_gps_speed(double value) { + + gps_speed_ = value; + // @@protoc_insertion_point(field_set:apollo.canbus.BasicInfo.gps_speed) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace canbus +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::canbus::ChassisDetail_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::ChassisDetail_Type>() { + return ::apollo::canbus::ChassisDetail_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Light_TurnLightType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Light_TurnLightType>() { + return ::apollo::canbus::Light_TurnLightType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Light_LampType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Light_LampType>() { + return ::apollo::canbus::Light_LampType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Light_LincolnLampType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Light_LincolnLampType>() { + return ::apollo::canbus::Light_LincolnLampType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Light_LincolnWiperType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Light_LincolnWiperType>() { + return ::apollo::canbus::Light_LincolnWiperType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Light_LincolnAmbientType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Light_LincolnAmbientType>() { + return ::apollo::canbus::Light_LincolnAmbientType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Eps_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Eps_Type>() { + return ::apollo::canbus::Eps_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::VehicleSpd_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::VehicleSpd_Type>() { + return ::apollo::canbus::VehicleSpd_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Brake_HSAStatusType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Brake_HSAStatusType>() { + return ::apollo::canbus::Brake_HSAStatusType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Brake_HSAModeType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Brake_HSAModeType>() { + return ::apollo::canbus::Brake_HSAModeType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Epb_PBrakeType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Epb_PBrakeType>() { + return ::apollo::canbus::Epb_PBrakeType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::Ems_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::Ems_Type>() { + return ::apollo::canbus::Ems_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::BasicInfo_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::BasicInfo_Type>() { + return ::apollo::canbus::BasicInfo_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::canbus::BasicInfo_GpsQuality> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::canbus::BasicInfo_GpsQuality>() { + return ::apollo::canbus::BasicInfo_GpsQuality_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_5fdetail_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/common/adapter_config.pb.cc b/apollo_msgs/include/apollo_msgs/proto/common/adapter_config.pb.cc new file mode 100644 index 0000000..5e9d2cc --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/adapter_config.pb.cc @@ -0,0 +1,822 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/adapter_config.proto + +#include "apollo_msgs/proto/common/adapter_config.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_AdapterConfig; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto +namespace apollo { +namespace common { +namespace adapter { +class AdapterConfigDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _AdapterConfig_default_instance_; +class AdapterManagerConfigDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _AdapterManagerConfig_default_instance_; +} // namespace adapter +} // namespace common +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto { +static void InitDefaultsAdapterConfig() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::adapter::_AdapterConfig_default_instance_; + new (ptr) ::apollo::common::adapter::AdapterConfig(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::adapter::AdapterConfig::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_AdapterConfig = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsAdapterConfig}, {}}; + +static void InitDefaultsAdapterManagerConfig() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::adapter::_AdapterManagerConfig_default_instance_; + new (ptr) ::apollo::common::adapter::AdapterManagerConfig(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::adapter::AdapterManagerConfig::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_AdapterManagerConfig = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsAdapterManagerConfig}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::scc_info_AdapterConfig.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_AdapterConfig.base); + ::google::protobuf::internal::InitSCC(&scc_info_AdapterManagerConfig.base); +} + +::google::protobuf::Metadata file_level_metadata[2]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[2]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::adapter::AdapterConfig, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::adapter::AdapterConfig, type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::adapter::AdapterConfig, mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::adapter::AdapterConfig, message_history_limit_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::adapter::AdapterManagerConfig, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::adapter::AdapterManagerConfig, config_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::adapter::AdapterManagerConfig, is_ros_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::common::adapter::AdapterConfig)}, + { 8, -1, sizeof(::apollo::common::adapter::AdapterManagerConfig)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::common::adapter::_AdapterConfig_default_instance_), + reinterpret_cast(&::apollo::common::adapter::_AdapterManagerConfig_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/common/adapter_config.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 2); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n-apollo_msgs/proto/common/adapter_confi" + "g.proto\022\025apollo.common.adapter\"\352\003\n\rAdapt" + "erConfig\022>\n\004type\030\001 \001(\01620.apollo.common.a" + "dapter.AdapterConfig.MessageType\0227\n\004mode" + "\030\002 \001(\0162).apollo.common.adapter.AdapterCo" + "nfig.Mode\022\035\n\025message_history_limit\030\003 \001(\005" + "\"\210\002\n\013MessageType\022\017\n\013POINT_CLOUD\020\000\022\007\n\003GPS" + "\020\001\022\007\n\003IMU\020\002\022\013\n\007CHASSIS\020\003\022\020\n\014LOCALIZATION" + "\020\004\022\027\n\023PLANNING_TRAJECTORY\020\005\022\013\n\007MONITOR\020\006" + "\022\007\n\003PAD\020\007\022\023\n\017CONTROL_COMMAND\020\010\022\016\n\nPREDIC" + "TION\020\t\022\030\n\024PERCEPTION_OBSTACLES\020\n\022\033\n\027TRAF" + "FIC_LIGHT_DETECTION\020\013\022\022\n\016CHASSIS_DETAIL\020" + "\014\022\014\n\010DECISION\020\r\022\n\n\006CANBUS\020\016\"6\n\004Mode\022\020\n\014R" + "ECEIVE_ONLY\020\000\022\020\n\014PUBLISH_ONLY\020\001\022\n\n\006DUPLE" + "X\020\002\"\\\n\024AdapterManagerConfig\0224\n\006config\030\001 " + "\003(\0132$.apollo.common.adapter.AdapterConfi" + "g\022\016\n\006is_ros\030\002 \001(\010b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 665); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/common/adapter_config.proto", &protobuf_RegisterTypes); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto +namespace apollo { +namespace common { +namespace adapter { +const ::google::protobuf::EnumDescriptor* AdapterConfig_MessageType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::file_level_enum_descriptors[0]; +} +bool AdapterConfig_MessageType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + case 6: + case 7: + case 8: + case 9: + case 10: + case 11: + case 12: + case 13: + case 14: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const AdapterConfig_MessageType AdapterConfig::POINT_CLOUD; +const AdapterConfig_MessageType AdapterConfig::GPS; +const AdapterConfig_MessageType AdapterConfig::IMU; +const AdapterConfig_MessageType AdapterConfig::CHASSIS; +const AdapterConfig_MessageType AdapterConfig::LOCALIZATION; +const AdapterConfig_MessageType AdapterConfig::PLANNING_TRAJECTORY; +const AdapterConfig_MessageType AdapterConfig::MONITOR; +const AdapterConfig_MessageType AdapterConfig::PAD; +const AdapterConfig_MessageType AdapterConfig::CONTROL_COMMAND; +const AdapterConfig_MessageType AdapterConfig::PREDICTION; +const AdapterConfig_MessageType AdapterConfig::PERCEPTION_OBSTACLES; +const AdapterConfig_MessageType AdapterConfig::TRAFFIC_LIGHT_DETECTION; +const AdapterConfig_MessageType AdapterConfig::CHASSIS_DETAIL; +const AdapterConfig_MessageType AdapterConfig::DECISION; +const AdapterConfig_MessageType AdapterConfig::CANBUS; +const AdapterConfig_MessageType AdapterConfig::MessageType_MIN; +const AdapterConfig_MessageType AdapterConfig::MessageType_MAX; +const int AdapterConfig::MessageType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* AdapterConfig_Mode_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::file_level_enum_descriptors[1]; +} +bool AdapterConfig_Mode_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const AdapterConfig_Mode AdapterConfig::RECEIVE_ONLY; +const AdapterConfig_Mode AdapterConfig::PUBLISH_ONLY; +const AdapterConfig_Mode AdapterConfig::DUPLEX; +const AdapterConfig_Mode AdapterConfig::Mode_MIN; +const AdapterConfig_Mode AdapterConfig::Mode_MAX; +const int AdapterConfig::Mode_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void AdapterConfig::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int AdapterConfig::kTypeFieldNumber; +const int AdapterConfig::kModeFieldNumber; +const int AdapterConfig::kMessageHistoryLimitFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +AdapterConfig::AdapterConfig() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::scc_info_AdapterConfig.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.adapter.AdapterConfig) +} +AdapterConfig::AdapterConfig(const AdapterConfig& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&type_, &from.type_, + static_cast(reinterpret_cast(&message_history_limit_) - + reinterpret_cast(&type_)) + sizeof(message_history_limit_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.adapter.AdapterConfig) +} + +void AdapterConfig::SharedCtor() { + ::memset(&type_, 0, static_cast( + reinterpret_cast(&message_history_limit_) - + reinterpret_cast(&type_)) + sizeof(message_history_limit_)); +} + +AdapterConfig::~AdapterConfig() { + // @@protoc_insertion_point(destructor:apollo.common.adapter.AdapterConfig) + SharedDtor(); +} + +void AdapterConfig::SharedDtor() { +} + +void AdapterConfig::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* AdapterConfig::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const AdapterConfig& AdapterConfig::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::scc_info_AdapterConfig.base); + return *internal_default_instance(); +} + + +void AdapterConfig::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.adapter.AdapterConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&type_, 0, static_cast( + reinterpret_cast(&message_history_limit_) - + reinterpret_cast(&type_)) + sizeof(message_history_limit_)); + _internal_metadata_.Clear(); +} + +bool AdapterConfig::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.adapter.AdapterConfig) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.adapter.AdapterConfig.MessageType type = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_type(static_cast< ::apollo::common::adapter::AdapterConfig_MessageType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.adapter.AdapterConfig.Mode mode = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_mode(static_cast< ::apollo::common::adapter::AdapterConfig_Mode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // int32 message_history_limit = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &message_history_limit_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.adapter.AdapterConfig) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.adapter.AdapterConfig) + return false; +#undef DO_ +} + +void AdapterConfig::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.adapter.AdapterConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.adapter.AdapterConfig.MessageType type = 1; + if (this->type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->type(), output); + } + + // .apollo.common.adapter.AdapterConfig.Mode mode = 2; + if (this->mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->mode(), output); + } + + // int32 message_history_limit = 3; + if (this->message_history_limit() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(3, this->message_history_limit(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.adapter.AdapterConfig) +} + +::google::protobuf::uint8* AdapterConfig::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.adapter.AdapterConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.adapter.AdapterConfig.MessageType type = 1; + if (this->type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->type(), target); + } + + // .apollo.common.adapter.AdapterConfig.Mode mode = 2; + if (this->mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->mode(), target); + } + + // int32 message_history_limit = 3; + if (this->message_history_limit() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(3, this->message_history_limit(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.adapter.AdapterConfig) + return target; +} + +size_t AdapterConfig::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.adapter.AdapterConfig) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.adapter.AdapterConfig.MessageType type = 1; + if (this->type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->type()); + } + + // .apollo.common.adapter.AdapterConfig.Mode mode = 2; + if (this->mode() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->mode()); + } + + // int32 message_history_limit = 3; + if (this->message_history_limit() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->message_history_limit()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void AdapterConfig::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.adapter.AdapterConfig) + GOOGLE_DCHECK_NE(&from, this); + const AdapterConfig* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.adapter.AdapterConfig) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.adapter.AdapterConfig) + MergeFrom(*source); + } +} + +void AdapterConfig::MergeFrom(const AdapterConfig& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.adapter.AdapterConfig) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.type() != 0) { + set_type(from.type()); + } + if (from.mode() != 0) { + set_mode(from.mode()); + } + if (from.message_history_limit() != 0) { + set_message_history_limit(from.message_history_limit()); + } +} + +void AdapterConfig::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.adapter.AdapterConfig) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void AdapterConfig::CopyFrom(const AdapterConfig& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.adapter.AdapterConfig) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool AdapterConfig::IsInitialized() const { + return true; +} + +void AdapterConfig::Swap(AdapterConfig* other) { + if (other == this) return; + InternalSwap(other); +} +void AdapterConfig::InternalSwap(AdapterConfig* other) { + using std::swap; + swap(type_, other->type_); + swap(mode_, other->mode_); + swap(message_history_limit_, other->message_history_limit_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata AdapterConfig::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void AdapterManagerConfig::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int AdapterManagerConfig::kConfigFieldNumber; +const int AdapterManagerConfig::kIsRosFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +AdapterManagerConfig::AdapterManagerConfig() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::scc_info_AdapterManagerConfig.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.adapter.AdapterManagerConfig) +} +AdapterManagerConfig::AdapterManagerConfig(const AdapterManagerConfig& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + config_(from.config_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + is_ros_ = from.is_ros_; + // @@protoc_insertion_point(copy_constructor:apollo.common.adapter.AdapterManagerConfig) +} + +void AdapterManagerConfig::SharedCtor() { + is_ros_ = false; +} + +AdapterManagerConfig::~AdapterManagerConfig() { + // @@protoc_insertion_point(destructor:apollo.common.adapter.AdapterManagerConfig) + SharedDtor(); +} + +void AdapterManagerConfig::SharedDtor() { +} + +void AdapterManagerConfig::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* AdapterManagerConfig::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const AdapterManagerConfig& AdapterManagerConfig::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::scc_info_AdapterManagerConfig.base); + return *internal_default_instance(); +} + + +void AdapterManagerConfig::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.adapter.AdapterManagerConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + config_.Clear(); + is_ros_ = false; + _internal_metadata_.Clear(); +} + +bool AdapterManagerConfig::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.adapter.AdapterManagerConfig) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // repeated .apollo.common.adapter.AdapterConfig config = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_config())); + } else { + goto handle_unusual; + } + break; + } + + // bool is_ros = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_ros_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.adapter.AdapterManagerConfig) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.adapter.AdapterManagerConfig) + return false; +#undef DO_ +} + +void AdapterManagerConfig::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.adapter.AdapterManagerConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.common.adapter.AdapterConfig config = 1; + for (unsigned int i = 0, + n = static_cast(this->config_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, + this->config(static_cast(i)), + output); + } + + // bool is_ros = 2; + if (this->is_ros() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->is_ros(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.adapter.AdapterManagerConfig) +} + +::google::protobuf::uint8* AdapterManagerConfig::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.adapter.AdapterManagerConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.common.adapter.AdapterConfig config = 1; + for (unsigned int i = 0, + n = static_cast(this->config_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->config(static_cast(i)), deterministic, target); + } + + // bool is_ros = 2; + if (this->is_ros() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->is_ros(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.adapter.AdapterManagerConfig) + return target; +} + +size_t AdapterManagerConfig::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.adapter.AdapterManagerConfig) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.common.adapter.AdapterConfig config = 1; + { + unsigned int count = static_cast(this->config_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->config(static_cast(i))); + } + } + + // bool is_ros = 2; + if (this->is_ros() != 0) { + total_size += 1 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void AdapterManagerConfig::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.adapter.AdapterManagerConfig) + GOOGLE_DCHECK_NE(&from, this); + const AdapterManagerConfig* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.adapter.AdapterManagerConfig) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.adapter.AdapterManagerConfig) + MergeFrom(*source); + } +} + +void AdapterManagerConfig::MergeFrom(const AdapterManagerConfig& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.adapter.AdapterManagerConfig) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + config_.MergeFrom(from.config_); + if (from.is_ros() != 0) { + set_is_ros(from.is_ros()); + } +} + +void AdapterManagerConfig::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.adapter.AdapterManagerConfig) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void AdapterManagerConfig::CopyFrom(const AdapterManagerConfig& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.adapter.AdapterManagerConfig) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool AdapterManagerConfig::IsInitialized() const { + return true; +} + +void AdapterManagerConfig::Swap(AdapterManagerConfig* other) { + if (other == this) return; + InternalSwap(other); +} +void AdapterManagerConfig::InternalSwap(AdapterManagerConfig* other) { + using std::swap; + CastToBase(&config_)->InternalSwap(CastToBase(&other->config_)); + swap(is_ros_, other->is_ros_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata AdapterManagerConfig::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace adapter +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::adapter::AdapterConfig* Arena::CreateMaybeMessage< ::apollo::common::adapter::AdapterConfig >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::adapter::AdapterConfig >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::adapter::AdapterManagerConfig* Arena::CreateMaybeMessage< ::apollo::common::adapter::AdapterManagerConfig >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::adapter::AdapterManagerConfig >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/common/adapter_config.pb.h b/apollo_msgs/include/apollo_msgs/proto/common/adapter_config.pb.h new file mode 100644 index 0000000..a807690 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/adapter_config.pb.h @@ -0,0 +1,572 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/adapter_config.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[2]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto +namespace apollo { +namespace common { +namespace adapter { +class AdapterConfig; +class AdapterConfigDefaultTypeInternal; +extern AdapterConfigDefaultTypeInternal _AdapterConfig_default_instance_; +class AdapterManagerConfig; +class AdapterManagerConfigDefaultTypeInternal; +extern AdapterManagerConfigDefaultTypeInternal _AdapterManagerConfig_default_instance_; +} // namespace adapter +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::common::adapter::AdapterConfig* Arena::CreateMaybeMessage<::apollo::common::adapter::AdapterConfig>(Arena*); +template<> ::apollo::common::adapter::AdapterManagerConfig* Arena::CreateMaybeMessage<::apollo::common::adapter::AdapterManagerConfig>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace common { +namespace adapter { + +enum AdapterConfig_MessageType { + AdapterConfig_MessageType_POINT_CLOUD = 0, + AdapterConfig_MessageType_GPS = 1, + AdapterConfig_MessageType_IMU = 2, + AdapterConfig_MessageType_CHASSIS = 3, + AdapterConfig_MessageType_LOCALIZATION = 4, + AdapterConfig_MessageType_PLANNING_TRAJECTORY = 5, + AdapterConfig_MessageType_MONITOR = 6, + AdapterConfig_MessageType_PAD = 7, + AdapterConfig_MessageType_CONTROL_COMMAND = 8, + AdapterConfig_MessageType_PREDICTION = 9, + AdapterConfig_MessageType_PERCEPTION_OBSTACLES = 10, + AdapterConfig_MessageType_TRAFFIC_LIGHT_DETECTION = 11, + AdapterConfig_MessageType_CHASSIS_DETAIL = 12, + AdapterConfig_MessageType_DECISION = 13, + AdapterConfig_MessageType_CANBUS = 14, + AdapterConfig_MessageType_AdapterConfig_MessageType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + AdapterConfig_MessageType_AdapterConfig_MessageType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool AdapterConfig_MessageType_IsValid(int value); +const AdapterConfig_MessageType AdapterConfig_MessageType_MessageType_MIN = AdapterConfig_MessageType_POINT_CLOUD; +const AdapterConfig_MessageType AdapterConfig_MessageType_MessageType_MAX = AdapterConfig_MessageType_CANBUS; +const int AdapterConfig_MessageType_MessageType_ARRAYSIZE = AdapterConfig_MessageType_MessageType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* AdapterConfig_MessageType_descriptor(); +inline const ::std::string& AdapterConfig_MessageType_Name(AdapterConfig_MessageType value) { + return ::google::protobuf::internal::NameOfEnum( + AdapterConfig_MessageType_descriptor(), value); +} +inline bool AdapterConfig_MessageType_Parse( + const ::std::string& name, AdapterConfig_MessageType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + AdapterConfig_MessageType_descriptor(), name, value); +} +enum AdapterConfig_Mode { + AdapterConfig_Mode_RECEIVE_ONLY = 0, + AdapterConfig_Mode_PUBLISH_ONLY = 1, + AdapterConfig_Mode_DUPLEX = 2, + AdapterConfig_Mode_AdapterConfig_Mode_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + AdapterConfig_Mode_AdapterConfig_Mode_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool AdapterConfig_Mode_IsValid(int value); +const AdapterConfig_Mode AdapterConfig_Mode_Mode_MIN = AdapterConfig_Mode_RECEIVE_ONLY; +const AdapterConfig_Mode AdapterConfig_Mode_Mode_MAX = AdapterConfig_Mode_DUPLEX; +const int AdapterConfig_Mode_Mode_ARRAYSIZE = AdapterConfig_Mode_Mode_MAX + 1; + +const ::google::protobuf::EnumDescriptor* AdapterConfig_Mode_descriptor(); +inline const ::std::string& AdapterConfig_Mode_Name(AdapterConfig_Mode value) { + return ::google::protobuf::internal::NameOfEnum( + AdapterConfig_Mode_descriptor(), value); +} +inline bool AdapterConfig_Mode_Parse( + const ::std::string& name, AdapterConfig_Mode* value) { + return ::google::protobuf::internal::ParseNamedEnum( + AdapterConfig_Mode_descriptor(), name, value); +} +// =================================================================== + +class AdapterConfig : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.adapter.AdapterConfig) */ { + public: + AdapterConfig(); + virtual ~AdapterConfig(); + + AdapterConfig(const AdapterConfig& from); + + inline AdapterConfig& operator=(const AdapterConfig& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + AdapterConfig(AdapterConfig&& from) noexcept + : AdapterConfig() { + *this = ::std::move(from); + } + + inline AdapterConfig& operator=(AdapterConfig&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const AdapterConfig& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const AdapterConfig* internal_default_instance() { + return reinterpret_cast( + &_AdapterConfig_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(AdapterConfig* other); + friend void swap(AdapterConfig& a, AdapterConfig& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline AdapterConfig* New() const final { + return CreateMaybeMessage(NULL); + } + + AdapterConfig* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const AdapterConfig& from); + void MergeFrom(const AdapterConfig& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(AdapterConfig* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef AdapterConfig_MessageType MessageType; + static const MessageType POINT_CLOUD = + AdapterConfig_MessageType_POINT_CLOUD; + static const MessageType GPS = + AdapterConfig_MessageType_GPS; + static const MessageType IMU = + AdapterConfig_MessageType_IMU; + static const MessageType CHASSIS = + AdapterConfig_MessageType_CHASSIS; + static const MessageType LOCALIZATION = + AdapterConfig_MessageType_LOCALIZATION; + static const MessageType PLANNING_TRAJECTORY = + AdapterConfig_MessageType_PLANNING_TRAJECTORY; + static const MessageType MONITOR = + AdapterConfig_MessageType_MONITOR; + static const MessageType PAD = + AdapterConfig_MessageType_PAD; + static const MessageType CONTROL_COMMAND = + AdapterConfig_MessageType_CONTROL_COMMAND; + static const MessageType PREDICTION = + AdapterConfig_MessageType_PREDICTION; + static const MessageType PERCEPTION_OBSTACLES = + AdapterConfig_MessageType_PERCEPTION_OBSTACLES; + static const MessageType TRAFFIC_LIGHT_DETECTION = + AdapterConfig_MessageType_TRAFFIC_LIGHT_DETECTION; + static const MessageType CHASSIS_DETAIL = + AdapterConfig_MessageType_CHASSIS_DETAIL; + static const MessageType DECISION = + AdapterConfig_MessageType_DECISION; + static const MessageType CANBUS = + AdapterConfig_MessageType_CANBUS; + static inline bool MessageType_IsValid(int value) { + return AdapterConfig_MessageType_IsValid(value); + } + static const MessageType MessageType_MIN = + AdapterConfig_MessageType_MessageType_MIN; + static const MessageType MessageType_MAX = + AdapterConfig_MessageType_MessageType_MAX; + static const int MessageType_ARRAYSIZE = + AdapterConfig_MessageType_MessageType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + MessageType_descriptor() { + return AdapterConfig_MessageType_descriptor(); + } + static inline const ::std::string& MessageType_Name(MessageType value) { + return AdapterConfig_MessageType_Name(value); + } + static inline bool MessageType_Parse(const ::std::string& name, + MessageType* value) { + return AdapterConfig_MessageType_Parse(name, value); + } + + typedef AdapterConfig_Mode Mode; + static const Mode RECEIVE_ONLY = + AdapterConfig_Mode_RECEIVE_ONLY; + static const Mode PUBLISH_ONLY = + AdapterConfig_Mode_PUBLISH_ONLY; + static const Mode DUPLEX = + AdapterConfig_Mode_DUPLEX; + static inline bool Mode_IsValid(int value) { + return AdapterConfig_Mode_IsValid(value); + } + static const Mode Mode_MIN = + AdapterConfig_Mode_Mode_MIN; + static const Mode Mode_MAX = + AdapterConfig_Mode_Mode_MAX; + static const int Mode_ARRAYSIZE = + AdapterConfig_Mode_Mode_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Mode_descriptor() { + return AdapterConfig_Mode_descriptor(); + } + static inline const ::std::string& Mode_Name(Mode value) { + return AdapterConfig_Mode_Name(value); + } + static inline bool Mode_Parse(const ::std::string& name, + Mode* value) { + return AdapterConfig_Mode_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.common.adapter.AdapterConfig.MessageType type = 1; + void clear_type(); + static const int kTypeFieldNumber = 1; + ::apollo::common::adapter::AdapterConfig_MessageType type() const; + void set_type(::apollo::common::adapter::AdapterConfig_MessageType value); + + // .apollo.common.adapter.AdapterConfig.Mode mode = 2; + void clear_mode(); + static const int kModeFieldNumber = 2; + ::apollo::common::adapter::AdapterConfig_Mode mode() const; + void set_mode(::apollo::common::adapter::AdapterConfig_Mode value); + + // int32 message_history_limit = 3; + void clear_message_history_limit(); + static const int kMessageHistoryLimitFieldNumber = 3; + ::google::protobuf::int32 message_history_limit() const; + void set_message_history_limit(::google::protobuf::int32 value); + + // @@protoc_insertion_point(class_scope:apollo.common.adapter.AdapterConfig) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + int type_; + int mode_; + ::google::protobuf::int32 message_history_limit_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class AdapterManagerConfig : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.adapter.AdapterManagerConfig) */ { + public: + AdapterManagerConfig(); + virtual ~AdapterManagerConfig(); + + AdapterManagerConfig(const AdapterManagerConfig& from); + + inline AdapterManagerConfig& operator=(const AdapterManagerConfig& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + AdapterManagerConfig(AdapterManagerConfig&& from) noexcept + : AdapterManagerConfig() { + *this = ::std::move(from); + } + + inline AdapterManagerConfig& operator=(AdapterManagerConfig&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const AdapterManagerConfig& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const AdapterManagerConfig* internal_default_instance() { + return reinterpret_cast( + &_AdapterManagerConfig_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(AdapterManagerConfig* other); + friend void swap(AdapterManagerConfig& a, AdapterManagerConfig& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline AdapterManagerConfig* New() const final { + return CreateMaybeMessage(NULL); + } + + AdapterManagerConfig* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const AdapterManagerConfig& from); + void MergeFrom(const AdapterManagerConfig& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(AdapterManagerConfig* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.common.adapter.AdapterConfig config = 1; + int config_size() const; + void clear_config(); + static const int kConfigFieldNumber = 1; + ::apollo::common::adapter::AdapterConfig* mutable_config(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::common::adapter::AdapterConfig >* + mutable_config(); + const ::apollo::common::adapter::AdapterConfig& config(int index) const; + ::apollo::common::adapter::AdapterConfig* add_config(); + const ::google::protobuf::RepeatedPtrField< ::apollo::common::adapter::AdapterConfig >& + config() const; + + // bool is_ros = 2; + void clear_is_ros(); + static const int kIsRosFieldNumber = 2; + bool is_ros() const; + void set_is_ros(bool value); + + // @@protoc_insertion_point(class_scope:apollo.common.adapter.AdapterManagerConfig) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::common::adapter::AdapterConfig > config_; + bool is_ros_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// AdapterConfig + +// .apollo.common.adapter.AdapterConfig.MessageType type = 1; +inline void AdapterConfig::clear_type() { + type_ = 0; +} +inline ::apollo::common::adapter::AdapterConfig_MessageType AdapterConfig::type() const { + // @@protoc_insertion_point(field_get:apollo.common.adapter.AdapterConfig.type) + return static_cast< ::apollo::common::adapter::AdapterConfig_MessageType >(type_); +} +inline void AdapterConfig::set_type(::apollo::common::adapter::AdapterConfig_MessageType value) { + + type_ = value; + // @@protoc_insertion_point(field_set:apollo.common.adapter.AdapterConfig.type) +} + +// .apollo.common.adapter.AdapterConfig.Mode mode = 2; +inline void AdapterConfig::clear_mode() { + mode_ = 0; +} +inline ::apollo::common::adapter::AdapterConfig_Mode AdapterConfig::mode() const { + // @@protoc_insertion_point(field_get:apollo.common.adapter.AdapterConfig.mode) + return static_cast< ::apollo::common::adapter::AdapterConfig_Mode >(mode_); +} +inline void AdapterConfig::set_mode(::apollo::common::adapter::AdapterConfig_Mode value) { + + mode_ = value; + // @@protoc_insertion_point(field_set:apollo.common.adapter.AdapterConfig.mode) +} + +// int32 message_history_limit = 3; +inline void AdapterConfig::clear_message_history_limit() { + message_history_limit_ = 0; +} +inline ::google::protobuf::int32 AdapterConfig::message_history_limit() const { + // @@protoc_insertion_point(field_get:apollo.common.adapter.AdapterConfig.message_history_limit) + return message_history_limit_; +} +inline void AdapterConfig::set_message_history_limit(::google::protobuf::int32 value) { + + message_history_limit_ = value; + // @@protoc_insertion_point(field_set:apollo.common.adapter.AdapterConfig.message_history_limit) +} + +// ------------------------------------------------------------------- + +// AdapterManagerConfig + +// repeated .apollo.common.adapter.AdapterConfig config = 1; +inline int AdapterManagerConfig::config_size() const { + return config_.size(); +} +inline void AdapterManagerConfig::clear_config() { + config_.Clear(); +} +inline ::apollo::common::adapter::AdapterConfig* AdapterManagerConfig::mutable_config(int index) { + // @@protoc_insertion_point(field_mutable:apollo.common.adapter.AdapterManagerConfig.config) + return config_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::common::adapter::AdapterConfig >* +AdapterManagerConfig::mutable_config() { + // @@protoc_insertion_point(field_mutable_list:apollo.common.adapter.AdapterManagerConfig.config) + return &config_; +} +inline const ::apollo::common::adapter::AdapterConfig& AdapterManagerConfig::config(int index) const { + // @@protoc_insertion_point(field_get:apollo.common.adapter.AdapterManagerConfig.config) + return config_.Get(index); +} +inline ::apollo::common::adapter::AdapterConfig* AdapterManagerConfig::add_config() { + // @@protoc_insertion_point(field_add:apollo.common.adapter.AdapterManagerConfig.config) + return config_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::common::adapter::AdapterConfig >& +AdapterManagerConfig::config() const { + // @@protoc_insertion_point(field_list:apollo.common.adapter.AdapterManagerConfig.config) + return config_; +} + +// bool is_ros = 2; +inline void AdapterManagerConfig::clear_is_ros() { + is_ros_ = false; +} +inline bool AdapterManagerConfig::is_ros() const { + // @@protoc_insertion_point(field_get:apollo.common.adapter.AdapterManagerConfig.is_ros) + return is_ros_; +} +inline void AdapterManagerConfig::set_is_ros(bool value) { + + is_ros_ = value; + // @@protoc_insertion_point(field_set:apollo.common.adapter.AdapterManagerConfig.is_ros) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace adapter +} // namespace common +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::common::adapter::AdapterConfig_MessageType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::common::adapter::AdapterConfig_MessageType>() { + return ::apollo::common::adapter::AdapterConfig_MessageType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::common::adapter::AdapterConfig_Mode> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::common::adapter::AdapterConfig_Mode>() { + return ::apollo::common::adapter::AdapterConfig_Mode_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fadapter_5fconfig_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/common/config_extrinsics.pb.cc b/apollo_msgs/include/apollo_msgs/proto/common/config_extrinsics.pb.cc new file mode 100644 index 0000000..98a5a62 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/config_extrinsics.pb.cc @@ -0,0 +1,797 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/config_extrinsics.proto + +#include "apollo_msgs/proto/common/config_extrinsics.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_Transform; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Point3D; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Quaternion; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto +namespace apollo { +namespace common { +namespace config { +class TransformDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Transform_default_instance_; +class ExtrinsicsDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Extrinsics_default_instance_; +} // namespace config +} // namespace common +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto { +static void InitDefaultsTransform() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::config::_Transform_default_instance_; + new (ptr) ::apollo::common::config::Transform(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::config::Transform::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_Transform = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsTransform}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Point3D.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Quaternion.base,}}; + +static void InitDefaultsExtrinsics() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::config::_Extrinsics_default_instance_; + new (ptr) ::apollo::common::config::Extrinsics(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::config::Extrinsics::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_Extrinsics = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsExtrinsics}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::scc_info_Transform.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Transform.base); + ::google::protobuf::internal::InitSCC(&scc_info_Extrinsics.base); +} + +::google::protobuf::Metadata file_level_metadata[2]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::Transform, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::Transform, source_frame_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::Transform, target_frame_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::Transform, translation_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::Transform, rotation_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::Extrinsics, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::Extrinsics, tansforms_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::common::config::Transform)}, + { 9, -1, sizeof(::apollo::common::config::Extrinsics)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::common::config::_Transform_default_instance_), + reinterpret_cast(&::apollo::common::config::_Extrinsics_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/common/config_extrinsics.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 2); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n0apollo_msgs/proto/common/config_extrin" + "sics.proto\022\024apollo.common.config\032\'apollo" + "_msgs/proto/common/geometry.proto\"\221\001\n\tTr" + "ansform\022\024\n\014source_frame\030\001 \001(\014\022\024\n\014target_" + "frame\030\002 \001(\014\022+\n\013translation\030\003 \001(\0132\026.apoll" + "o.common.Point3D\022+\n\010rotation\030\004 \001(\0132\031.apo" + "llo.common.Quaternion\"@\n\nExtrinsics\0222\n\tt" + "ansforms\030\001 \003(\0132\037.apollo.common.config.Tr" + "ansformb\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 335); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/common/config_extrinsics.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto +namespace apollo { +namespace common { +namespace config { + +// =================================================================== + +void Transform::InitAsDefaultInstance() { + ::apollo::common::config::_Transform_default_instance_._instance.get_mutable()->translation_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); + ::apollo::common::config::_Transform_default_instance_._instance.get_mutable()->rotation_ = const_cast< ::apollo::common::Quaternion*>( + ::apollo::common::Quaternion::internal_default_instance()); +} +void Transform::clear_translation() { + if (GetArenaNoVirtual() == NULL && translation_ != NULL) { + delete translation_; + } + translation_ = NULL; +} +void Transform::clear_rotation() { + if (GetArenaNoVirtual() == NULL && rotation_ != NULL) { + delete rotation_; + } + rotation_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Transform::kSourceFrameFieldNumber; +const int Transform::kTargetFrameFieldNumber; +const int Transform::kTranslationFieldNumber; +const int Transform::kRotationFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Transform::Transform() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::scc_info_Transform.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.config.Transform) +} +Transform::Transform(const Transform& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + source_frame_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.source_frame().size() > 0) { + source_frame_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.source_frame_); + } + target_frame_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.target_frame().size() > 0) { + target_frame_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.target_frame_); + } + if (from.has_translation()) { + translation_ = new ::apollo::common::Point3D(*from.translation_); + } else { + translation_ = NULL; + } + if (from.has_rotation()) { + rotation_ = new ::apollo::common::Quaternion(*from.rotation_); + } else { + rotation_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.common.config.Transform) +} + +void Transform::SharedCtor() { + source_frame_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + target_frame_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&translation_, 0, static_cast( + reinterpret_cast(&rotation_) - + reinterpret_cast(&translation_)) + sizeof(rotation_)); +} + +Transform::~Transform() { + // @@protoc_insertion_point(destructor:apollo.common.config.Transform) + SharedDtor(); +} + +void Transform::SharedDtor() { + source_frame_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + target_frame_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (this != internal_default_instance()) delete translation_; + if (this != internal_default_instance()) delete rotation_; +} + +void Transform::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Transform::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Transform& Transform::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::scc_info_Transform.base); + return *internal_default_instance(); +} + + +void Transform::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.config.Transform) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + source_frame_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + target_frame_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (GetArenaNoVirtual() == NULL && translation_ != NULL) { + delete translation_; + } + translation_ = NULL; + if (GetArenaNoVirtual() == NULL && rotation_ != NULL) { + delete rotation_; + } + rotation_ = NULL; + _internal_metadata_.Clear(); +} + +bool Transform::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.config.Transform) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bytes source_frame = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadBytes( + input, this->mutable_source_frame())); + } else { + goto handle_unusual; + } + break; + } + + // bytes target_frame = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadBytes( + input, this->mutable_target_frame())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D translation = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_translation())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Quaternion rotation = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_rotation())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.config.Transform) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.config.Transform) + return false; +#undef DO_ +} + +void Transform::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.config.Transform) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bytes source_frame = 1; + if (this->source_frame().size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteBytesMaybeAliased( + 1, this->source_frame(), output); + } + + // bytes target_frame = 2; + if (this->target_frame().size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteBytesMaybeAliased( + 2, this->target_frame(), output); + } + + // .apollo.common.Point3D translation = 3; + if (this->has_translation()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_translation(), output); + } + + // .apollo.common.Quaternion rotation = 4; + if (this->has_rotation()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_rotation(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.config.Transform) +} + +::google::protobuf::uint8* Transform::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.config.Transform) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bytes source_frame = 1; + if (this->source_frame().size() > 0) { + target = + ::google::protobuf::internal::WireFormatLite::WriteBytesToArray( + 1, this->source_frame(), target); + } + + // bytes target_frame = 2; + if (this->target_frame().size() > 0) { + target = + ::google::protobuf::internal::WireFormatLite::WriteBytesToArray( + 2, this->target_frame(), target); + } + + // .apollo.common.Point3D translation = 3; + if (this->has_translation()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_translation(), deterministic, target); + } + + // .apollo.common.Quaternion rotation = 4; + if (this->has_rotation()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_rotation(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.config.Transform) + return target; +} + +size_t Transform::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.config.Transform) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // bytes source_frame = 1; + if (this->source_frame().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::BytesSize( + this->source_frame()); + } + + // bytes target_frame = 2; + if (this->target_frame().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::BytesSize( + this->target_frame()); + } + + // .apollo.common.Point3D translation = 3; + if (this->has_translation()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *translation_); + } + + // .apollo.common.Quaternion rotation = 4; + if (this->has_rotation()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *rotation_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Transform::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.config.Transform) + GOOGLE_DCHECK_NE(&from, this); + const Transform* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.config.Transform) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.config.Transform) + MergeFrom(*source); + } +} + +void Transform::MergeFrom(const Transform& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.config.Transform) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.source_frame().size() > 0) { + + source_frame_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.source_frame_); + } + if (from.target_frame().size() > 0) { + + target_frame_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.target_frame_); + } + if (from.has_translation()) { + mutable_translation()->::apollo::common::Point3D::MergeFrom(from.translation()); + } + if (from.has_rotation()) { + mutable_rotation()->::apollo::common::Quaternion::MergeFrom(from.rotation()); + } +} + +void Transform::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.config.Transform) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Transform::CopyFrom(const Transform& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.config.Transform) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Transform::IsInitialized() const { + return true; +} + +void Transform::Swap(Transform* other) { + if (other == this) return; + InternalSwap(other); +} +void Transform::InternalSwap(Transform* other) { + using std::swap; + source_frame_.Swap(&other->source_frame_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + target_frame_.Swap(&other->target_frame_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(translation_, other->translation_); + swap(rotation_, other->rotation_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Transform::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Extrinsics::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Extrinsics::kTansformsFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Extrinsics::Extrinsics() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::scc_info_Extrinsics.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.config.Extrinsics) +} +Extrinsics::Extrinsics(const Extrinsics& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + tansforms_(from.tansforms_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.common.config.Extrinsics) +} + +void Extrinsics::SharedCtor() { +} + +Extrinsics::~Extrinsics() { + // @@protoc_insertion_point(destructor:apollo.common.config.Extrinsics) + SharedDtor(); +} + +void Extrinsics::SharedDtor() { +} + +void Extrinsics::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Extrinsics::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Extrinsics& Extrinsics::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::scc_info_Extrinsics.base); + return *internal_default_instance(); +} + + +void Extrinsics::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.config.Extrinsics) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + tansforms_.Clear(); + _internal_metadata_.Clear(); +} + +bool Extrinsics::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.config.Extrinsics) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // repeated .apollo.common.config.Transform tansforms = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_tansforms())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.config.Extrinsics) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.config.Extrinsics) + return false; +#undef DO_ +} + +void Extrinsics::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.config.Extrinsics) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.common.config.Transform tansforms = 1; + for (unsigned int i = 0, + n = static_cast(this->tansforms_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, + this->tansforms(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.config.Extrinsics) +} + +::google::protobuf::uint8* Extrinsics::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.config.Extrinsics) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.common.config.Transform tansforms = 1; + for (unsigned int i = 0, + n = static_cast(this->tansforms_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->tansforms(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.config.Extrinsics) + return target; +} + +size_t Extrinsics::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.config.Extrinsics) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.common.config.Transform tansforms = 1; + { + unsigned int count = static_cast(this->tansforms_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->tansforms(static_cast(i))); + } + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Extrinsics::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.config.Extrinsics) + GOOGLE_DCHECK_NE(&from, this); + const Extrinsics* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.config.Extrinsics) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.config.Extrinsics) + MergeFrom(*source); + } +} + +void Extrinsics::MergeFrom(const Extrinsics& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.config.Extrinsics) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + tansforms_.MergeFrom(from.tansforms_); +} + +void Extrinsics::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.config.Extrinsics) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Extrinsics::CopyFrom(const Extrinsics& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.config.Extrinsics) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Extrinsics::IsInitialized() const { + return true; +} + +void Extrinsics::Swap(Extrinsics* other) { + if (other == this) return; + InternalSwap(other); +} +void Extrinsics::InternalSwap(Extrinsics* other) { + using std::swap; + CastToBase(&tansforms_)->InternalSwap(CastToBase(&other->tansforms_)); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Extrinsics::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace config +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::config::Transform* Arena::CreateMaybeMessage< ::apollo::common::config::Transform >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::config::Transform >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::config::Extrinsics* Arena::CreateMaybeMessage< ::apollo::common::config::Extrinsics >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::config::Extrinsics >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/common/config_extrinsics.pb.h b/apollo_msgs/include/apollo_msgs/proto/common/config_extrinsics.pb.h new file mode 100644 index 0000000..e6b1a9a --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/config_extrinsics.pb.h @@ -0,0 +1,593 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/config_extrinsics.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/common/geometry.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[2]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto +namespace apollo { +namespace common { +namespace config { +class Extrinsics; +class ExtrinsicsDefaultTypeInternal; +extern ExtrinsicsDefaultTypeInternal _Extrinsics_default_instance_; +class Transform; +class TransformDefaultTypeInternal; +extern TransformDefaultTypeInternal _Transform_default_instance_; +} // namespace config +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::common::config::Extrinsics* Arena::CreateMaybeMessage<::apollo::common::config::Extrinsics>(Arena*); +template<> ::apollo::common::config::Transform* Arena::CreateMaybeMessage<::apollo::common::config::Transform>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace common { +namespace config { + +// =================================================================== + +class Transform : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.config.Transform) */ { + public: + Transform(); + virtual ~Transform(); + + Transform(const Transform& from); + + inline Transform& operator=(const Transform& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Transform(Transform&& from) noexcept + : Transform() { + *this = ::std::move(from); + } + + inline Transform& operator=(Transform&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Transform& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Transform* internal_default_instance() { + return reinterpret_cast( + &_Transform_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Transform* other); + friend void swap(Transform& a, Transform& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Transform* New() const final { + return CreateMaybeMessage(NULL); + } + + Transform* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Transform& from); + void MergeFrom(const Transform& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Transform* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // bytes source_frame = 1; + void clear_source_frame(); + static const int kSourceFrameFieldNumber = 1; + const ::std::string& source_frame() const; + void set_source_frame(const ::std::string& value); + #if LANG_CXX11 + void set_source_frame(::std::string&& value); + #endif + void set_source_frame(const char* value); + void set_source_frame(const void* value, size_t size); + ::std::string* mutable_source_frame(); + ::std::string* release_source_frame(); + void set_allocated_source_frame(::std::string* source_frame); + + // bytes target_frame = 2; + void clear_target_frame(); + static const int kTargetFrameFieldNumber = 2; + const ::std::string& target_frame() const; + void set_target_frame(const ::std::string& value); + #if LANG_CXX11 + void set_target_frame(::std::string&& value); + #endif + void set_target_frame(const char* value); + void set_target_frame(const void* value, size_t size); + ::std::string* mutable_target_frame(); + ::std::string* release_target_frame(); + void set_allocated_target_frame(::std::string* target_frame); + + // .apollo.common.Point3D translation = 3; + bool has_translation() const; + void clear_translation(); + static const int kTranslationFieldNumber = 3; + private: + const ::apollo::common::Point3D& _internal_translation() const; + public: + const ::apollo::common::Point3D& translation() const; + ::apollo::common::Point3D* release_translation(); + ::apollo::common::Point3D* mutable_translation(); + void set_allocated_translation(::apollo::common::Point3D* translation); + + // .apollo.common.Quaternion rotation = 4; + bool has_rotation() const; + void clear_rotation(); + static const int kRotationFieldNumber = 4; + private: + const ::apollo::common::Quaternion& _internal_rotation() const; + public: + const ::apollo::common::Quaternion& rotation() const; + ::apollo::common::Quaternion* release_rotation(); + ::apollo::common::Quaternion* mutable_rotation(); + void set_allocated_rotation(::apollo::common::Quaternion* rotation); + + // @@protoc_insertion_point(class_scope:apollo.common.config.Transform) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr source_frame_; + ::google::protobuf::internal::ArenaStringPtr target_frame_; + ::apollo::common::Point3D* translation_; + ::apollo::common::Quaternion* rotation_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Extrinsics : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.config.Extrinsics) */ { + public: + Extrinsics(); + virtual ~Extrinsics(); + + Extrinsics(const Extrinsics& from); + + inline Extrinsics& operator=(const Extrinsics& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Extrinsics(Extrinsics&& from) noexcept + : Extrinsics() { + *this = ::std::move(from); + } + + inline Extrinsics& operator=(Extrinsics&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Extrinsics& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Extrinsics* internal_default_instance() { + return reinterpret_cast( + &_Extrinsics_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(Extrinsics* other); + friend void swap(Extrinsics& a, Extrinsics& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Extrinsics* New() const final { + return CreateMaybeMessage(NULL); + } + + Extrinsics* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Extrinsics& from); + void MergeFrom(const Extrinsics& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Extrinsics* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.common.config.Transform tansforms = 1; + int tansforms_size() const; + void clear_tansforms(); + static const int kTansformsFieldNumber = 1; + ::apollo::common::config::Transform* mutable_tansforms(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::common::config::Transform >* + mutable_tansforms(); + const ::apollo::common::config::Transform& tansforms(int index) const; + ::apollo::common::config::Transform* add_tansforms(); + const ::google::protobuf::RepeatedPtrField< ::apollo::common::config::Transform >& + tansforms() const; + + // @@protoc_insertion_point(class_scope:apollo.common.config.Extrinsics) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::common::config::Transform > tansforms_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Transform + +// bytes source_frame = 1; +inline void Transform::clear_source_frame() { + source_frame_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& Transform::source_frame() const { + // @@protoc_insertion_point(field_get:apollo.common.config.Transform.source_frame) + return source_frame_.GetNoArena(); +} +inline void Transform::set_source_frame(const ::std::string& value) { + + source_frame_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.common.config.Transform.source_frame) +} +#if LANG_CXX11 +inline void Transform::set_source_frame(::std::string&& value) { + + source_frame_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.common.config.Transform.source_frame) +} +#endif +inline void Transform::set_source_frame(const char* value) { + GOOGLE_DCHECK(value != NULL); + + source_frame_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.common.config.Transform.source_frame) +} +inline void Transform::set_source_frame(const void* value, size_t size) { + + source_frame_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.common.config.Transform.source_frame) +} +inline ::std::string* Transform::mutable_source_frame() { + + // @@protoc_insertion_point(field_mutable:apollo.common.config.Transform.source_frame) + return source_frame_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Transform::release_source_frame() { + // @@protoc_insertion_point(field_release:apollo.common.config.Transform.source_frame) + + return source_frame_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void Transform::set_allocated_source_frame(::std::string* source_frame) { + if (source_frame != NULL) { + + } else { + + } + source_frame_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), source_frame); + // @@protoc_insertion_point(field_set_allocated:apollo.common.config.Transform.source_frame) +} + +// bytes target_frame = 2; +inline void Transform::clear_target_frame() { + target_frame_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& Transform::target_frame() const { + // @@protoc_insertion_point(field_get:apollo.common.config.Transform.target_frame) + return target_frame_.GetNoArena(); +} +inline void Transform::set_target_frame(const ::std::string& value) { + + target_frame_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.common.config.Transform.target_frame) +} +#if LANG_CXX11 +inline void Transform::set_target_frame(::std::string&& value) { + + target_frame_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.common.config.Transform.target_frame) +} +#endif +inline void Transform::set_target_frame(const char* value) { + GOOGLE_DCHECK(value != NULL); + + target_frame_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.common.config.Transform.target_frame) +} +inline void Transform::set_target_frame(const void* value, size_t size) { + + target_frame_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.common.config.Transform.target_frame) +} +inline ::std::string* Transform::mutable_target_frame() { + + // @@protoc_insertion_point(field_mutable:apollo.common.config.Transform.target_frame) + return target_frame_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Transform::release_target_frame() { + // @@protoc_insertion_point(field_release:apollo.common.config.Transform.target_frame) + + return target_frame_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void Transform::set_allocated_target_frame(::std::string* target_frame) { + if (target_frame != NULL) { + + } else { + + } + target_frame_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), target_frame); + // @@protoc_insertion_point(field_set_allocated:apollo.common.config.Transform.target_frame) +} + +// .apollo.common.Point3D translation = 3; +inline bool Transform::has_translation() const { + return this != internal_default_instance() && translation_ != NULL; +} +inline const ::apollo::common::Point3D& Transform::_internal_translation() const { + return *translation_; +} +inline const ::apollo::common::Point3D& Transform::translation() const { + const ::apollo::common::Point3D* p = translation_; + // @@protoc_insertion_point(field_get:apollo.common.config.Transform.translation) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Transform::release_translation() { + // @@protoc_insertion_point(field_release:apollo.common.config.Transform.translation) + + ::apollo::common::Point3D* temp = translation_; + translation_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Transform::mutable_translation() { + + if (translation_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + translation_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.config.Transform.translation) + return translation_; +} +inline void Transform::set_allocated_translation(::apollo::common::Point3D* translation) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(translation_); + } + if (translation) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + translation = ::google::protobuf::internal::GetOwnedMessage( + message_arena, translation, submessage_arena); + } + + } else { + + } + translation_ = translation; + // @@protoc_insertion_point(field_set_allocated:apollo.common.config.Transform.translation) +} + +// .apollo.common.Quaternion rotation = 4; +inline bool Transform::has_rotation() const { + return this != internal_default_instance() && rotation_ != NULL; +} +inline const ::apollo::common::Quaternion& Transform::_internal_rotation() const { + return *rotation_; +} +inline const ::apollo::common::Quaternion& Transform::rotation() const { + const ::apollo::common::Quaternion* p = rotation_; + // @@protoc_insertion_point(field_get:apollo.common.config.Transform.rotation) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Quaternion_default_instance_); +} +inline ::apollo::common::Quaternion* Transform::release_rotation() { + // @@protoc_insertion_point(field_release:apollo.common.config.Transform.rotation) + + ::apollo::common::Quaternion* temp = rotation_; + rotation_ = NULL; + return temp; +} +inline ::apollo::common::Quaternion* Transform::mutable_rotation() { + + if (rotation_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Quaternion>(GetArenaNoVirtual()); + rotation_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.config.Transform.rotation) + return rotation_; +} +inline void Transform::set_allocated_rotation(::apollo::common::Quaternion* rotation) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(rotation_); + } + if (rotation) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + rotation = ::google::protobuf::internal::GetOwnedMessage( + message_arena, rotation, submessage_arena); + } + + } else { + + } + rotation_ = rotation; + // @@protoc_insertion_point(field_set_allocated:apollo.common.config.Transform.rotation) +} + +// ------------------------------------------------------------------- + +// Extrinsics + +// repeated .apollo.common.config.Transform tansforms = 1; +inline int Extrinsics::tansforms_size() const { + return tansforms_.size(); +} +inline void Extrinsics::clear_tansforms() { + tansforms_.Clear(); +} +inline ::apollo::common::config::Transform* Extrinsics::mutable_tansforms(int index) { + // @@protoc_insertion_point(field_mutable:apollo.common.config.Extrinsics.tansforms) + return tansforms_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::common::config::Transform >* +Extrinsics::mutable_tansforms() { + // @@protoc_insertion_point(field_mutable_list:apollo.common.config.Extrinsics.tansforms) + return &tansforms_; +} +inline const ::apollo::common::config::Transform& Extrinsics::tansforms(int index) const { + // @@protoc_insertion_point(field_get:apollo.common.config.Extrinsics.tansforms) + return tansforms_.Get(index); +} +inline ::apollo::common::config::Transform* Extrinsics::add_tansforms() { + // @@protoc_insertion_point(field_add:apollo.common.config.Extrinsics.tansforms) + return tansforms_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::common::config::Transform >& +Extrinsics::tansforms() const { + // @@protoc_insertion_point(field_list:apollo.common.config.Extrinsics.tansforms) + return tansforms_; +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace config +} // namespace common +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/common/error_code.pb.cc b/apollo_msgs/include/apollo_msgs/proto/common/error_code.pb.cc new file mode 100644 index 0000000..5b8bb54 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/error_code.pb.cc @@ -0,0 +1,441 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/error_code.proto + +#include "apollo_msgs/proto/common/error_code.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace apollo { +namespace common { +class StatusPbDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _StatusPb_default_instance_; +} // namespace common +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto { +static void InitDefaultsStatusPb() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::_StatusPb_default_instance_; + new (ptr) ::apollo::common::StatusPb(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::StatusPb::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_StatusPb = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsStatusPb}, {}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_StatusPb.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::StatusPb, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::StatusPb, error_code_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::StatusPb, msg_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::common::StatusPb)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::common::_StatusPb_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/common/error_code.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n)apollo_msgs/proto/common/error_code.pr" + "oto\022\rapollo.common\"E\n\010StatusPb\022,\n\nerror_" + "code\030\001 \001(\0162\030.apollo.common.ErrorCode\022\013\n\003" + "msg\030\002 \001(\t*\265\002\n\tErrorCode\022\006\n\002OK\020\000\022\022\n\rCONTR" + "OL_ERROR\020\350\007\022\027\n\022CONTROL_INIT_ERROR\020\351\007\022\032\n\025" + "CONTROL_COMPUTE_ERROR\020\352\007\022\021\n\014CANBUS_ERROR" + "\020\320\017\022\032\n\025CAN_CLIENT_ERROR_BASE\020\264\020\022(\n#CAN_C" + "LIENT_ERROR_OPEN_DEVICE_FAILED\020\265\020\022\037\n\032CAN" + "_CLIENT_ERROR_FRAME_NUM\020\266\020\022!\n\034CAN_CLIENT" + "_ERROR_SEND_FAILED\020\267\020\022!\n\034CAN_CLIENT_ERRO" + "R_RECV_FAILED\020\270\020\022\027\n\022LOCALIZATION_ERROR\020\270" + "\027b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 449); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/common/error_code.proto", &protobuf_RegisterTypes); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto +namespace apollo { +namespace common { +const ::google::protobuf::EnumDescriptor* ErrorCode_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::file_level_enum_descriptors[0]; +} +bool ErrorCode_IsValid(int value) { + switch (value) { + case 0: + case 1000: + case 1001: + case 1002: + case 2000: + case 2100: + case 2101: + case 2102: + case 2103: + case 2104: + case 3000: + return true; + default: + return false; + } +} + + +// =================================================================== + +void StatusPb::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int StatusPb::kErrorCodeFieldNumber; +const int StatusPb::kMsgFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +StatusPb::StatusPb() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::scc_info_StatusPb.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.StatusPb) +} +StatusPb::StatusPb(const StatusPb& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + msg_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.msg().size() > 0) { + msg_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.msg_); + } + error_code_ = from.error_code_; + // @@protoc_insertion_point(copy_constructor:apollo.common.StatusPb) +} + +void StatusPb::SharedCtor() { + msg_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + error_code_ = 0; +} + +StatusPb::~StatusPb() { + // @@protoc_insertion_point(destructor:apollo.common.StatusPb) + SharedDtor(); +} + +void StatusPb::SharedDtor() { + msg_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} + +void StatusPb::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* StatusPb::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const StatusPb& StatusPb::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::scc_info_StatusPb.base); + return *internal_default_instance(); +} + + +void StatusPb::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.StatusPb) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + msg_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + error_code_ = 0; + _internal_metadata_.Clear(); +} + +bool StatusPb::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.StatusPb) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.ErrorCode error_code = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_error_code(static_cast< ::apollo::common::ErrorCode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // string msg = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_msg())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->msg().data(), static_cast(this->msg().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.common.StatusPb.msg")); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.StatusPb) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.StatusPb) + return false; +#undef DO_ +} + +void StatusPb::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.StatusPb) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.ErrorCode error_code = 1; + if (this->error_code() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->error_code(), output); + } + + // string msg = 2; + if (this->msg().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->msg().data(), static_cast(this->msg().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.common.StatusPb.msg"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 2, this->msg(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.StatusPb) +} + +::google::protobuf::uint8* StatusPb::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.StatusPb) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.ErrorCode error_code = 1; + if (this->error_code() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->error_code(), target); + } + + // string msg = 2; + if (this->msg().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->msg().data(), static_cast(this->msg().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.common.StatusPb.msg"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 2, this->msg(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.StatusPb) + return target; +} + +size_t StatusPb::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.StatusPb) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string msg = 2; + if (this->msg().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->msg()); + } + + // .apollo.common.ErrorCode error_code = 1; + if (this->error_code() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->error_code()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void StatusPb::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.StatusPb) + GOOGLE_DCHECK_NE(&from, this); + const StatusPb* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.StatusPb) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.StatusPb) + MergeFrom(*source); + } +} + +void StatusPb::MergeFrom(const StatusPb& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.StatusPb) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.msg().size() > 0) { + + msg_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.msg_); + } + if (from.error_code() != 0) { + set_error_code(from.error_code()); + } +} + +void StatusPb::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.StatusPb) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void StatusPb::CopyFrom(const StatusPb& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.StatusPb) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool StatusPb::IsInitialized() const { + return true; +} + +void StatusPb::Swap(StatusPb* other) { + if (other == this) return; + InternalSwap(other); +} +void StatusPb::InternalSwap(StatusPb* other) { + using std::swap; + msg_.Swap(&other->msg_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(error_code_, other->error_code_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata StatusPb::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::StatusPb* Arena::CreateMaybeMessage< ::apollo::common::StatusPb >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::StatusPb >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/common/error_code.pb.h b/apollo_msgs/include/apollo_msgs/proto/common/error_code.pb.h new file mode 100644 index 0000000..35171d3 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/error_code.pb.h @@ -0,0 +1,313 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/error_code.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto +namespace apollo { +namespace common { +class StatusPb; +class StatusPbDefaultTypeInternal; +extern StatusPbDefaultTypeInternal _StatusPb_default_instance_; +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::common::StatusPb* Arena::CreateMaybeMessage<::apollo::common::StatusPb>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace common { + +enum ErrorCode { + OK = 0, + CONTROL_ERROR = 1000, + CONTROL_INIT_ERROR = 1001, + CONTROL_COMPUTE_ERROR = 1002, + CANBUS_ERROR = 2000, + CAN_CLIENT_ERROR_BASE = 2100, + CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101, + CAN_CLIENT_ERROR_FRAME_NUM = 2102, + CAN_CLIENT_ERROR_SEND_FAILED = 2103, + CAN_CLIENT_ERROR_RECV_FAILED = 2104, + LOCALIZATION_ERROR = 3000, + ErrorCode_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + ErrorCode_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool ErrorCode_IsValid(int value); +const ErrorCode ErrorCode_MIN = OK; +const ErrorCode ErrorCode_MAX = LOCALIZATION_ERROR; +const int ErrorCode_ARRAYSIZE = ErrorCode_MAX + 1; + +const ::google::protobuf::EnumDescriptor* ErrorCode_descriptor(); +inline const ::std::string& ErrorCode_Name(ErrorCode value) { + return ::google::protobuf::internal::NameOfEnum( + ErrorCode_descriptor(), value); +} +inline bool ErrorCode_Parse( + const ::std::string& name, ErrorCode* value) { + return ::google::protobuf::internal::ParseNamedEnum( + ErrorCode_descriptor(), name, value); +} +// =================================================================== + +class StatusPb : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.StatusPb) */ { + public: + StatusPb(); + virtual ~StatusPb(); + + StatusPb(const StatusPb& from); + + inline StatusPb& operator=(const StatusPb& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + StatusPb(StatusPb&& from) noexcept + : StatusPb() { + *this = ::std::move(from); + } + + inline StatusPb& operator=(StatusPb&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const StatusPb& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const StatusPb* internal_default_instance() { + return reinterpret_cast( + &_StatusPb_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(StatusPb* other); + friend void swap(StatusPb& a, StatusPb& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline StatusPb* New() const final { + return CreateMaybeMessage(NULL); + } + + StatusPb* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const StatusPb& from); + void MergeFrom(const StatusPb& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(StatusPb* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // string msg = 2; + void clear_msg(); + static const int kMsgFieldNumber = 2; + const ::std::string& msg() const; + void set_msg(const ::std::string& value); + #if LANG_CXX11 + void set_msg(::std::string&& value); + #endif + void set_msg(const char* value); + void set_msg(const char* value, size_t size); + ::std::string* mutable_msg(); + ::std::string* release_msg(); + void set_allocated_msg(::std::string* msg); + + // .apollo.common.ErrorCode error_code = 1; + void clear_error_code(); + static const int kErrorCodeFieldNumber = 1; + ::apollo::common::ErrorCode error_code() const; + void set_error_code(::apollo::common::ErrorCode value); + + // @@protoc_insertion_point(class_scope:apollo.common.StatusPb) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr msg_; + int error_code_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// StatusPb + +// .apollo.common.ErrorCode error_code = 1; +inline void StatusPb::clear_error_code() { + error_code_ = 0; +} +inline ::apollo::common::ErrorCode StatusPb::error_code() const { + // @@protoc_insertion_point(field_get:apollo.common.StatusPb.error_code) + return static_cast< ::apollo::common::ErrorCode >(error_code_); +} +inline void StatusPb::set_error_code(::apollo::common::ErrorCode value) { + + error_code_ = value; + // @@protoc_insertion_point(field_set:apollo.common.StatusPb.error_code) +} + +// string msg = 2; +inline void StatusPb::clear_msg() { + msg_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& StatusPb::msg() const { + // @@protoc_insertion_point(field_get:apollo.common.StatusPb.msg) + return msg_.GetNoArena(); +} +inline void StatusPb::set_msg(const ::std::string& value) { + + msg_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.common.StatusPb.msg) +} +#if LANG_CXX11 +inline void StatusPb::set_msg(::std::string&& value) { + + msg_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.common.StatusPb.msg) +} +#endif +inline void StatusPb::set_msg(const char* value) { + GOOGLE_DCHECK(value != NULL); + + msg_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.common.StatusPb.msg) +} +inline void StatusPb::set_msg(const char* value, size_t size) { + + msg_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.common.StatusPb.msg) +} +inline ::std::string* StatusPb::mutable_msg() { + + // @@protoc_insertion_point(field_mutable:apollo.common.StatusPb.msg) + return msg_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* StatusPb::release_msg() { + // @@protoc_insertion_point(field_release:apollo.common.StatusPb.msg) + + return msg_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void StatusPb::set_allocated_msg(::std::string* msg) { + if (msg != NULL) { + + } else { + + } + msg_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), msg); + // @@protoc_insertion_point(field_set_allocated:apollo.common.StatusPb.msg) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace common +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::common::ErrorCode> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::common::ErrorCode>() { + return ::apollo::common::ErrorCode_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/common/geometry.pb.cc b/apollo_msgs/include/apollo_msgs/proto/common/geometry.pb.cc new file mode 100644 index 0000000..7b9a362 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/geometry.pb.cc @@ -0,0 +1,1738 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/geometry.proto + +#include "apollo_msgs/proto/common/geometry.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace apollo { +namespace common { +class PointENUDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PointENU_default_instance_; +class PointLLHDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PointLLH_default_instance_; +class Point2DDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Point2D_default_instance_; +class Point3DDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Point3D_default_instance_; +class QuaternionDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Quaternion_default_instance_; +} // namespace common +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto { +static void InitDefaultsPointENU() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::_PointENU_default_instance_; + new (ptr) ::apollo::common::PointENU(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::PointENU::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_PointENU = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsPointENU}, {}}; + +static void InitDefaultsPointLLH() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::_PointLLH_default_instance_; + new (ptr) ::apollo::common::PointLLH(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::PointLLH::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_PointLLH = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsPointLLH}, {}}; + +static void InitDefaultsPoint2D() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::_Point2D_default_instance_; + new (ptr) ::apollo::common::Point2D(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::Point2D::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Point2D = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsPoint2D}, {}}; + +static void InitDefaultsPoint3D() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::_Point3D_default_instance_; + new (ptr) ::apollo::common::Point3D(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::Point3D::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Point3D = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsPoint3D}, {}}; + +static void InitDefaultsQuaternion() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::_Quaternion_default_instance_; + new (ptr) ::apollo::common::Quaternion(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::Quaternion::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Quaternion = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsQuaternion}, {}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_PointENU.base); + ::google::protobuf::internal::InitSCC(&scc_info_PointLLH.base); + ::google::protobuf::internal::InitSCC(&scc_info_Point2D.base); + ::google::protobuf::internal::InitSCC(&scc_info_Point3D.base); + ::google::protobuf::internal::InitSCC(&scc_info_Quaternion.base); +} + +::google::protobuf::Metadata file_level_metadata[5]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::PointENU, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::PointENU, x_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::PointENU, y_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::PointENU, z_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::PointLLH, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::PointLLH, lon_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::PointLLH, lat_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::PointLLH, height_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Point2D, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Point2D, x_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Point2D, y_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Point3D, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Point3D, x_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Point3D, y_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Point3D, z_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Quaternion, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Quaternion, qx_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Quaternion, qy_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Quaternion, qz_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Quaternion, qw_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::common::PointENU)}, + { 8, -1, sizeof(::apollo::common::PointLLH)}, + { 16, -1, sizeof(::apollo::common::Point2D)}, + { 23, -1, sizeof(::apollo::common::Point3D)}, + { 31, -1, sizeof(::apollo::common::Quaternion)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::common::_PointENU_default_instance_), + reinterpret_cast(&::apollo::common::_PointLLH_default_instance_), + reinterpret_cast(&::apollo::common::_Point2D_default_instance_), + reinterpret_cast(&::apollo::common::_Point3D_default_instance_), + reinterpret_cast(&::apollo::common::_Quaternion_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/common/geometry.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 5); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n\'apollo_msgs/proto/common/geometry.prot" + "o\022\rapollo.common\"+\n\010PointENU\022\t\n\001x\030\001 \001(\001\022" + "\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003 \001(\001\"4\n\010PointLLH\022\013\n\003lon" + "\030\001 \001(\001\022\013\n\003lat\030\002 \001(\001\022\016\n\006height\030\003 \001(\001\"\037\n\007P" + "oint2D\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\"*\n\007Point3D\022" + "\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003 \001(\001\"<\n\nQuat" + "ernion\022\n\n\002qx\030\001 \001(\001\022\n\n\002qy\030\002 \001(\001\022\n\n\002qz\030\003 \001" + "(\001\022\n\n\002qw\030\004 \001(\001b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 302); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/common/geometry.proto", &protobuf_RegisterTypes); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto +namespace apollo { +namespace common { + +// =================================================================== + +void PointENU::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PointENU::kXFieldNumber; +const int PointENU::kYFieldNumber; +const int PointENU::kZFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PointENU::PointENU() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.PointENU) +} +PointENU::PointENU(const PointENU& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&x_, &from.x_, + static_cast(reinterpret_cast(&z_) - + reinterpret_cast(&x_)) + sizeof(z_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.PointENU) +} + +void PointENU::SharedCtor() { + ::memset(&x_, 0, static_cast( + reinterpret_cast(&z_) - + reinterpret_cast(&x_)) + sizeof(z_)); +} + +PointENU::~PointENU() { + // @@protoc_insertion_point(destructor:apollo.common.PointENU) + SharedDtor(); +} + +void PointENU::SharedDtor() { +} + +void PointENU::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PointENU::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PointENU& PointENU::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base); + return *internal_default_instance(); +} + + +void PointENU::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.PointENU) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&x_, 0, static_cast( + reinterpret_cast(&z_) - + reinterpret_cast(&x_)) + sizeof(z_)); + _internal_metadata_.Clear(); +} + +bool PointENU::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.PointENU) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double x = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &x_))); + } else { + goto handle_unusual; + } + break; + } + + // double y = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &y_))); + } else { + goto handle_unusual; + } + break; + } + + // double z = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &z_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.PointENU) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.PointENU) + return false; +#undef DO_ +} + +void PointENU::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.PointENU) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output); + } + + // double y = 2; + if (this->y() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output); + } + + // double z = 3; + if (this->z() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.PointENU) +} + +::google::protobuf::uint8* PointENU::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.PointENU) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target); + } + + // double y = 2; + if (this->y() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target); + } + + // double z = 3; + if (this->z() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.PointENU) + return target; +} + +size_t PointENU::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.PointENU) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double x = 1; + if (this->x() != 0) { + total_size += 1 + 8; + } + + // double y = 2; + if (this->y() != 0) { + total_size += 1 + 8; + } + + // double z = 3; + if (this->z() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PointENU::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.PointENU) + GOOGLE_DCHECK_NE(&from, this); + const PointENU* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.PointENU) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.PointENU) + MergeFrom(*source); + } +} + +void PointENU::MergeFrom(const PointENU& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.PointENU) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.x() != 0) { + set_x(from.x()); + } + if (from.y() != 0) { + set_y(from.y()); + } + if (from.z() != 0) { + set_z(from.z()); + } +} + +void PointENU::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.PointENU) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PointENU::CopyFrom(const PointENU& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.PointENU) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PointENU::IsInitialized() const { + return true; +} + +void PointENU::Swap(PointENU* other) { + if (other == this) return; + InternalSwap(other); +} +void PointENU::InternalSwap(PointENU* other) { + using std::swap; + swap(x_, other->x_); + swap(y_, other->y_); + swap(z_, other->z_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PointENU::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void PointLLH::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PointLLH::kLonFieldNumber; +const int PointLLH::kLatFieldNumber; +const int PointLLH::kHeightFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PointLLH::PointLLH() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointLLH.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.PointLLH) +} +PointLLH::PointLLH(const PointLLH& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&lon_, &from.lon_, + static_cast(reinterpret_cast(&height_) - + reinterpret_cast(&lon_)) + sizeof(height_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.PointLLH) +} + +void PointLLH::SharedCtor() { + ::memset(&lon_, 0, static_cast( + reinterpret_cast(&height_) - + reinterpret_cast(&lon_)) + sizeof(height_)); +} + +PointLLH::~PointLLH() { + // @@protoc_insertion_point(destructor:apollo.common.PointLLH) + SharedDtor(); +} + +void PointLLH::SharedDtor() { +} + +void PointLLH::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PointLLH::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PointLLH& PointLLH::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointLLH.base); + return *internal_default_instance(); +} + + +void PointLLH::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.PointLLH) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&lon_, 0, static_cast( + reinterpret_cast(&height_) - + reinterpret_cast(&lon_)) + sizeof(height_)); + _internal_metadata_.Clear(); +} + +bool PointLLH::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.PointLLH) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double lon = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &lon_))); + } else { + goto handle_unusual; + } + break; + } + + // double lat = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &lat_))); + } else { + goto handle_unusual; + } + break; + } + + // double height = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &height_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.PointLLH) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.PointLLH) + return false; +#undef DO_ +} + +void PointLLH::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.PointLLH) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double lon = 1; + if (this->lon() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->lon(), output); + } + + // double lat = 2; + if (this->lat() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->lat(), output); + } + + // double height = 3; + if (this->height() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->height(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.PointLLH) +} + +::google::protobuf::uint8* PointLLH::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.PointLLH) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double lon = 1; + if (this->lon() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->lon(), target); + } + + // double lat = 2; + if (this->lat() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->lat(), target); + } + + // double height = 3; + if (this->height() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->height(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.PointLLH) + return target; +} + +size_t PointLLH::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.PointLLH) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double lon = 1; + if (this->lon() != 0) { + total_size += 1 + 8; + } + + // double lat = 2; + if (this->lat() != 0) { + total_size += 1 + 8; + } + + // double height = 3; + if (this->height() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PointLLH::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.PointLLH) + GOOGLE_DCHECK_NE(&from, this); + const PointLLH* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.PointLLH) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.PointLLH) + MergeFrom(*source); + } +} + +void PointLLH::MergeFrom(const PointLLH& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.PointLLH) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.lon() != 0) { + set_lon(from.lon()); + } + if (from.lat() != 0) { + set_lat(from.lat()); + } + if (from.height() != 0) { + set_height(from.height()); + } +} + +void PointLLH::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.PointLLH) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PointLLH::CopyFrom(const PointLLH& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.PointLLH) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PointLLH::IsInitialized() const { + return true; +} + +void PointLLH::Swap(PointLLH* other) { + if (other == this) return; + InternalSwap(other); +} +void PointLLH::InternalSwap(PointLLH* other) { + using std::swap; + swap(lon_, other->lon_); + swap(lat_, other->lat_); + swap(height_, other->height_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PointLLH::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Point2D::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Point2D::kXFieldNumber; +const int Point2D::kYFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Point2D::Point2D() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Point2D.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.Point2D) +} +Point2D::Point2D(const Point2D& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&x_, &from.x_, + static_cast(reinterpret_cast(&y_) - + reinterpret_cast(&x_)) + sizeof(y_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.Point2D) +} + +void Point2D::SharedCtor() { + ::memset(&x_, 0, static_cast( + reinterpret_cast(&y_) - + reinterpret_cast(&x_)) + sizeof(y_)); +} + +Point2D::~Point2D() { + // @@protoc_insertion_point(destructor:apollo.common.Point2D) + SharedDtor(); +} + +void Point2D::SharedDtor() { +} + +void Point2D::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Point2D::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Point2D& Point2D::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Point2D.base); + return *internal_default_instance(); +} + + +void Point2D::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.Point2D) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&x_, 0, static_cast( + reinterpret_cast(&y_) - + reinterpret_cast(&x_)) + sizeof(y_)); + _internal_metadata_.Clear(); +} + +bool Point2D::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.Point2D) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double x = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &x_))); + } else { + goto handle_unusual; + } + break; + } + + // double y = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &y_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.Point2D) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.Point2D) + return false; +#undef DO_ +} + +void Point2D::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.Point2D) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output); + } + + // double y = 2; + if (this->y() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.Point2D) +} + +::google::protobuf::uint8* Point2D::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.Point2D) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target); + } + + // double y = 2; + if (this->y() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.Point2D) + return target; +} + +size_t Point2D::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.Point2D) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double x = 1; + if (this->x() != 0) { + total_size += 1 + 8; + } + + // double y = 2; + if (this->y() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Point2D::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.Point2D) + GOOGLE_DCHECK_NE(&from, this); + const Point2D* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.Point2D) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.Point2D) + MergeFrom(*source); + } +} + +void Point2D::MergeFrom(const Point2D& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.Point2D) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.x() != 0) { + set_x(from.x()); + } + if (from.y() != 0) { + set_y(from.y()); + } +} + +void Point2D::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.Point2D) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Point2D::CopyFrom(const Point2D& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.Point2D) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Point2D::IsInitialized() const { + return true; +} + +void Point2D::Swap(Point2D* other) { + if (other == this) return; + InternalSwap(other); +} +void Point2D::InternalSwap(Point2D* other) { + using std::swap; + swap(x_, other->x_); + swap(y_, other->y_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Point2D::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Point3D::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Point3D::kXFieldNumber; +const int Point3D::kYFieldNumber; +const int Point3D::kZFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Point3D::Point3D() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Point3D.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.Point3D) +} +Point3D::Point3D(const Point3D& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&x_, &from.x_, + static_cast(reinterpret_cast(&z_) - + reinterpret_cast(&x_)) + sizeof(z_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.Point3D) +} + +void Point3D::SharedCtor() { + ::memset(&x_, 0, static_cast( + reinterpret_cast(&z_) - + reinterpret_cast(&x_)) + sizeof(z_)); +} + +Point3D::~Point3D() { + // @@protoc_insertion_point(destructor:apollo.common.Point3D) + SharedDtor(); +} + +void Point3D::SharedDtor() { +} + +void Point3D::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Point3D::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Point3D& Point3D::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Point3D.base); + return *internal_default_instance(); +} + + +void Point3D::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.Point3D) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&x_, 0, static_cast( + reinterpret_cast(&z_) - + reinterpret_cast(&x_)) + sizeof(z_)); + _internal_metadata_.Clear(); +} + +bool Point3D::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.Point3D) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double x = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &x_))); + } else { + goto handle_unusual; + } + break; + } + + // double y = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &y_))); + } else { + goto handle_unusual; + } + break; + } + + // double z = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &z_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.Point3D) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.Point3D) + return false; +#undef DO_ +} + +void Point3D::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.Point3D) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output); + } + + // double y = 2; + if (this->y() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output); + } + + // double z = 3; + if (this->z() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.Point3D) +} + +::google::protobuf::uint8* Point3D::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.Point3D) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target); + } + + // double y = 2; + if (this->y() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target); + } + + // double z = 3; + if (this->z() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.Point3D) + return target; +} + +size_t Point3D::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.Point3D) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double x = 1; + if (this->x() != 0) { + total_size += 1 + 8; + } + + // double y = 2; + if (this->y() != 0) { + total_size += 1 + 8; + } + + // double z = 3; + if (this->z() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Point3D::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.Point3D) + GOOGLE_DCHECK_NE(&from, this); + const Point3D* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.Point3D) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.Point3D) + MergeFrom(*source); + } +} + +void Point3D::MergeFrom(const Point3D& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.Point3D) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.x() != 0) { + set_x(from.x()); + } + if (from.y() != 0) { + set_y(from.y()); + } + if (from.z() != 0) { + set_z(from.z()); + } +} + +void Point3D::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.Point3D) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Point3D::CopyFrom(const Point3D& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.Point3D) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Point3D::IsInitialized() const { + return true; +} + +void Point3D::Swap(Point3D* other) { + if (other == this) return; + InternalSwap(other); +} +void Point3D::InternalSwap(Point3D* other) { + using std::swap; + swap(x_, other->x_); + swap(y_, other->y_); + swap(z_, other->z_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Point3D::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Quaternion::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Quaternion::kQxFieldNumber; +const int Quaternion::kQyFieldNumber; +const int Quaternion::kQzFieldNumber; +const int Quaternion::kQwFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Quaternion::Quaternion() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Quaternion.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.Quaternion) +} +Quaternion::Quaternion(const Quaternion& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&qx_, &from.qx_, + static_cast(reinterpret_cast(&qw_) - + reinterpret_cast(&qx_)) + sizeof(qw_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.Quaternion) +} + +void Quaternion::SharedCtor() { + ::memset(&qx_, 0, static_cast( + reinterpret_cast(&qw_) - + reinterpret_cast(&qx_)) + sizeof(qw_)); +} + +Quaternion::~Quaternion() { + // @@protoc_insertion_point(destructor:apollo.common.Quaternion) + SharedDtor(); +} + +void Quaternion::SharedDtor() { +} + +void Quaternion::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Quaternion::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Quaternion& Quaternion::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Quaternion.base); + return *internal_default_instance(); +} + + +void Quaternion::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.Quaternion) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&qx_, 0, static_cast( + reinterpret_cast(&qw_) - + reinterpret_cast(&qx_)) + sizeof(qw_)); + _internal_metadata_.Clear(); +} + +bool Quaternion::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.Quaternion) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double qx = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &qx_))); + } else { + goto handle_unusual; + } + break; + } + + // double qy = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &qy_))); + } else { + goto handle_unusual; + } + break; + } + + // double qz = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &qz_))); + } else { + goto handle_unusual; + } + break; + } + + // double qw = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &qw_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.Quaternion) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.Quaternion) + return false; +#undef DO_ +} + +void Quaternion::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.Quaternion) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double qx = 1; + if (this->qx() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->qx(), output); + } + + // double qy = 2; + if (this->qy() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->qy(), output); + } + + // double qz = 3; + if (this->qz() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->qz(), output); + } + + // double qw = 4; + if (this->qw() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->qw(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.Quaternion) +} + +::google::protobuf::uint8* Quaternion::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.Quaternion) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double qx = 1; + if (this->qx() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->qx(), target); + } + + // double qy = 2; + if (this->qy() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->qy(), target); + } + + // double qz = 3; + if (this->qz() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->qz(), target); + } + + // double qw = 4; + if (this->qw() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->qw(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.Quaternion) + return target; +} + +size_t Quaternion::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.Quaternion) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double qx = 1; + if (this->qx() != 0) { + total_size += 1 + 8; + } + + // double qy = 2; + if (this->qy() != 0) { + total_size += 1 + 8; + } + + // double qz = 3; + if (this->qz() != 0) { + total_size += 1 + 8; + } + + // double qw = 4; + if (this->qw() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Quaternion::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.Quaternion) + GOOGLE_DCHECK_NE(&from, this); + const Quaternion* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.Quaternion) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.Quaternion) + MergeFrom(*source); + } +} + +void Quaternion::MergeFrom(const Quaternion& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.Quaternion) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.qx() != 0) { + set_qx(from.qx()); + } + if (from.qy() != 0) { + set_qy(from.qy()); + } + if (from.qz() != 0) { + set_qz(from.qz()); + } + if (from.qw() != 0) { + set_qw(from.qw()); + } +} + +void Quaternion::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.Quaternion) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Quaternion::CopyFrom(const Quaternion& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.Quaternion) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Quaternion::IsInitialized() const { + return true; +} + +void Quaternion::Swap(Quaternion* other) { + if (other == this) return; + InternalSwap(other); +} +void Quaternion::InternalSwap(Quaternion* other) { + using std::swap; + swap(qx_, other->qx_); + swap(qy_, other->qy_); + swap(qz_, other->qz_); + swap(qw_, other->qw_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Quaternion::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::PointENU* Arena::CreateMaybeMessage< ::apollo::common::PointENU >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::PointENU >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::PointLLH* Arena::CreateMaybeMessage< ::apollo::common::PointLLH >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::PointLLH >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::Point2D* Arena::CreateMaybeMessage< ::apollo::common::Point2D >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::Point2D >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::Point3D* Arena::CreateMaybeMessage< ::apollo::common::Point3D >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::Point3D >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::Quaternion* Arena::CreateMaybeMessage< ::apollo::common::Quaternion >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::Quaternion >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/common/geometry.pb.h b/apollo_msgs/include/apollo_msgs/proto/common/geometry.pb.h new file mode 100644 index 0000000..b16b5b1 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/geometry.pb.h @@ -0,0 +1,920 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/geometry.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[5]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto +namespace apollo { +namespace common { +class Point2D; +class Point2DDefaultTypeInternal; +extern Point2DDefaultTypeInternal _Point2D_default_instance_; +class Point3D; +class Point3DDefaultTypeInternal; +extern Point3DDefaultTypeInternal _Point3D_default_instance_; +class PointENU; +class PointENUDefaultTypeInternal; +extern PointENUDefaultTypeInternal _PointENU_default_instance_; +class PointLLH; +class PointLLHDefaultTypeInternal; +extern PointLLHDefaultTypeInternal _PointLLH_default_instance_; +class Quaternion; +class QuaternionDefaultTypeInternal; +extern QuaternionDefaultTypeInternal _Quaternion_default_instance_; +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::common::Point2D* Arena::CreateMaybeMessage<::apollo::common::Point2D>(Arena*); +template<> ::apollo::common::Point3D* Arena::CreateMaybeMessage<::apollo::common::Point3D>(Arena*); +template<> ::apollo::common::PointENU* Arena::CreateMaybeMessage<::apollo::common::PointENU>(Arena*); +template<> ::apollo::common::PointLLH* Arena::CreateMaybeMessage<::apollo::common::PointLLH>(Arena*); +template<> ::apollo::common::Quaternion* Arena::CreateMaybeMessage<::apollo::common::Quaternion>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace common { + +// =================================================================== + +class PointENU : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.PointENU) */ { + public: + PointENU(); + virtual ~PointENU(); + + PointENU(const PointENU& from); + + inline PointENU& operator=(const PointENU& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PointENU(PointENU&& from) noexcept + : PointENU() { + *this = ::std::move(from); + } + + inline PointENU& operator=(PointENU&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PointENU& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PointENU* internal_default_instance() { + return reinterpret_cast( + &_PointENU_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(PointENU* other); + friend void swap(PointENU& a, PointENU& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PointENU* New() const final { + return CreateMaybeMessage(NULL); + } + + PointENU* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PointENU& from); + void MergeFrom(const PointENU& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PointENU* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double x = 1; + void clear_x(); + static const int kXFieldNumber = 1; + double x() const; + void set_x(double value); + + // double y = 2; + void clear_y(); + static const int kYFieldNumber = 2; + double y() const; + void set_y(double value); + + // double z = 3; + void clear_z(); + static const int kZFieldNumber = 3; + double z() const; + void set_z(double value); + + // @@protoc_insertion_point(class_scope:apollo.common.PointENU) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double x_; + double y_; + double z_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class PointLLH : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.PointLLH) */ { + public: + PointLLH(); + virtual ~PointLLH(); + + PointLLH(const PointLLH& from); + + inline PointLLH& operator=(const PointLLH& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PointLLH(PointLLH&& from) noexcept + : PointLLH() { + *this = ::std::move(from); + } + + inline PointLLH& operator=(PointLLH&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PointLLH& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PointLLH* internal_default_instance() { + return reinterpret_cast( + &_PointLLH_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(PointLLH* other); + friend void swap(PointLLH& a, PointLLH& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PointLLH* New() const final { + return CreateMaybeMessage(NULL); + } + + PointLLH* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PointLLH& from); + void MergeFrom(const PointLLH& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PointLLH* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double lon = 1; + void clear_lon(); + static const int kLonFieldNumber = 1; + double lon() const; + void set_lon(double value); + + // double lat = 2; + void clear_lat(); + static const int kLatFieldNumber = 2; + double lat() const; + void set_lat(double value); + + // double height = 3; + void clear_height(); + static const int kHeightFieldNumber = 3; + double height() const; + void set_height(double value); + + // @@protoc_insertion_point(class_scope:apollo.common.PointLLH) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double lon_; + double lat_; + double height_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Point2D : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.Point2D) */ { + public: + Point2D(); + virtual ~Point2D(); + + Point2D(const Point2D& from); + + inline Point2D& operator=(const Point2D& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Point2D(Point2D&& from) noexcept + : Point2D() { + *this = ::std::move(from); + } + + inline Point2D& operator=(Point2D&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Point2D& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Point2D* internal_default_instance() { + return reinterpret_cast( + &_Point2D_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(Point2D* other); + friend void swap(Point2D& a, Point2D& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Point2D* New() const final { + return CreateMaybeMessage(NULL); + } + + Point2D* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Point2D& from); + void MergeFrom(const Point2D& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Point2D* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double x = 1; + void clear_x(); + static const int kXFieldNumber = 1; + double x() const; + void set_x(double value); + + // double y = 2; + void clear_y(); + static const int kYFieldNumber = 2; + double y() const; + void set_y(double value); + + // @@protoc_insertion_point(class_scope:apollo.common.Point2D) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double x_; + double y_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Point3D : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.Point3D) */ { + public: + Point3D(); + virtual ~Point3D(); + + Point3D(const Point3D& from); + + inline Point3D& operator=(const Point3D& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Point3D(Point3D&& from) noexcept + : Point3D() { + *this = ::std::move(from); + } + + inline Point3D& operator=(Point3D&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Point3D& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Point3D* internal_default_instance() { + return reinterpret_cast( + &_Point3D_default_instance_); + } + static constexpr int kIndexInFileMessages = + 3; + + void Swap(Point3D* other); + friend void swap(Point3D& a, Point3D& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Point3D* New() const final { + return CreateMaybeMessage(NULL); + } + + Point3D* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Point3D& from); + void MergeFrom(const Point3D& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Point3D* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double x = 1; + void clear_x(); + static const int kXFieldNumber = 1; + double x() const; + void set_x(double value); + + // double y = 2; + void clear_y(); + static const int kYFieldNumber = 2; + double y() const; + void set_y(double value); + + // double z = 3; + void clear_z(); + static const int kZFieldNumber = 3; + double z() const; + void set_z(double value); + + // @@protoc_insertion_point(class_scope:apollo.common.Point3D) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double x_; + double y_; + double z_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Quaternion : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.Quaternion) */ { + public: + Quaternion(); + virtual ~Quaternion(); + + Quaternion(const Quaternion& from); + + inline Quaternion& operator=(const Quaternion& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Quaternion(Quaternion&& from) noexcept + : Quaternion() { + *this = ::std::move(from); + } + + inline Quaternion& operator=(Quaternion&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Quaternion& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Quaternion* internal_default_instance() { + return reinterpret_cast( + &_Quaternion_default_instance_); + } + static constexpr int kIndexInFileMessages = + 4; + + void Swap(Quaternion* other); + friend void swap(Quaternion& a, Quaternion& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Quaternion* New() const final { + return CreateMaybeMessage(NULL); + } + + Quaternion* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Quaternion& from); + void MergeFrom(const Quaternion& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Quaternion* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double qx = 1; + void clear_qx(); + static const int kQxFieldNumber = 1; + double qx() const; + void set_qx(double value); + + // double qy = 2; + void clear_qy(); + static const int kQyFieldNumber = 2; + double qy() const; + void set_qy(double value); + + // double qz = 3; + void clear_qz(); + static const int kQzFieldNumber = 3; + double qz() const; + void set_qz(double value); + + // double qw = 4; + void clear_qw(); + static const int kQwFieldNumber = 4; + double qw() const; + void set_qw(double value); + + // @@protoc_insertion_point(class_scope:apollo.common.Quaternion) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double qx_; + double qy_; + double qz_; + double qw_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// PointENU + +// double x = 1; +inline void PointENU::clear_x() { + x_ = 0; +} +inline double PointENU::x() const { + // @@protoc_insertion_point(field_get:apollo.common.PointENU.x) + return x_; +} +inline void PointENU::set_x(double value) { + + x_ = value; + // @@protoc_insertion_point(field_set:apollo.common.PointENU.x) +} + +// double y = 2; +inline void PointENU::clear_y() { + y_ = 0; +} +inline double PointENU::y() const { + // @@protoc_insertion_point(field_get:apollo.common.PointENU.y) + return y_; +} +inline void PointENU::set_y(double value) { + + y_ = value; + // @@protoc_insertion_point(field_set:apollo.common.PointENU.y) +} + +// double z = 3; +inline void PointENU::clear_z() { + z_ = 0; +} +inline double PointENU::z() const { + // @@protoc_insertion_point(field_get:apollo.common.PointENU.z) + return z_; +} +inline void PointENU::set_z(double value) { + + z_ = value; + // @@protoc_insertion_point(field_set:apollo.common.PointENU.z) +} + +// ------------------------------------------------------------------- + +// PointLLH + +// double lon = 1; +inline void PointLLH::clear_lon() { + lon_ = 0; +} +inline double PointLLH::lon() const { + // @@protoc_insertion_point(field_get:apollo.common.PointLLH.lon) + return lon_; +} +inline void PointLLH::set_lon(double value) { + + lon_ = value; + // @@protoc_insertion_point(field_set:apollo.common.PointLLH.lon) +} + +// double lat = 2; +inline void PointLLH::clear_lat() { + lat_ = 0; +} +inline double PointLLH::lat() const { + // @@protoc_insertion_point(field_get:apollo.common.PointLLH.lat) + return lat_; +} +inline void PointLLH::set_lat(double value) { + + lat_ = value; + // @@protoc_insertion_point(field_set:apollo.common.PointLLH.lat) +} + +// double height = 3; +inline void PointLLH::clear_height() { + height_ = 0; +} +inline double PointLLH::height() const { + // @@protoc_insertion_point(field_get:apollo.common.PointLLH.height) + return height_; +} +inline void PointLLH::set_height(double value) { + + height_ = value; + // @@protoc_insertion_point(field_set:apollo.common.PointLLH.height) +} + +// ------------------------------------------------------------------- + +// Point2D + +// double x = 1; +inline void Point2D::clear_x() { + x_ = 0; +} +inline double Point2D::x() const { + // @@protoc_insertion_point(field_get:apollo.common.Point2D.x) + return x_; +} +inline void Point2D::set_x(double value) { + + x_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Point2D.x) +} + +// double y = 2; +inline void Point2D::clear_y() { + y_ = 0; +} +inline double Point2D::y() const { + // @@protoc_insertion_point(field_get:apollo.common.Point2D.y) + return y_; +} +inline void Point2D::set_y(double value) { + + y_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Point2D.y) +} + +// ------------------------------------------------------------------- + +// Point3D + +// double x = 1; +inline void Point3D::clear_x() { + x_ = 0; +} +inline double Point3D::x() const { + // @@protoc_insertion_point(field_get:apollo.common.Point3D.x) + return x_; +} +inline void Point3D::set_x(double value) { + + x_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Point3D.x) +} + +// double y = 2; +inline void Point3D::clear_y() { + y_ = 0; +} +inline double Point3D::y() const { + // @@protoc_insertion_point(field_get:apollo.common.Point3D.y) + return y_; +} +inline void Point3D::set_y(double value) { + + y_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Point3D.y) +} + +// double z = 3; +inline void Point3D::clear_z() { + z_ = 0; +} +inline double Point3D::z() const { + // @@protoc_insertion_point(field_get:apollo.common.Point3D.z) + return z_; +} +inline void Point3D::set_z(double value) { + + z_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Point3D.z) +} + +// ------------------------------------------------------------------- + +// Quaternion + +// double qx = 1; +inline void Quaternion::clear_qx() { + qx_ = 0; +} +inline double Quaternion::qx() const { + // @@protoc_insertion_point(field_get:apollo.common.Quaternion.qx) + return qx_; +} +inline void Quaternion::set_qx(double value) { + + qx_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Quaternion.qx) +} + +// double qy = 2; +inline void Quaternion::clear_qy() { + qy_ = 0; +} +inline double Quaternion::qy() const { + // @@protoc_insertion_point(field_get:apollo.common.Quaternion.qy) + return qy_; +} +inline void Quaternion::set_qy(double value) { + + qy_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Quaternion.qy) +} + +// double qz = 3; +inline void Quaternion::clear_qz() { + qz_ = 0; +} +inline double Quaternion::qz() const { + // @@protoc_insertion_point(field_get:apollo.common.Quaternion.qz) + return qz_; +} +inline void Quaternion::set_qz(double value) { + + qz_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Quaternion.qz) +} + +// double qw = 4; +inline void Quaternion::clear_qw() { + qw_ = 0; +} +inline double Quaternion::qw() const { + // @@protoc_insertion_point(field_get:apollo.common.Quaternion.qw) + return qw_; +} +inline void Quaternion::set_qw(double value) { + + qw_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Quaternion.qw) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace common +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/common/gnss_status.pb.cc b/apollo_msgs/include/apollo_msgs/proto/common/gnss_status.pb.cc new file mode 100644 index 0000000..f0f9de6 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/gnss_status.pb.cc @@ -0,0 +1,1300 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/gnss_status.proto + +#include "apollo_msgs/proto/common/gnss_status.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace apollo { +namespace common { +namespace gnss_status { +class StreamStatusDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _StreamStatus_default_instance_; +class InsStatusDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _InsStatus_default_instance_; +class GnssStatusDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _GnssStatus_default_instance_; +} // namespace gnss_status +} // namespace common +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto { +static void InitDefaultsStreamStatus() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::gnss_status::_StreamStatus_default_instance_; + new (ptr) ::apollo::common::gnss_status::StreamStatus(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::gnss_status::StreamStatus::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_StreamStatus = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsStreamStatus}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base,}}; + +static void InitDefaultsInsStatus() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::gnss_status::_InsStatus_default_instance_; + new (ptr) ::apollo::common::gnss_status::InsStatus(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::gnss_status::InsStatus::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_InsStatus = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsInsStatus}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base,}}; + +static void InitDefaultsGnssStatus() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::gnss_status::_GnssStatus_default_instance_; + new (ptr) ::apollo::common::gnss_status::GnssStatus(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::gnss_status::GnssStatus::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_GnssStatus = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsGnssStatus}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_StreamStatus.base); + ::google::protobuf::internal::InitSCC(&scc_info_InsStatus.base); + ::google::protobuf::internal::InitSCC(&scc_info_GnssStatus.base); +} + +::google::protobuf::Metadata file_level_metadata[3]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[2]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::StreamStatus, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::StreamStatus, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::StreamStatus, ins_stream_type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::StreamStatus, rtk_stream_in_type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::StreamStatus, rtk_stream_out_type_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::InsStatus, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::InsStatus, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::InsStatus, type_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::GnssStatus, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::GnssStatus, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::GnssStatus, solution_completed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::GnssStatus, solution_status_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::GnssStatus, position_type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::gnss_status::GnssStatus, num_sats_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::common::gnss_status::StreamStatus)}, + { 9, -1, sizeof(::apollo::common::gnss_status::InsStatus)}, + { 16, -1, sizeof(::apollo::common::gnss_status::GnssStatus)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::common::gnss_status::_StreamStatus_default_instance_), + reinterpret_cast(&::apollo::common::gnss_status::_InsStatus_default_instance_), + reinterpret_cast(&::apollo::common::gnss_status::_GnssStatus_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/common/gnss_status.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 3); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n*apollo_msgs/proto/common/gnss_status.p" + "roto\022\031apollo.common.gnss_status\032%apollo_" + "msgs/proto/common/header.proto\"\272\002\n\014Strea" + "mStatus\022%\n\006header\030\001 \001(\0132\025.apollo.common." + "Header\022E\n\017ins_stream_type\030\002 \001(\0162,.apollo" + ".common.gnss_status.StreamStatus.Type\022H\n" + "\022rtk_stream_in_type\030\003 \001(\0162,.apollo.commo" + "n.gnss_status.StreamStatus.Type\022I\n\023rtk_s" + "tream_out_type\030\004 \001(\0162,.apollo.common.gns" + "s_status.StreamStatus.Type\"\'\n\004Type\022\020\n\014DI" + "SCONNECTED\020\000\022\r\n\tCONNECTED\020\001\"\232\001\n\tInsStatu" + "s\022%\n\006header\030\001 \001(\0132\025.apollo.common.Header" + "\0227\n\004type\030\002 \001(\0162).apollo.common.gnss_stat" + "us.InsStatus.Type\"-\n\004Type\022\013\n\007INVALID\020\000\022\016" + "\n\nCONVERGING\020\001\022\010\n\004GOOD\020\002\"\221\001\n\nGnssStatus\022" + "%\n\006header\030\001 \001(\0132\025.apollo.common.Header\022\032" + "\n\022solution_completed\030\002 \001(\010\022\027\n\017solution_s" + "tatus\030\003 \001(\r\022\025\n\rposition_type\030\004 \001(\r\022\020\n\010nu" + "m_sats\030\005 \001(\005b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 740); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/common/gnss_status.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto +namespace apollo { +namespace common { +namespace gnss_status { +const ::google::protobuf::EnumDescriptor* StreamStatus_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::file_level_enum_descriptors[0]; +} +bool StreamStatus_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const StreamStatus_Type StreamStatus::DISCONNECTED; +const StreamStatus_Type StreamStatus::CONNECTED; +const StreamStatus_Type StreamStatus::Type_MIN; +const StreamStatus_Type StreamStatus::Type_MAX; +const int StreamStatus::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* InsStatus_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::file_level_enum_descriptors[1]; +} +bool InsStatus_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const InsStatus_Type InsStatus::INVALID; +const InsStatus_Type InsStatus::CONVERGING; +const InsStatus_Type InsStatus::GOOD; +const InsStatus_Type InsStatus::Type_MIN; +const InsStatus_Type InsStatus::Type_MAX; +const int InsStatus::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void StreamStatus::InitAsDefaultInstance() { + ::apollo::common::gnss_status::_StreamStatus_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void StreamStatus::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int StreamStatus::kHeaderFieldNumber; +const int StreamStatus::kInsStreamTypeFieldNumber; +const int StreamStatus::kRtkStreamInTypeFieldNumber; +const int StreamStatus::kRtkStreamOutTypeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +StreamStatus::StreamStatus() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::scc_info_StreamStatus.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.gnss_status.StreamStatus) +} +StreamStatus::StreamStatus(const StreamStatus& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + ::memcpy(&ins_stream_type_, &from.ins_stream_type_, + static_cast(reinterpret_cast(&rtk_stream_out_type_) - + reinterpret_cast(&ins_stream_type_)) + sizeof(rtk_stream_out_type_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.gnss_status.StreamStatus) +} + +void StreamStatus::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&rtk_stream_out_type_) - + reinterpret_cast(&header_)) + sizeof(rtk_stream_out_type_)); +} + +StreamStatus::~StreamStatus() { + // @@protoc_insertion_point(destructor:apollo.common.gnss_status.StreamStatus) + SharedDtor(); +} + +void StreamStatus::SharedDtor() { + if (this != internal_default_instance()) delete header_; +} + +void StreamStatus::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* StreamStatus::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const StreamStatus& StreamStatus::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::scc_info_StreamStatus.base); + return *internal_default_instance(); +} + + +void StreamStatus::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.gnss_status.StreamStatus) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + ::memset(&ins_stream_type_, 0, static_cast( + reinterpret_cast(&rtk_stream_out_type_) - + reinterpret_cast(&ins_stream_type_)) + sizeof(rtk_stream_out_type_)); + _internal_metadata_.Clear(); +} + +bool StreamStatus::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.gnss_status.StreamStatus) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.gnss_status.StreamStatus.Type ins_stream_type = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_ins_stream_type(static_cast< ::apollo::common::gnss_status::StreamStatus_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_in_type = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_rtk_stream_in_type(static_cast< ::apollo::common::gnss_status::StreamStatus_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_out_type = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_rtk_stream_out_type(static_cast< ::apollo::common::gnss_status::StreamStatus_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.gnss_status.StreamStatus) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.gnss_status.StreamStatus) + return false; +#undef DO_ +} + +void StreamStatus::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.gnss_status.StreamStatus) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // .apollo.common.gnss_status.StreamStatus.Type ins_stream_type = 2; + if (this->ins_stream_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->ins_stream_type(), output); + } + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_in_type = 3; + if (this->rtk_stream_in_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 3, this->rtk_stream_in_type(), output); + } + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_out_type = 4; + if (this->rtk_stream_out_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 4, this->rtk_stream_out_type(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.gnss_status.StreamStatus) +} + +::google::protobuf::uint8* StreamStatus::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.gnss_status.StreamStatus) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // .apollo.common.gnss_status.StreamStatus.Type ins_stream_type = 2; + if (this->ins_stream_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->ins_stream_type(), target); + } + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_in_type = 3; + if (this->rtk_stream_in_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 3, this->rtk_stream_in_type(), target); + } + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_out_type = 4; + if (this->rtk_stream_out_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 4, this->rtk_stream_out_type(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.gnss_status.StreamStatus) + return target; +} + +size_t StreamStatus::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.gnss_status.StreamStatus) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.common.gnss_status.StreamStatus.Type ins_stream_type = 2; + if (this->ins_stream_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->ins_stream_type()); + } + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_in_type = 3; + if (this->rtk_stream_in_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->rtk_stream_in_type()); + } + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_out_type = 4; + if (this->rtk_stream_out_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->rtk_stream_out_type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void StreamStatus::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.gnss_status.StreamStatus) + GOOGLE_DCHECK_NE(&from, this); + const StreamStatus* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.gnss_status.StreamStatus) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.gnss_status.StreamStatus) + MergeFrom(*source); + } +} + +void StreamStatus::MergeFrom(const StreamStatus& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.gnss_status.StreamStatus) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.ins_stream_type() != 0) { + set_ins_stream_type(from.ins_stream_type()); + } + if (from.rtk_stream_in_type() != 0) { + set_rtk_stream_in_type(from.rtk_stream_in_type()); + } + if (from.rtk_stream_out_type() != 0) { + set_rtk_stream_out_type(from.rtk_stream_out_type()); + } +} + +void StreamStatus::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.gnss_status.StreamStatus) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void StreamStatus::CopyFrom(const StreamStatus& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.gnss_status.StreamStatus) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool StreamStatus::IsInitialized() const { + return true; +} + +void StreamStatus::Swap(StreamStatus* other) { + if (other == this) return; + InternalSwap(other); +} +void StreamStatus::InternalSwap(StreamStatus* other) { + using std::swap; + swap(header_, other->header_); + swap(ins_stream_type_, other->ins_stream_type_); + swap(rtk_stream_in_type_, other->rtk_stream_in_type_); + swap(rtk_stream_out_type_, other->rtk_stream_out_type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata StreamStatus::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void InsStatus::InitAsDefaultInstance() { + ::apollo::common::gnss_status::_InsStatus_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void InsStatus::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int InsStatus::kHeaderFieldNumber; +const int InsStatus::kTypeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +InsStatus::InsStatus() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::scc_info_InsStatus.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.gnss_status.InsStatus) +} +InsStatus::InsStatus(const InsStatus& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + type_ = from.type_; + // @@protoc_insertion_point(copy_constructor:apollo.common.gnss_status.InsStatus) +} + +void InsStatus::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&type_) - + reinterpret_cast(&header_)) + sizeof(type_)); +} + +InsStatus::~InsStatus() { + // @@protoc_insertion_point(destructor:apollo.common.gnss_status.InsStatus) + SharedDtor(); +} + +void InsStatus::SharedDtor() { + if (this != internal_default_instance()) delete header_; +} + +void InsStatus::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* InsStatus::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const InsStatus& InsStatus::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::scc_info_InsStatus.base); + return *internal_default_instance(); +} + + +void InsStatus::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.gnss_status.InsStatus) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + type_ = 0; + _internal_metadata_.Clear(); +} + +bool InsStatus::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.gnss_status.InsStatus) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.gnss_status.InsStatus.Type type = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_type(static_cast< ::apollo::common::gnss_status::InsStatus_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.gnss_status.InsStatus) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.gnss_status.InsStatus) + return false; +#undef DO_ +} + +void InsStatus::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.gnss_status.InsStatus) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // .apollo.common.gnss_status.InsStatus.Type type = 2; + if (this->type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->type(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.gnss_status.InsStatus) +} + +::google::protobuf::uint8* InsStatus::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.gnss_status.InsStatus) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // .apollo.common.gnss_status.InsStatus.Type type = 2; + if (this->type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->type(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.gnss_status.InsStatus) + return target; +} + +size_t InsStatus::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.gnss_status.InsStatus) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.common.gnss_status.InsStatus.Type type = 2; + if (this->type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void InsStatus::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.gnss_status.InsStatus) + GOOGLE_DCHECK_NE(&from, this); + const InsStatus* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.gnss_status.InsStatus) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.gnss_status.InsStatus) + MergeFrom(*source); + } +} + +void InsStatus::MergeFrom(const InsStatus& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.gnss_status.InsStatus) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.type() != 0) { + set_type(from.type()); + } +} + +void InsStatus::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.gnss_status.InsStatus) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void InsStatus::CopyFrom(const InsStatus& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.gnss_status.InsStatus) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool InsStatus::IsInitialized() const { + return true; +} + +void InsStatus::Swap(InsStatus* other) { + if (other == this) return; + InternalSwap(other); +} +void InsStatus::InternalSwap(InsStatus* other) { + using std::swap; + swap(header_, other->header_); + swap(type_, other->type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata InsStatus::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void GnssStatus::InitAsDefaultInstance() { + ::apollo::common::gnss_status::_GnssStatus_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void GnssStatus::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int GnssStatus::kHeaderFieldNumber; +const int GnssStatus::kSolutionCompletedFieldNumber; +const int GnssStatus::kSolutionStatusFieldNumber; +const int GnssStatus::kPositionTypeFieldNumber; +const int GnssStatus::kNumSatsFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +GnssStatus::GnssStatus() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::scc_info_GnssStatus.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.gnss_status.GnssStatus) +} +GnssStatus::GnssStatus(const GnssStatus& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + ::memcpy(&solution_completed_, &from.solution_completed_, + static_cast(reinterpret_cast(&num_sats_) - + reinterpret_cast(&solution_completed_)) + sizeof(num_sats_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.gnss_status.GnssStatus) +} + +void GnssStatus::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&num_sats_) - + reinterpret_cast(&header_)) + sizeof(num_sats_)); +} + +GnssStatus::~GnssStatus() { + // @@protoc_insertion_point(destructor:apollo.common.gnss_status.GnssStatus) + SharedDtor(); +} + +void GnssStatus::SharedDtor() { + if (this != internal_default_instance()) delete header_; +} + +void GnssStatus::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* GnssStatus::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const GnssStatus& GnssStatus::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::scc_info_GnssStatus.base); + return *internal_default_instance(); +} + + +void GnssStatus::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.gnss_status.GnssStatus) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + ::memset(&solution_completed_, 0, static_cast( + reinterpret_cast(&num_sats_) - + reinterpret_cast(&solution_completed_)) + sizeof(num_sats_)); + _internal_metadata_.Clear(); +} + +bool GnssStatus::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.gnss_status.GnssStatus) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // bool solution_completed = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &solution_completed_))); + } else { + goto handle_unusual; + } + break; + } + + // uint32 solution_status = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &solution_status_))); + } else { + goto handle_unusual; + } + break; + } + + // uint32 position_type = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &position_type_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 num_sats = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &num_sats_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.gnss_status.GnssStatus) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.gnss_status.GnssStatus) + return false; +#undef DO_ +} + +void GnssStatus::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.gnss_status.GnssStatus) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // bool solution_completed = 2; + if (this->solution_completed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(2, this->solution_completed(), output); + } + + // uint32 solution_status = 3; + if (this->solution_status() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(3, this->solution_status(), output); + } + + // uint32 position_type = 4; + if (this->position_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(4, this->position_type(), output); + } + + // int32 num_sats = 5; + if (this->num_sats() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(5, this->num_sats(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.gnss_status.GnssStatus) +} + +::google::protobuf::uint8* GnssStatus::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.gnss_status.GnssStatus) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // bool solution_completed = 2; + if (this->solution_completed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(2, this->solution_completed(), target); + } + + // uint32 solution_status = 3; + if (this->solution_status() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(3, this->solution_status(), target); + } + + // uint32 position_type = 4; + if (this->position_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(4, this->position_type(), target); + } + + // int32 num_sats = 5; + if (this->num_sats() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(5, this->num_sats(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.gnss_status.GnssStatus) + return target; +} + +size_t GnssStatus::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.gnss_status.GnssStatus) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // bool solution_completed = 2; + if (this->solution_completed() != 0) { + total_size += 1 + 1; + } + + // uint32 solution_status = 3; + if (this->solution_status() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->solution_status()); + } + + // uint32 position_type = 4; + if (this->position_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->position_type()); + } + + // int32 num_sats = 5; + if (this->num_sats() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->num_sats()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void GnssStatus::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.gnss_status.GnssStatus) + GOOGLE_DCHECK_NE(&from, this); + const GnssStatus* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.gnss_status.GnssStatus) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.gnss_status.GnssStatus) + MergeFrom(*source); + } +} + +void GnssStatus::MergeFrom(const GnssStatus& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.gnss_status.GnssStatus) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.solution_completed() != 0) { + set_solution_completed(from.solution_completed()); + } + if (from.solution_status() != 0) { + set_solution_status(from.solution_status()); + } + if (from.position_type() != 0) { + set_position_type(from.position_type()); + } + if (from.num_sats() != 0) { + set_num_sats(from.num_sats()); + } +} + +void GnssStatus::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.gnss_status.GnssStatus) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void GnssStatus::CopyFrom(const GnssStatus& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.gnss_status.GnssStatus) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool GnssStatus::IsInitialized() const { + return true; +} + +void GnssStatus::Swap(GnssStatus* other) { + if (other == this) return; + InternalSwap(other); +} +void GnssStatus::InternalSwap(GnssStatus* other) { + using std::swap; + swap(header_, other->header_); + swap(solution_completed_, other->solution_completed_); + swap(solution_status_, other->solution_status_); + swap(position_type_, other->position_type_); + swap(num_sats_, other->num_sats_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata GnssStatus::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace gnss_status +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::gnss_status::StreamStatus* Arena::CreateMaybeMessage< ::apollo::common::gnss_status::StreamStatus >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::gnss_status::StreamStatus >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::gnss_status::InsStatus* Arena::CreateMaybeMessage< ::apollo::common::gnss_status::InsStatus >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::gnss_status::InsStatus >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::gnss_status::GnssStatus* Arena::CreateMaybeMessage< ::apollo::common::gnss_status::GnssStatus >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::gnss_status::GnssStatus >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/common/gnss_status.pb.h b/apollo_msgs/include/apollo_msgs/proto/common/gnss_status.pb.h new file mode 100644 index 0000000..59b6941 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/gnss_status.pb.h @@ -0,0 +1,864 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/gnss_status.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/common/header.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[3]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto +namespace apollo { +namespace common { +namespace gnss_status { +class GnssStatus; +class GnssStatusDefaultTypeInternal; +extern GnssStatusDefaultTypeInternal _GnssStatus_default_instance_; +class InsStatus; +class InsStatusDefaultTypeInternal; +extern InsStatusDefaultTypeInternal _InsStatus_default_instance_; +class StreamStatus; +class StreamStatusDefaultTypeInternal; +extern StreamStatusDefaultTypeInternal _StreamStatus_default_instance_; +} // namespace gnss_status +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::common::gnss_status::GnssStatus* Arena::CreateMaybeMessage<::apollo::common::gnss_status::GnssStatus>(Arena*); +template<> ::apollo::common::gnss_status::InsStatus* Arena::CreateMaybeMessage<::apollo::common::gnss_status::InsStatus>(Arena*); +template<> ::apollo::common::gnss_status::StreamStatus* Arena::CreateMaybeMessage<::apollo::common::gnss_status::StreamStatus>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace common { +namespace gnss_status { + +enum StreamStatus_Type { + StreamStatus_Type_DISCONNECTED = 0, + StreamStatus_Type_CONNECTED = 1, + StreamStatus_Type_StreamStatus_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + StreamStatus_Type_StreamStatus_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool StreamStatus_Type_IsValid(int value); +const StreamStatus_Type StreamStatus_Type_Type_MIN = StreamStatus_Type_DISCONNECTED; +const StreamStatus_Type StreamStatus_Type_Type_MAX = StreamStatus_Type_CONNECTED; +const int StreamStatus_Type_Type_ARRAYSIZE = StreamStatus_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* StreamStatus_Type_descriptor(); +inline const ::std::string& StreamStatus_Type_Name(StreamStatus_Type value) { + return ::google::protobuf::internal::NameOfEnum( + StreamStatus_Type_descriptor(), value); +} +inline bool StreamStatus_Type_Parse( + const ::std::string& name, StreamStatus_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + StreamStatus_Type_descriptor(), name, value); +} +enum InsStatus_Type { + InsStatus_Type_INVALID = 0, + InsStatus_Type_CONVERGING = 1, + InsStatus_Type_GOOD = 2, + InsStatus_Type_InsStatus_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + InsStatus_Type_InsStatus_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool InsStatus_Type_IsValid(int value); +const InsStatus_Type InsStatus_Type_Type_MIN = InsStatus_Type_INVALID; +const InsStatus_Type InsStatus_Type_Type_MAX = InsStatus_Type_GOOD; +const int InsStatus_Type_Type_ARRAYSIZE = InsStatus_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* InsStatus_Type_descriptor(); +inline const ::std::string& InsStatus_Type_Name(InsStatus_Type value) { + return ::google::protobuf::internal::NameOfEnum( + InsStatus_Type_descriptor(), value); +} +inline bool InsStatus_Type_Parse( + const ::std::string& name, InsStatus_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + InsStatus_Type_descriptor(), name, value); +} +// =================================================================== + +class StreamStatus : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.gnss_status.StreamStatus) */ { + public: + StreamStatus(); + virtual ~StreamStatus(); + + StreamStatus(const StreamStatus& from); + + inline StreamStatus& operator=(const StreamStatus& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + StreamStatus(StreamStatus&& from) noexcept + : StreamStatus() { + *this = ::std::move(from); + } + + inline StreamStatus& operator=(StreamStatus&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const StreamStatus& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const StreamStatus* internal_default_instance() { + return reinterpret_cast( + &_StreamStatus_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(StreamStatus* other); + friend void swap(StreamStatus& a, StreamStatus& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline StreamStatus* New() const final { + return CreateMaybeMessage(NULL); + } + + StreamStatus* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const StreamStatus& from); + void MergeFrom(const StreamStatus& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(StreamStatus* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef StreamStatus_Type Type; + static const Type DISCONNECTED = + StreamStatus_Type_DISCONNECTED; + static const Type CONNECTED = + StreamStatus_Type_CONNECTED; + static inline bool Type_IsValid(int value) { + return StreamStatus_Type_IsValid(value); + } + static const Type Type_MIN = + StreamStatus_Type_Type_MIN; + static const Type Type_MAX = + StreamStatus_Type_Type_MAX; + static const int Type_ARRAYSIZE = + StreamStatus_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return StreamStatus_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return StreamStatus_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return StreamStatus_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.common.gnss_status.StreamStatus.Type ins_stream_type = 2; + void clear_ins_stream_type(); + static const int kInsStreamTypeFieldNumber = 2; + ::apollo::common::gnss_status::StreamStatus_Type ins_stream_type() const; + void set_ins_stream_type(::apollo::common::gnss_status::StreamStatus_Type value); + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_in_type = 3; + void clear_rtk_stream_in_type(); + static const int kRtkStreamInTypeFieldNumber = 3; + ::apollo::common::gnss_status::StreamStatus_Type rtk_stream_in_type() const; + void set_rtk_stream_in_type(::apollo::common::gnss_status::StreamStatus_Type value); + + // .apollo.common.gnss_status.StreamStatus.Type rtk_stream_out_type = 4; + void clear_rtk_stream_out_type(); + static const int kRtkStreamOutTypeFieldNumber = 4; + ::apollo::common::gnss_status::StreamStatus_Type rtk_stream_out_type() const; + void set_rtk_stream_out_type(::apollo::common::gnss_status::StreamStatus_Type value); + + // @@protoc_insertion_point(class_scope:apollo.common.gnss_status.StreamStatus) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + int ins_stream_type_; + int rtk_stream_in_type_; + int rtk_stream_out_type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class InsStatus : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.gnss_status.InsStatus) */ { + public: + InsStatus(); + virtual ~InsStatus(); + + InsStatus(const InsStatus& from); + + inline InsStatus& operator=(const InsStatus& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + InsStatus(InsStatus&& from) noexcept + : InsStatus() { + *this = ::std::move(from); + } + + inline InsStatus& operator=(InsStatus&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const InsStatus& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const InsStatus* internal_default_instance() { + return reinterpret_cast( + &_InsStatus_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(InsStatus* other); + friend void swap(InsStatus& a, InsStatus& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline InsStatus* New() const final { + return CreateMaybeMessage(NULL); + } + + InsStatus* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const InsStatus& from); + void MergeFrom(const InsStatus& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(InsStatus* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef InsStatus_Type Type; + static const Type INVALID = + InsStatus_Type_INVALID; + static const Type CONVERGING = + InsStatus_Type_CONVERGING; + static const Type GOOD = + InsStatus_Type_GOOD; + static inline bool Type_IsValid(int value) { + return InsStatus_Type_IsValid(value); + } + static const Type Type_MIN = + InsStatus_Type_Type_MIN; + static const Type Type_MAX = + InsStatus_Type_Type_MAX; + static const int Type_ARRAYSIZE = + InsStatus_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return InsStatus_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return InsStatus_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return InsStatus_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.common.gnss_status.InsStatus.Type type = 2; + void clear_type(); + static const int kTypeFieldNumber = 2; + ::apollo::common::gnss_status::InsStatus_Type type() const; + void set_type(::apollo::common::gnss_status::InsStatus_Type value); + + // @@protoc_insertion_point(class_scope:apollo.common.gnss_status.InsStatus) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + int type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class GnssStatus : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.gnss_status.GnssStatus) */ { + public: + GnssStatus(); + virtual ~GnssStatus(); + + GnssStatus(const GnssStatus& from); + + inline GnssStatus& operator=(const GnssStatus& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + GnssStatus(GnssStatus&& from) noexcept + : GnssStatus() { + *this = ::std::move(from); + } + + inline GnssStatus& operator=(GnssStatus&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const GnssStatus& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const GnssStatus* internal_default_instance() { + return reinterpret_cast( + &_GnssStatus_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(GnssStatus* other); + friend void swap(GnssStatus& a, GnssStatus& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline GnssStatus* New() const final { + return CreateMaybeMessage(NULL); + } + + GnssStatus* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const GnssStatus& from); + void MergeFrom(const GnssStatus& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(GnssStatus* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // bool solution_completed = 2; + void clear_solution_completed(); + static const int kSolutionCompletedFieldNumber = 2; + bool solution_completed() const; + void set_solution_completed(bool value); + + // uint32 solution_status = 3; + void clear_solution_status(); + static const int kSolutionStatusFieldNumber = 3; + ::google::protobuf::uint32 solution_status() const; + void set_solution_status(::google::protobuf::uint32 value); + + // uint32 position_type = 4; + void clear_position_type(); + static const int kPositionTypeFieldNumber = 4; + ::google::protobuf::uint32 position_type() const; + void set_position_type(::google::protobuf::uint32 value); + + // int32 num_sats = 5; + void clear_num_sats(); + static const int kNumSatsFieldNumber = 5; + ::google::protobuf::int32 num_sats() const; + void set_num_sats(::google::protobuf::int32 value); + + // @@protoc_insertion_point(class_scope:apollo.common.gnss_status.GnssStatus) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + bool solution_completed_; + ::google::protobuf::uint32 solution_status_; + ::google::protobuf::uint32 position_type_; + ::google::protobuf::int32 num_sats_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// StreamStatus + +// .apollo.common.Header header = 1; +inline bool StreamStatus::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& StreamStatus::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& StreamStatus::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.StreamStatus.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* StreamStatus::release_header() { + // @@protoc_insertion_point(field_release:apollo.common.gnss_status.StreamStatus.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* StreamStatus::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.gnss_status.StreamStatus.header) + return header_; +} +inline void StreamStatus::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.common.gnss_status.StreamStatus.header) +} + +// .apollo.common.gnss_status.StreamStatus.Type ins_stream_type = 2; +inline void StreamStatus::clear_ins_stream_type() { + ins_stream_type_ = 0; +} +inline ::apollo::common::gnss_status::StreamStatus_Type StreamStatus::ins_stream_type() const { + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.StreamStatus.ins_stream_type) + return static_cast< ::apollo::common::gnss_status::StreamStatus_Type >(ins_stream_type_); +} +inline void StreamStatus::set_ins_stream_type(::apollo::common::gnss_status::StreamStatus_Type value) { + + ins_stream_type_ = value; + // @@protoc_insertion_point(field_set:apollo.common.gnss_status.StreamStatus.ins_stream_type) +} + +// .apollo.common.gnss_status.StreamStatus.Type rtk_stream_in_type = 3; +inline void StreamStatus::clear_rtk_stream_in_type() { + rtk_stream_in_type_ = 0; +} +inline ::apollo::common::gnss_status::StreamStatus_Type StreamStatus::rtk_stream_in_type() const { + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.StreamStatus.rtk_stream_in_type) + return static_cast< ::apollo::common::gnss_status::StreamStatus_Type >(rtk_stream_in_type_); +} +inline void StreamStatus::set_rtk_stream_in_type(::apollo::common::gnss_status::StreamStatus_Type value) { + + rtk_stream_in_type_ = value; + // @@protoc_insertion_point(field_set:apollo.common.gnss_status.StreamStatus.rtk_stream_in_type) +} + +// .apollo.common.gnss_status.StreamStatus.Type rtk_stream_out_type = 4; +inline void StreamStatus::clear_rtk_stream_out_type() { + rtk_stream_out_type_ = 0; +} +inline ::apollo::common::gnss_status::StreamStatus_Type StreamStatus::rtk_stream_out_type() const { + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.StreamStatus.rtk_stream_out_type) + return static_cast< ::apollo::common::gnss_status::StreamStatus_Type >(rtk_stream_out_type_); +} +inline void StreamStatus::set_rtk_stream_out_type(::apollo::common::gnss_status::StreamStatus_Type value) { + + rtk_stream_out_type_ = value; + // @@protoc_insertion_point(field_set:apollo.common.gnss_status.StreamStatus.rtk_stream_out_type) +} + +// ------------------------------------------------------------------- + +// InsStatus + +// .apollo.common.Header header = 1; +inline bool InsStatus::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& InsStatus::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& InsStatus::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.InsStatus.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* InsStatus::release_header() { + // @@protoc_insertion_point(field_release:apollo.common.gnss_status.InsStatus.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* InsStatus::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.gnss_status.InsStatus.header) + return header_; +} +inline void InsStatus::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.common.gnss_status.InsStatus.header) +} + +// .apollo.common.gnss_status.InsStatus.Type type = 2; +inline void InsStatus::clear_type() { + type_ = 0; +} +inline ::apollo::common::gnss_status::InsStatus_Type InsStatus::type() const { + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.InsStatus.type) + return static_cast< ::apollo::common::gnss_status::InsStatus_Type >(type_); +} +inline void InsStatus::set_type(::apollo::common::gnss_status::InsStatus_Type value) { + + type_ = value; + // @@protoc_insertion_point(field_set:apollo.common.gnss_status.InsStatus.type) +} + +// ------------------------------------------------------------------- + +// GnssStatus + +// .apollo.common.Header header = 1; +inline bool GnssStatus::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& GnssStatus::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& GnssStatus::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.GnssStatus.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* GnssStatus::release_header() { + // @@protoc_insertion_point(field_release:apollo.common.gnss_status.GnssStatus.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* GnssStatus::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.gnss_status.GnssStatus.header) + return header_; +} +inline void GnssStatus::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.common.gnss_status.GnssStatus.header) +} + +// bool solution_completed = 2; +inline void GnssStatus::clear_solution_completed() { + solution_completed_ = false; +} +inline bool GnssStatus::solution_completed() const { + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.GnssStatus.solution_completed) + return solution_completed_; +} +inline void GnssStatus::set_solution_completed(bool value) { + + solution_completed_ = value; + // @@protoc_insertion_point(field_set:apollo.common.gnss_status.GnssStatus.solution_completed) +} + +// uint32 solution_status = 3; +inline void GnssStatus::clear_solution_status() { + solution_status_ = 0u; +} +inline ::google::protobuf::uint32 GnssStatus::solution_status() const { + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.GnssStatus.solution_status) + return solution_status_; +} +inline void GnssStatus::set_solution_status(::google::protobuf::uint32 value) { + + solution_status_ = value; + // @@protoc_insertion_point(field_set:apollo.common.gnss_status.GnssStatus.solution_status) +} + +// uint32 position_type = 4; +inline void GnssStatus::clear_position_type() { + position_type_ = 0u; +} +inline ::google::protobuf::uint32 GnssStatus::position_type() const { + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.GnssStatus.position_type) + return position_type_; +} +inline void GnssStatus::set_position_type(::google::protobuf::uint32 value) { + + position_type_ = value; + // @@protoc_insertion_point(field_set:apollo.common.gnss_status.GnssStatus.position_type) +} + +// int32 num_sats = 5; +inline void GnssStatus::clear_num_sats() { + num_sats_ = 0; +} +inline ::google::protobuf::int32 GnssStatus::num_sats() const { + // @@protoc_insertion_point(field_get:apollo.common.gnss_status.GnssStatus.num_sats) + return num_sats_; +} +inline void GnssStatus::set_num_sats(::google::protobuf::int32 value) { + + num_sats_ = value; + // @@protoc_insertion_point(field_set:apollo.common.gnss_status.GnssStatus.num_sats) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace gnss_status +} // namespace common +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::common::gnss_status::StreamStatus_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::common::gnss_status::StreamStatus_Type>() { + return ::apollo::common::gnss_status::StreamStatus_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::common::gnss_status::InsStatus_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::common::gnss_status::InsStatus_Type>() { + return ::apollo::common::gnss_status::InsStatus_Type_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fgnss_5fstatus_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/common/header.pb.cc b/apollo_msgs/include/apollo_msgs/proto/common/header.pb.cc new file mode 100644 index 0000000..1323a64 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/header.pb.cc @@ -0,0 +1,661 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/header.proto + +#include "apollo_msgs/proto/common/header.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_StatusPb; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto +namespace apollo { +namespace common { +class HeaderDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed
+ _instance; +} _Header_default_instance_; +} // namespace common +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +static void InitDefaultsHeader() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::_Header_default_instance_; + new (ptr) ::apollo::common::Header(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::Header::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_Header = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsHeader}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::scc_info_StatusPb.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Header.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Header, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Header, timestamp_sec_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Header, module_name_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Header, sequence_num_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Header, lidar_timestamp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Header, camera_timestamp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Header, radar_timestamp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Header, version_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::Header, status_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::common::Header)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::common::_Header_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/common/header.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n%apollo_msgs/proto/common/header.proto\022" + "\rapollo.common\032)apollo_msgs/proto/common" + "/error_code.proto\"\320\001\n\006Header\022\025\n\rtimestam" + "p_sec\030\001 \001(\001\022\023\n\013module_name\030\002 \001(\t\022\024\n\014sequ" + "ence_num\030\003 \001(\r\022\027\n\017lidar_timestamp\030\004 \001(\004\022" + "\030\n\020camera_timestamp\030\005 \001(\004\022\027\n\017radar_times" + "tamp\030\006 \001(\004\022\017\n\007version\030\007 \001(\r\022\'\n\006status\030\010 " + "\001(\0132\027.apollo.common.StatusPbb\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 316); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/common/header.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2ferror_5fcode_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace apollo { +namespace common { + +// =================================================================== + +void Header::InitAsDefaultInstance() { + ::apollo::common::_Header_default_instance_._instance.get_mutable()->status_ = const_cast< ::apollo::common::StatusPb*>( + ::apollo::common::StatusPb::internal_default_instance()); +} +void Header::clear_status() { + if (GetArenaNoVirtual() == NULL && status_ != NULL) { + delete status_; + } + status_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Header::kTimestampSecFieldNumber; +const int Header::kModuleNameFieldNumber; +const int Header::kSequenceNumFieldNumber; +const int Header::kLidarTimestampFieldNumber; +const int Header::kCameraTimestampFieldNumber; +const int Header::kRadarTimestampFieldNumber; +const int Header::kVersionFieldNumber; +const int Header::kStatusFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Header::Header() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.Header) +} +Header::Header(const Header& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + module_name_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.module_name().size() > 0) { + module_name_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.module_name_); + } + if (from.has_status()) { + status_ = new ::apollo::common::StatusPb(*from.status_); + } else { + status_ = NULL; + } + ::memcpy(×tamp_sec_, &from.timestamp_sec_, + static_cast(reinterpret_cast(&radar_timestamp_) - + reinterpret_cast(×tamp_sec_)) + sizeof(radar_timestamp_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.Header) +} + +void Header::SharedCtor() { + module_name_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&status_, 0, static_cast( + reinterpret_cast(&radar_timestamp_) - + reinterpret_cast(&status_)) + sizeof(radar_timestamp_)); +} + +Header::~Header() { + // @@protoc_insertion_point(destructor:apollo.common.Header) + SharedDtor(); +} + +void Header::SharedDtor() { + module_name_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (this != internal_default_instance()) delete status_; +} + +void Header::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Header::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Header& Header::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base); + return *internal_default_instance(); +} + + +void Header::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.Header) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + module_name_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (GetArenaNoVirtual() == NULL && status_ != NULL) { + delete status_; + } + status_ = NULL; + ::memset(×tamp_sec_, 0, static_cast( + reinterpret_cast(&radar_timestamp_) - + reinterpret_cast(×tamp_sec_)) + sizeof(radar_timestamp_)); + _internal_metadata_.Clear(); +} + +bool Header::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.Header) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double timestamp_sec = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, ×tamp_sec_))); + } else { + goto handle_unusual; + } + break; + } + + // string module_name = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_module_name())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->module_name().data(), static_cast(this->module_name().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.common.Header.module_name")); + } else { + goto handle_unusual; + } + break; + } + + // uint32 sequence_num = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &sequence_num_))); + } else { + goto handle_unusual; + } + break; + } + + // uint64 lidar_timestamp = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint64, ::google::protobuf::internal::WireFormatLite::TYPE_UINT64>( + input, &lidar_timestamp_))); + } else { + goto handle_unusual; + } + break; + } + + // uint64 camera_timestamp = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint64, ::google::protobuf::internal::WireFormatLite::TYPE_UINT64>( + input, &camera_timestamp_))); + } else { + goto handle_unusual; + } + break; + } + + // uint64 radar_timestamp = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 48 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint64, ::google::protobuf::internal::WireFormatLite::TYPE_UINT64>( + input, &radar_timestamp_))); + } else { + goto handle_unusual; + } + break; + } + + // uint32 version = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &version_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.StatusPb status = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(66u /* 66 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_status())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.Header) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.Header) + return false; +#undef DO_ +} + +void Header::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.Header) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double timestamp_sec = 1; + if (this->timestamp_sec() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->timestamp_sec(), output); + } + + // string module_name = 2; + if (this->module_name().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->module_name().data(), static_cast(this->module_name().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.common.Header.module_name"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 2, this->module_name(), output); + } + + // uint32 sequence_num = 3; + if (this->sequence_num() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(3, this->sequence_num(), output); + } + + // uint64 lidar_timestamp = 4; + if (this->lidar_timestamp() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt64(4, this->lidar_timestamp(), output); + } + + // uint64 camera_timestamp = 5; + if (this->camera_timestamp() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt64(5, this->camera_timestamp(), output); + } + + // uint64 radar_timestamp = 6; + if (this->radar_timestamp() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt64(6, this->radar_timestamp(), output); + } + + // uint32 version = 7; + if (this->version() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(7, this->version(), output); + } + + // .apollo.common.StatusPb status = 8; + if (this->has_status()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 8, this->_internal_status(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.Header) +} + +::google::protobuf::uint8* Header::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.Header) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double timestamp_sec = 1; + if (this->timestamp_sec() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->timestamp_sec(), target); + } + + // string module_name = 2; + if (this->module_name().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->module_name().data(), static_cast(this->module_name().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.common.Header.module_name"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 2, this->module_name(), target); + } + + // uint32 sequence_num = 3; + if (this->sequence_num() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(3, this->sequence_num(), target); + } + + // uint64 lidar_timestamp = 4; + if (this->lidar_timestamp() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt64ToArray(4, this->lidar_timestamp(), target); + } + + // uint64 camera_timestamp = 5; + if (this->camera_timestamp() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt64ToArray(5, this->camera_timestamp(), target); + } + + // uint64 radar_timestamp = 6; + if (this->radar_timestamp() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt64ToArray(6, this->radar_timestamp(), target); + } + + // uint32 version = 7; + if (this->version() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(7, this->version(), target); + } + + // .apollo.common.StatusPb status = 8; + if (this->has_status()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 8, this->_internal_status(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.Header) + return target; +} + +size_t Header::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.Header) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string module_name = 2; + if (this->module_name().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->module_name()); + } + + // .apollo.common.StatusPb status = 8; + if (this->has_status()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *status_); + } + + // double timestamp_sec = 1; + if (this->timestamp_sec() != 0) { + total_size += 1 + 8; + } + + // uint64 lidar_timestamp = 4; + if (this->lidar_timestamp() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt64Size( + this->lidar_timestamp()); + } + + // uint64 camera_timestamp = 5; + if (this->camera_timestamp() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt64Size( + this->camera_timestamp()); + } + + // uint32 sequence_num = 3; + if (this->sequence_num() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->sequence_num()); + } + + // uint32 version = 7; + if (this->version() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->version()); + } + + // uint64 radar_timestamp = 6; + if (this->radar_timestamp() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt64Size( + this->radar_timestamp()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Header::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.Header) + GOOGLE_DCHECK_NE(&from, this); + const Header* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.Header) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.Header) + MergeFrom(*source); + } +} + +void Header::MergeFrom(const Header& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.Header) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.module_name().size() > 0) { + + module_name_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.module_name_); + } + if (from.has_status()) { + mutable_status()->::apollo::common::StatusPb::MergeFrom(from.status()); + } + if (from.timestamp_sec() != 0) { + set_timestamp_sec(from.timestamp_sec()); + } + if (from.lidar_timestamp() != 0) { + set_lidar_timestamp(from.lidar_timestamp()); + } + if (from.camera_timestamp() != 0) { + set_camera_timestamp(from.camera_timestamp()); + } + if (from.sequence_num() != 0) { + set_sequence_num(from.sequence_num()); + } + if (from.version() != 0) { + set_version(from.version()); + } + if (from.radar_timestamp() != 0) { + set_radar_timestamp(from.radar_timestamp()); + } +} + +void Header::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.Header) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Header::CopyFrom(const Header& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.Header) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Header::IsInitialized() const { + return true; +} + +void Header::Swap(Header* other) { + if (other == this) return; + InternalSwap(other); +} +void Header::InternalSwap(Header* other) { + using std::swap; + module_name_.Swap(&other->module_name_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(status_, other->status_); + swap(timestamp_sec_, other->timestamp_sec_); + swap(lidar_timestamp_, other->lidar_timestamp_); + swap(camera_timestamp_, other->camera_timestamp_); + swap(sequence_num_, other->sequence_num_); + swap(version_, other->version_); + swap(radar_timestamp_, other->radar_timestamp_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Header::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::Header* Arena::CreateMaybeMessage< ::apollo::common::Header >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::Header >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/common/header.pb.h b/apollo_msgs/include/apollo_msgs/proto/common/header.pb.h new file mode 100644 index 0000000..14badce --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/header.pb.h @@ -0,0 +1,437 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/header.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/common/error_code.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace apollo { +namespace common { +class Header; +class HeaderDefaultTypeInternal; +extern HeaderDefaultTypeInternal _Header_default_instance_; +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::common::Header* Arena::CreateMaybeMessage<::apollo::common::Header>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace common { + +// =================================================================== + +class Header : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.Header) */ { + public: + Header(); + virtual ~Header(); + + Header(const Header& from); + + inline Header& operator=(const Header& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Header(Header&& from) noexcept + : Header() { + *this = ::std::move(from); + } + + inline Header& operator=(Header&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Header& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Header* internal_default_instance() { + return reinterpret_cast( + &_Header_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Header* other); + friend void swap(Header& a, Header& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Header* New() const final { + return CreateMaybeMessage
(NULL); + } + + Header* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage
(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Header& from); + void MergeFrom(const Header& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Header* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // string module_name = 2; + void clear_module_name(); + static const int kModuleNameFieldNumber = 2; + const ::std::string& module_name() const; + void set_module_name(const ::std::string& value); + #if LANG_CXX11 + void set_module_name(::std::string&& value); + #endif + void set_module_name(const char* value); + void set_module_name(const char* value, size_t size); + ::std::string* mutable_module_name(); + ::std::string* release_module_name(); + void set_allocated_module_name(::std::string* module_name); + + // .apollo.common.StatusPb status = 8; + bool has_status() const; + void clear_status(); + static const int kStatusFieldNumber = 8; + private: + const ::apollo::common::StatusPb& _internal_status() const; + public: + const ::apollo::common::StatusPb& status() const; + ::apollo::common::StatusPb* release_status(); + ::apollo::common::StatusPb* mutable_status(); + void set_allocated_status(::apollo::common::StatusPb* status); + + // double timestamp_sec = 1; + void clear_timestamp_sec(); + static const int kTimestampSecFieldNumber = 1; + double timestamp_sec() const; + void set_timestamp_sec(double value); + + // uint64 lidar_timestamp = 4; + void clear_lidar_timestamp(); + static const int kLidarTimestampFieldNumber = 4; + ::google::protobuf::uint64 lidar_timestamp() const; + void set_lidar_timestamp(::google::protobuf::uint64 value); + + // uint64 camera_timestamp = 5; + void clear_camera_timestamp(); + static const int kCameraTimestampFieldNumber = 5; + ::google::protobuf::uint64 camera_timestamp() const; + void set_camera_timestamp(::google::protobuf::uint64 value); + + // uint32 sequence_num = 3; + void clear_sequence_num(); + static const int kSequenceNumFieldNumber = 3; + ::google::protobuf::uint32 sequence_num() const; + void set_sequence_num(::google::protobuf::uint32 value); + + // uint32 version = 7; + void clear_version(); + static const int kVersionFieldNumber = 7; + ::google::protobuf::uint32 version() const; + void set_version(::google::protobuf::uint32 value); + + // uint64 radar_timestamp = 6; + void clear_radar_timestamp(); + static const int kRadarTimestampFieldNumber = 6; + ::google::protobuf::uint64 radar_timestamp() const; + void set_radar_timestamp(::google::protobuf::uint64 value); + + // @@protoc_insertion_point(class_scope:apollo.common.Header) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr module_name_; + ::apollo::common::StatusPb* status_; + double timestamp_sec_; + ::google::protobuf::uint64 lidar_timestamp_; + ::google::protobuf::uint64 camera_timestamp_; + ::google::protobuf::uint32 sequence_num_; + ::google::protobuf::uint32 version_; + ::google::protobuf::uint64 radar_timestamp_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Header + +// double timestamp_sec = 1; +inline void Header::clear_timestamp_sec() { + timestamp_sec_ = 0; +} +inline double Header::timestamp_sec() const { + // @@protoc_insertion_point(field_get:apollo.common.Header.timestamp_sec) + return timestamp_sec_; +} +inline void Header::set_timestamp_sec(double value) { + + timestamp_sec_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Header.timestamp_sec) +} + +// string module_name = 2; +inline void Header::clear_module_name() { + module_name_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& Header::module_name() const { + // @@protoc_insertion_point(field_get:apollo.common.Header.module_name) + return module_name_.GetNoArena(); +} +inline void Header::set_module_name(const ::std::string& value) { + + module_name_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.common.Header.module_name) +} +#if LANG_CXX11 +inline void Header::set_module_name(::std::string&& value) { + + module_name_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.common.Header.module_name) +} +#endif +inline void Header::set_module_name(const char* value) { + GOOGLE_DCHECK(value != NULL); + + module_name_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.common.Header.module_name) +} +inline void Header::set_module_name(const char* value, size_t size) { + + module_name_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.common.Header.module_name) +} +inline ::std::string* Header::mutable_module_name() { + + // @@protoc_insertion_point(field_mutable:apollo.common.Header.module_name) + return module_name_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Header::release_module_name() { + // @@protoc_insertion_point(field_release:apollo.common.Header.module_name) + + return module_name_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void Header::set_allocated_module_name(::std::string* module_name) { + if (module_name != NULL) { + + } else { + + } + module_name_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), module_name); + // @@protoc_insertion_point(field_set_allocated:apollo.common.Header.module_name) +} + +// uint32 sequence_num = 3; +inline void Header::clear_sequence_num() { + sequence_num_ = 0u; +} +inline ::google::protobuf::uint32 Header::sequence_num() const { + // @@protoc_insertion_point(field_get:apollo.common.Header.sequence_num) + return sequence_num_; +} +inline void Header::set_sequence_num(::google::protobuf::uint32 value) { + + sequence_num_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Header.sequence_num) +} + +// uint64 lidar_timestamp = 4; +inline void Header::clear_lidar_timestamp() { + lidar_timestamp_ = GOOGLE_ULONGLONG(0); +} +inline ::google::protobuf::uint64 Header::lidar_timestamp() const { + // @@protoc_insertion_point(field_get:apollo.common.Header.lidar_timestamp) + return lidar_timestamp_; +} +inline void Header::set_lidar_timestamp(::google::protobuf::uint64 value) { + + lidar_timestamp_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Header.lidar_timestamp) +} + +// uint64 camera_timestamp = 5; +inline void Header::clear_camera_timestamp() { + camera_timestamp_ = GOOGLE_ULONGLONG(0); +} +inline ::google::protobuf::uint64 Header::camera_timestamp() const { + // @@protoc_insertion_point(field_get:apollo.common.Header.camera_timestamp) + return camera_timestamp_; +} +inline void Header::set_camera_timestamp(::google::protobuf::uint64 value) { + + camera_timestamp_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Header.camera_timestamp) +} + +// uint64 radar_timestamp = 6; +inline void Header::clear_radar_timestamp() { + radar_timestamp_ = GOOGLE_ULONGLONG(0); +} +inline ::google::protobuf::uint64 Header::radar_timestamp() const { + // @@protoc_insertion_point(field_get:apollo.common.Header.radar_timestamp) + return radar_timestamp_; +} +inline void Header::set_radar_timestamp(::google::protobuf::uint64 value) { + + radar_timestamp_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Header.radar_timestamp) +} + +// uint32 version = 7; +inline void Header::clear_version() { + version_ = 0u; +} +inline ::google::protobuf::uint32 Header::version() const { + // @@protoc_insertion_point(field_get:apollo.common.Header.version) + return version_; +} +inline void Header::set_version(::google::protobuf::uint32 value) { + + version_ = value; + // @@protoc_insertion_point(field_set:apollo.common.Header.version) +} + +// .apollo.common.StatusPb status = 8; +inline bool Header::has_status() const { + return this != internal_default_instance() && status_ != NULL; +} +inline const ::apollo::common::StatusPb& Header::_internal_status() const { + return *status_; +} +inline const ::apollo::common::StatusPb& Header::status() const { + const ::apollo::common::StatusPb* p = status_; + // @@protoc_insertion_point(field_get:apollo.common.Header.status) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_StatusPb_default_instance_); +} +inline ::apollo::common::StatusPb* Header::release_status() { + // @@protoc_insertion_point(field_release:apollo.common.Header.status) + + ::apollo::common::StatusPb* temp = status_; + status_ = NULL; + return temp; +} +inline ::apollo::common::StatusPb* Header::mutable_status() { + + if (status_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::StatusPb>(GetArenaNoVirtual()); + status_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.Header.status) + return status_; +} +inline void Header::set_allocated_status(::apollo::common::StatusPb* status) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(status_); + } + if (status) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + status = ::google::protobuf::internal::GetOwnedMessage( + message_arena, status, submessage_arena); + } + + } else { + + } + status_ = status; + // @@protoc_insertion_point(field_set_allocated:apollo.common.Header.status) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace common +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/common/monitor.pb.cc b/apollo_msgs/include/apollo_msgs/proto/common/monitor.pb.cc new file mode 100644 index 0000000..c9ebdcc --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/monitor.pb.cc @@ -0,0 +1,857 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/monitor.proto + +#include "apollo_msgs/proto/common/monitor.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_MonitorMessageItem; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto +namespace apollo { +namespace common { +namespace monitor { +class MonitorMessageItemDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _MonitorMessageItem_default_instance_; +class MonitorMessageDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _MonitorMessage_default_instance_; +} // namespace monitor +} // namespace common +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto { +static void InitDefaultsMonitorMessageItem() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::monitor::_MonitorMessageItem_default_instance_; + new (ptr) ::apollo::common::monitor::MonitorMessageItem(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::monitor::MonitorMessageItem::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_MonitorMessageItem = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsMonitorMessageItem}, {}}; + +static void InitDefaultsMonitorMessage() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::monitor::_MonitorMessage_default_instance_; + new (ptr) ::apollo::common::monitor::MonitorMessage(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::monitor::MonitorMessage::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_MonitorMessage = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsMonitorMessage}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::scc_info_MonitorMessageItem.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_MonitorMessageItem.base); + ::google::protobuf::internal::InitSCC(&scc_info_MonitorMessage.base); +} + +::google::protobuf::Metadata file_level_metadata[2]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[2]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::monitor::MonitorMessageItem, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::monitor::MonitorMessageItem, source_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::monitor::MonitorMessageItem, msg_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::monitor::MonitorMessageItem, log_level_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::monitor::MonitorMessage, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::monitor::MonitorMessage, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::monitor::MonitorMessage, item_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::common::monitor::MonitorMessageItem)}, + { 8, -1, sizeof(::apollo::common::monitor::MonitorMessage)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::common::monitor::_MonitorMessageItem_default_instance_), + reinterpret_cast(&::apollo::common::monitor::_MonitorMessage_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/common/monitor.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 2); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n&apollo_msgs/proto/common/monitor.proto" + "\022\025apollo.common.monitor\032%apollo_msgs/pro" + "to/common/header.proto\"\367\002\n\022MonitorMessag" + "eItem\022G\n\006source\030\001 \001(\01627.apollo.common.mo" + "nitor.MonitorMessageItem.MessageSource\022\013" + "\n\003msg\030\002 \001(\t\022E\n\tlog_level\030\003 \001(\01622.apollo." + "common.monitor.MonitorMessageItem.LogLev" + "el\"\215\001\n\rMessageSource\022\013\n\007UNKNOWN\020\000\022\n\n\006CAN" + "BUS\020\001\022\013\n\007CONTROL\020\002\022\014\n\010DECISION\020\003\022\020\n\014LOCA" + "LIZATION\020\004\022\014\n\010PLANNING\020\005\022\016\n\nPREDICTION\020\006" + "\022\r\n\tSIMULATOR\020\007\022\t\n\005HWSYS\020\010\"4\n\010LogLevel\022\010" + "\n\004INFO\020\000\022\010\n\004WARN\020\001\022\t\n\005ERROR\020\002\022\t\n\005FATAL\020\003" + "\"p\n\016MonitorMessage\022%\n\006header\030\001 \001(\0132\025.apo" + "llo.common.Header\0227\n\004item\030\002 \003(\0132).apollo" + ".common.monitor.MonitorMessageItemb\006prot" + "o3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 602); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/common/monitor.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto +namespace apollo { +namespace common { +namespace monitor { +const ::google::protobuf::EnumDescriptor* MonitorMessageItem_MessageSource_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::file_level_enum_descriptors[0]; +} +bool MonitorMessageItem_MessageSource_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + case 6: + case 7: + case 8: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const MonitorMessageItem_MessageSource MonitorMessageItem::UNKNOWN; +const MonitorMessageItem_MessageSource MonitorMessageItem::CANBUS; +const MonitorMessageItem_MessageSource MonitorMessageItem::CONTROL; +const MonitorMessageItem_MessageSource MonitorMessageItem::DECISION; +const MonitorMessageItem_MessageSource MonitorMessageItem::LOCALIZATION; +const MonitorMessageItem_MessageSource MonitorMessageItem::PLANNING; +const MonitorMessageItem_MessageSource MonitorMessageItem::PREDICTION; +const MonitorMessageItem_MessageSource MonitorMessageItem::SIMULATOR; +const MonitorMessageItem_MessageSource MonitorMessageItem::HWSYS; +const MonitorMessageItem_MessageSource MonitorMessageItem::MessageSource_MIN; +const MonitorMessageItem_MessageSource MonitorMessageItem::MessageSource_MAX; +const int MonitorMessageItem::MessageSource_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* MonitorMessageItem_LogLevel_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::file_level_enum_descriptors[1]; +} +bool MonitorMessageItem_LogLevel_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const MonitorMessageItem_LogLevel MonitorMessageItem::INFO; +const MonitorMessageItem_LogLevel MonitorMessageItem::WARN; +const MonitorMessageItem_LogLevel MonitorMessageItem::ERROR; +const MonitorMessageItem_LogLevel MonitorMessageItem::FATAL; +const MonitorMessageItem_LogLevel MonitorMessageItem::LogLevel_MIN; +const MonitorMessageItem_LogLevel MonitorMessageItem::LogLevel_MAX; +const int MonitorMessageItem::LogLevel_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void MonitorMessageItem::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int MonitorMessageItem::kSourceFieldNumber; +const int MonitorMessageItem::kMsgFieldNumber; +const int MonitorMessageItem::kLogLevelFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MonitorMessageItem::MonitorMessageItem() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::scc_info_MonitorMessageItem.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.monitor.MonitorMessageItem) +} +MonitorMessageItem::MonitorMessageItem(const MonitorMessageItem& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + msg_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.msg().size() > 0) { + msg_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.msg_); + } + ::memcpy(&source_, &from.source_, + static_cast(reinterpret_cast(&log_level_) - + reinterpret_cast(&source_)) + sizeof(log_level_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.monitor.MonitorMessageItem) +} + +void MonitorMessageItem::SharedCtor() { + msg_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&source_, 0, static_cast( + reinterpret_cast(&log_level_) - + reinterpret_cast(&source_)) + sizeof(log_level_)); +} + +MonitorMessageItem::~MonitorMessageItem() { + // @@protoc_insertion_point(destructor:apollo.common.monitor.MonitorMessageItem) + SharedDtor(); +} + +void MonitorMessageItem::SharedDtor() { + msg_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} + +void MonitorMessageItem::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MonitorMessageItem::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MonitorMessageItem& MonitorMessageItem::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::scc_info_MonitorMessageItem.base); + return *internal_default_instance(); +} + + +void MonitorMessageItem::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.monitor.MonitorMessageItem) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + msg_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&source_, 0, static_cast( + reinterpret_cast(&log_level_) - + reinterpret_cast(&source_)) + sizeof(log_level_)); + _internal_metadata_.Clear(); +} + +bool MonitorMessageItem::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.monitor.MonitorMessageItem) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.monitor.MonitorMessageItem.MessageSource source = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_source(static_cast< ::apollo::common::monitor::MonitorMessageItem_MessageSource >(value)); + } else { + goto handle_unusual; + } + break; + } + + // string msg = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_msg())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->msg().data(), static_cast(this->msg().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.common.monitor.MonitorMessageItem.msg")); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.monitor.MonitorMessageItem.LogLevel log_level = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_log_level(static_cast< ::apollo::common::monitor::MonitorMessageItem_LogLevel >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.monitor.MonitorMessageItem) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.monitor.MonitorMessageItem) + return false; +#undef DO_ +} + +void MonitorMessageItem::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.monitor.MonitorMessageItem) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.monitor.MonitorMessageItem.MessageSource source = 1; + if (this->source() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->source(), output); + } + + // string msg = 2; + if (this->msg().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->msg().data(), static_cast(this->msg().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.common.monitor.MonitorMessageItem.msg"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 2, this->msg(), output); + } + + // .apollo.common.monitor.MonitorMessageItem.LogLevel log_level = 3; + if (this->log_level() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 3, this->log_level(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.monitor.MonitorMessageItem) +} + +::google::protobuf::uint8* MonitorMessageItem::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.monitor.MonitorMessageItem) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.monitor.MonitorMessageItem.MessageSource source = 1; + if (this->source() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->source(), target); + } + + // string msg = 2; + if (this->msg().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->msg().data(), static_cast(this->msg().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.common.monitor.MonitorMessageItem.msg"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 2, this->msg(), target); + } + + // .apollo.common.monitor.MonitorMessageItem.LogLevel log_level = 3; + if (this->log_level() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 3, this->log_level(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.monitor.MonitorMessageItem) + return target; +} + +size_t MonitorMessageItem::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.monitor.MonitorMessageItem) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string msg = 2; + if (this->msg().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->msg()); + } + + // .apollo.common.monitor.MonitorMessageItem.MessageSource source = 1; + if (this->source() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->source()); + } + + // .apollo.common.monitor.MonitorMessageItem.LogLevel log_level = 3; + if (this->log_level() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->log_level()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MonitorMessageItem::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.monitor.MonitorMessageItem) + GOOGLE_DCHECK_NE(&from, this); + const MonitorMessageItem* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.monitor.MonitorMessageItem) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.monitor.MonitorMessageItem) + MergeFrom(*source); + } +} + +void MonitorMessageItem::MergeFrom(const MonitorMessageItem& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.monitor.MonitorMessageItem) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.msg().size() > 0) { + + msg_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.msg_); + } + if (from.source() != 0) { + set_source(from.source()); + } + if (from.log_level() != 0) { + set_log_level(from.log_level()); + } +} + +void MonitorMessageItem::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.monitor.MonitorMessageItem) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MonitorMessageItem::CopyFrom(const MonitorMessageItem& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.monitor.MonitorMessageItem) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MonitorMessageItem::IsInitialized() const { + return true; +} + +void MonitorMessageItem::Swap(MonitorMessageItem* other) { + if (other == this) return; + InternalSwap(other); +} +void MonitorMessageItem::InternalSwap(MonitorMessageItem* other) { + using std::swap; + msg_.Swap(&other->msg_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(source_, other->source_); + swap(log_level_, other->log_level_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MonitorMessageItem::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MonitorMessage::InitAsDefaultInstance() { + ::apollo::common::monitor::_MonitorMessage_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void MonitorMessage::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int MonitorMessage::kHeaderFieldNumber; +const int MonitorMessage::kItemFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MonitorMessage::MonitorMessage() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::scc_info_MonitorMessage.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.monitor.MonitorMessage) +} +MonitorMessage::MonitorMessage(const MonitorMessage& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + item_(from.item_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.common.monitor.MonitorMessage) +} + +void MonitorMessage::SharedCtor() { + header_ = NULL; +} + +MonitorMessage::~MonitorMessage() { + // @@protoc_insertion_point(destructor:apollo.common.monitor.MonitorMessage) + SharedDtor(); +} + +void MonitorMessage::SharedDtor() { + if (this != internal_default_instance()) delete header_; +} + +void MonitorMessage::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MonitorMessage::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MonitorMessage& MonitorMessage::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::scc_info_MonitorMessage.base); + return *internal_default_instance(); +} + + +void MonitorMessage::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.monitor.MonitorMessage) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + item_.Clear(); + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + _internal_metadata_.Clear(); +} + +bool MonitorMessage::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.monitor.MonitorMessage) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.common.monitor.MonitorMessageItem item = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_item())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.monitor.MonitorMessage) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.monitor.MonitorMessage) + return false; +#undef DO_ +} + +void MonitorMessage::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.monitor.MonitorMessage) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // repeated .apollo.common.monitor.MonitorMessageItem item = 2; + for (unsigned int i = 0, + n = static_cast(this->item_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, + this->item(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.monitor.MonitorMessage) +} + +::google::protobuf::uint8* MonitorMessage::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.monitor.MonitorMessage) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // repeated .apollo.common.monitor.MonitorMessageItem item = 2; + for (unsigned int i = 0, + n = static_cast(this->item_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->item(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.monitor.MonitorMessage) + return target; +} + +size_t MonitorMessage::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.monitor.MonitorMessage) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.common.monitor.MonitorMessageItem item = 2; + { + unsigned int count = static_cast(this->item_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->item(static_cast(i))); + } + } + + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MonitorMessage::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.monitor.MonitorMessage) + GOOGLE_DCHECK_NE(&from, this); + const MonitorMessage* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.monitor.MonitorMessage) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.monitor.MonitorMessage) + MergeFrom(*source); + } +} + +void MonitorMessage::MergeFrom(const MonitorMessage& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.monitor.MonitorMessage) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + item_.MergeFrom(from.item_); + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } +} + +void MonitorMessage::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.monitor.MonitorMessage) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MonitorMessage::CopyFrom(const MonitorMessage& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.monitor.MonitorMessage) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MonitorMessage::IsInitialized() const { + return true; +} + +void MonitorMessage::Swap(MonitorMessage* other) { + if (other == this) return; + InternalSwap(other); +} +void MonitorMessage::InternalSwap(MonitorMessage* other) { + using std::swap; + CastToBase(&item_)->InternalSwap(CastToBase(&other->item_)); + swap(header_, other->header_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MonitorMessage::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace monitor +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::monitor::MonitorMessageItem* Arena::CreateMaybeMessage< ::apollo::common::monitor::MonitorMessageItem >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::monitor::MonitorMessageItem >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::monitor::MonitorMessage* Arena::CreateMaybeMessage< ::apollo::common::monitor::MonitorMessage >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::monitor::MonitorMessage >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/common/monitor.pb.h b/apollo_msgs/include/apollo_msgs/proto/common/monitor.pb.h new file mode 100644 index 0000000..a482b13 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/monitor.pb.h @@ -0,0 +1,645 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/monitor.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/common/header.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[2]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto +namespace apollo { +namespace common { +namespace monitor { +class MonitorMessage; +class MonitorMessageDefaultTypeInternal; +extern MonitorMessageDefaultTypeInternal _MonitorMessage_default_instance_; +class MonitorMessageItem; +class MonitorMessageItemDefaultTypeInternal; +extern MonitorMessageItemDefaultTypeInternal _MonitorMessageItem_default_instance_; +} // namespace monitor +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::common::monitor::MonitorMessage* Arena::CreateMaybeMessage<::apollo::common::monitor::MonitorMessage>(Arena*); +template<> ::apollo::common::monitor::MonitorMessageItem* Arena::CreateMaybeMessage<::apollo::common::monitor::MonitorMessageItem>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace common { +namespace monitor { + +enum MonitorMessageItem_MessageSource { + MonitorMessageItem_MessageSource_UNKNOWN = 0, + MonitorMessageItem_MessageSource_CANBUS = 1, + MonitorMessageItem_MessageSource_CONTROL = 2, + MonitorMessageItem_MessageSource_DECISION = 3, + MonitorMessageItem_MessageSource_LOCALIZATION = 4, + MonitorMessageItem_MessageSource_PLANNING = 5, + MonitorMessageItem_MessageSource_PREDICTION = 6, + MonitorMessageItem_MessageSource_SIMULATOR = 7, + MonitorMessageItem_MessageSource_HWSYS = 8, + MonitorMessageItem_MessageSource_MonitorMessageItem_MessageSource_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + MonitorMessageItem_MessageSource_MonitorMessageItem_MessageSource_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool MonitorMessageItem_MessageSource_IsValid(int value); +const MonitorMessageItem_MessageSource MonitorMessageItem_MessageSource_MessageSource_MIN = MonitorMessageItem_MessageSource_UNKNOWN; +const MonitorMessageItem_MessageSource MonitorMessageItem_MessageSource_MessageSource_MAX = MonitorMessageItem_MessageSource_HWSYS; +const int MonitorMessageItem_MessageSource_MessageSource_ARRAYSIZE = MonitorMessageItem_MessageSource_MessageSource_MAX + 1; + +const ::google::protobuf::EnumDescriptor* MonitorMessageItem_MessageSource_descriptor(); +inline const ::std::string& MonitorMessageItem_MessageSource_Name(MonitorMessageItem_MessageSource value) { + return ::google::protobuf::internal::NameOfEnum( + MonitorMessageItem_MessageSource_descriptor(), value); +} +inline bool MonitorMessageItem_MessageSource_Parse( + const ::std::string& name, MonitorMessageItem_MessageSource* value) { + return ::google::protobuf::internal::ParseNamedEnum( + MonitorMessageItem_MessageSource_descriptor(), name, value); +} +enum MonitorMessageItem_LogLevel { + MonitorMessageItem_LogLevel_INFO = 0, + MonitorMessageItem_LogLevel_WARN = 1, + MonitorMessageItem_LogLevel_ERROR = 2, + MonitorMessageItem_LogLevel_FATAL = 3, + MonitorMessageItem_LogLevel_MonitorMessageItem_LogLevel_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + MonitorMessageItem_LogLevel_MonitorMessageItem_LogLevel_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool MonitorMessageItem_LogLevel_IsValid(int value); +const MonitorMessageItem_LogLevel MonitorMessageItem_LogLevel_LogLevel_MIN = MonitorMessageItem_LogLevel_INFO; +const MonitorMessageItem_LogLevel MonitorMessageItem_LogLevel_LogLevel_MAX = MonitorMessageItem_LogLevel_FATAL; +const int MonitorMessageItem_LogLevel_LogLevel_ARRAYSIZE = MonitorMessageItem_LogLevel_LogLevel_MAX + 1; + +const ::google::protobuf::EnumDescriptor* MonitorMessageItem_LogLevel_descriptor(); +inline const ::std::string& MonitorMessageItem_LogLevel_Name(MonitorMessageItem_LogLevel value) { + return ::google::protobuf::internal::NameOfEnum( + MonitorMessageItem_LogLevel_descriptor(), value); +} +inline bool MonitorMessageItem_LogLevel_Parse( + const ::std::string& name, MonitorMessageItem_LogLevel* value) { + return ::google::protobuf::internal::ParseNamedEnum( + MonitorMessageItem_LogLevel_descriptor(), name, value); +} +// =================================================================== + +class MonitorMessageItem : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.monitor.MonitorMessageItem) */ { + public: + MonitorMessageItem(); + virtual ~MonitorMessageItem(); + + MonitorMessageItem(const MonitorMessageItem& from); + + inline MonitorMessageItem& operator=(const MonitorMessageItem& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MonitorMessageItem(MonitorMessageItem&& from) noexcept + : MonitorMessageItem() { + *this = ::std::move(from); + } + + inline MonitorMessageItem& operator=(MonitorMessageItem&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MonitorMessageItem& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MonitorMessageItem* internal_default_instance() { + return reinterpret_cast( + &_MonitorMessageItem_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(MonitorMessageItem* other); + friend void swap(MonitorMessageItem& a, MonitorMessageItem& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MonitorMessageItem* New() const final { + return CreateMaybeMessage(NULL); + } + + MonitorMessageItem* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MonitorMessageItem& from); + void MergeFrom(const MonitorMessageItem& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MonitorMessageItem* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef MonitorMessageItem_MessageSource MessageSource; + static const MessageSource UNKNOWN = + MonitorMessageItem_MessageSource_UNKNOWN; + static const MessageSource CANBUS = + MonitorMessageItem_MessageSource_CANBUS; + static const MessageSource CONTROL = + MonitorMessageItem_MessageSource_CONTROL; + static const MessageSource DECISION = + MonitorMessageItem_MessageSource_DECISION; + static const MessageSource LOCALIZATION = + MonitorMessageItem_MessageSource_LOCALIZATION; + static const MessageSource PLANNING = + MonitorMessageItem_MessageSource_PLANNING; + static const MessageSource PREDICTION = + MonitorMessageItem_MessageSource_PREDICTION; + static const MessageSource SIMULATOR = + MonitorMessageItem_MessageSource_SIMULATOR; + static const MessageSource HWSYS = + MonitorMessageItem_MessageSource_HWSYS; + static inline bool MessageSource_IsValid(int value) { + return MonitorMessageItem_MessageSource_IsValid(value); + } + static const MessageSource MessageSource_MIN = + MonitorMessageItem_MessageSource_MessageSource_MIN; + static const MessageSource MessageSource_MAX = + MonitorMessageItem_MessageSource_MessageSource_MAX; + static const int MessageSource_ARRAYSIZE = + MonitorMessageItem_MessageSource_MessageSource_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + MessageSource_descriptor() { + return MonitorMessageItem_MessageSource_descriptor(); + } + static inline const ::std::string& MessageSource_Name(MessageSource value) { + return MonitorMessageItem_MessageSource_Name(value); + } + static inline bool MessageSource_Parse(const ::std::string& name, + MessageSource* value) { + return MonitorMessageItem_MessageSource_Parse(name, value); + } + + typedef MonitorMessageItem_LogLevel LogLevel; + static const LogLevel INFO = + MonitorMessageItem_LogLevel_INFO; + static const LogLevel WARN = + MonitorMessageItem_LogLevel_WARN; + static const LogLevel ERROR = + MonitorMessageItem_LogLevel_ERROR; + static const LogLevel FATAL = + MonitorMessageItem_LogLevel_FATAL; + static inline bool LogLevel_IsValid(int value) { + return MonitorMessageItem_LogLevel_IsValid(value); + } + static const LogLevel LogLevel_MIN = + MonitorMessageItem_LogLevel_LogLevel_MIN; + static const LogLevel LogLevel_MAX = + MonitorMessageItem_LogLevel_LogLevel_MAX; + static const int LogLevel_ARRAYSIZE = + MonitorMessageItem_LogLevel_LogLevel_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + LogLevel_descriptor() { + return MonitorMessageItem_LogLevel_descriptor(); + } + static inline const ::std::string& LogLevel_Name(LogLevel value) { + return MonitorMessageItem_LogLevel_Name(value); + } + static inline bool LogLevel_Parse(const ::std::string& name, + LogLevel* value) { + return MonitorMessageItem_LogLevel_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // string msg = 2; + void clear_msg(); + static const int kMsgFieldNumber = 2; + const ::std::string& msg() const; + void set_msg(const ::std::string& value); + #if LANG_CXX11 + void set_msg(::std::string&& value); + #endif + void set_msg(const char* value); + void set_msg(const char* value, size_t size); + ::std::string* mutable_msg(); + ::std::string* release_msg(); + void set_allocated_msg(::std::string* msg); + + // .apollo.common.monitor.MonitorMessageItem.MessageSource source = 1; + void clear_source(); + static const int kSourceFieldNumber = 1; + ::apollo::common::monitor::MonitorMessageItem_MessageSource source() const; + void set_source(::apollo::common::monitor::MonitorMessageItem_MessageSource value); + + // .apollo.common.monitor.MonitorMessageItem.LogLevel log_level = 3; + void clear_log_level(); + static const int kLogLevelFieldNumber = 3; + ::apollo::common::monitor::MonitorMessageItem_LogLevel log_level() const; + void set_log_level(::apollo::common::monitor::MonitorMessageItem_LogLevel value); + + // @@protoc_insertion_point(class_scope:apollo.common.monitor.MonitorMessageItem) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr msg_; + int source_; + int log_level_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MonitorMessage : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.monitor.MonitorMessage) */ { + public: + MonitorMessage(); + virtual ~MonitorMessage(); + + MonitorMessage(const MonitorMessage& from); + + inline MonitorMessage& operator=(const MonitorMessage& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MonitorMessage(MonitorMessage&& from) noexcept + : MonitorMessage() { + *this = ::std::move(from); + } + + inline MonitorMessage& operator=(MonitorMessage&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MonitorMessage& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MonitorMessage* internal_default_instance() { + return reinterpret_cast( + &_MonitorMessage_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(MonitorMessage* other); + friend void swap(MonitorMessage& a, MonitorMessage& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MonitorMessage* New() const final { + return CreateMaybeMessage(NULL); + } + + MonitorMessage* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MonitorMessage& from); + void MergeFrom(const MonitorMessage& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MonitorMessage* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.common.monitor.MonitorMessageItem item = 2; + int item_size() const; + void clear_item(); + static const int kItemFieldNumber = 2; + ::apollo::common::monitor::MonitorMessageItem* mutable_item(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::common::monitor::MonitorMessageItem >* + mutable_item(); + const ::apollo::common::monitor::MonitorMessageItem& item(int index) const; + ::apollo::common::monitor::MonitorMessageItem* add_item(); + const ::google::protobuf::RepeatedPtrField< ::apollo::common::monitor::MonitorMessageItem >& + item() const; + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // @@protoc_insertion_point(class_scope:apollo.common.monitor.MonitorMessage) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::common::monitor::MonitorMessageItem > item_; + ::apollo::common::Header* header_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// MonitorMessageItem + +// .apollo.common.monitor.MonitorMessageItem.MessageSource source = 1; +inline void MonitorMessageItem::clear_source() { + source_ = 0; +} +inline ::apollo::common::monitor::MonitorMessageItem_MessageSource MonitorMessageItem::source() const { + // @@protoc_insertion_point(field_get:apollo.common.monitor.MonitorMessageItem.source) + return static_cast< ::apollo::common::monitor::MonitorMessageItem_MessageSource >(source_); +} +inline void MonitorMessageItem::set_source(::apollo::common::monitor::MonitorMessageItem_MessageSource value) { + + source_ = value; + // @@protoc_insertion_point(field_set:apollo.common.monitor.MonitorMessageItem.source) +} + +// string msg = 2; +inline void MonitorMessageItem::clear_msg() { + msg_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& MonitorMessageItem::msg() const { + // @@protoc_insertion_point(field_get:apollo.common.monitor.MonitorMessageItem.msg) + return msg_.GetNoArena(); +} +inline void MonitorMessageItem::set_msg(const ::std::string& value) { + + msg_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.common.monitor.MonitorMessageItem.msg) +} +#if LANG_CXX11 +inline void MonitorMessageItem::set_msg(::std::string&& value) { + + msg_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.common.monitor.MonitorMessageItem.msg) +} +#endif +inline void MonitorMessageItem::set_msg(const char* value) { + GOOGLE_DCHECK(value != NULL); + + msg_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.common.monitor.MonitorMessageItem.msg) +} +inline void MonitorMessageItem::set_msg(const char* value, size_t size) { + + msg_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.common.monitor.MonitorMessageItem.msg) +} +inline ::std::string* MonitorMessageItem::mutable_msg() { + + // @@protoc_insertion_point(field_mutable:apollo.common.monitor.MonitorMessageItem.msg) + return msg_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* MonitorMessageItem::release_msg() { + // @@protoc_insertion_point(field_release:apollo.common.monitor.MonitorMessageItem.msg) + + return msg_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void MonitorMessageItem::set_allocated_msg(::std::string* msg) { + if (msg != NULL) { + + } else { + + } + msg_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), msg); + // @@protoc_insertion_point(field_set_allocated:apollo.common.monitor.MonitorMessageItem.msg) +} + +// .apollo.common.monitor.MonitorMessageItem.LogLevel log_level = 3; +inline void MonitorMessageItem::clear_log_level() { + log_level_ = 0; +} +inline ::apollo::common::monitor::MonitorMessageItem_LogLevel MonitorMessageItem::log_level() const { + // @@protoc_insertion_point(field_get:apollo.common.monitor.MonitorMessageItem.log_level) + return static_cast< ::apollo::common::monitor::MonitorMessageItem_LogLevel >(log_level_); +} +inline void MonitorMessageItem::set_log_level(::apollo::common::monitor::MonitorMessageItem_LogLevel value) { + + log_level_ = value; + // @@protoc_insertion_point(field_set:apollo.common.monitor.MonitorMessageItem.log_level) +} + +// ------------------------------------------------------------------- + +// MonitorMessage + +// .apollo.common.Header header = 1; +inline bool MonitorMessage::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& MonitorMessage::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& MonitorMessage::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.common.monitor.MonitorMessage.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* MonitorMessage::release_header() { + // @@protoc_insertion_point(field_release:apollo.common.monitor.MonitorMessage.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* MonitorMessage::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.monitor.MonitorMessage.header) + return header_; +} +inline void MonitorMessage::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.common.monitor.MonitorMessage.header) +} + +// repeated .apollo.common.monitor.MonitorMessageItem item = 2; +inline int MonitorMessage::item_size() const { + return item_.size(); +} +inline void MonitorMessage::clear_item() { + item_.Clear(); +} +inline ::apollo::common::monitor::MonitorMessageItem* MonitorMessage::mutable_item(int index) { + // @@protoc_insertion_point(field_mutable:apollo.common.monitor.MonitorMessage.item) + return item_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::common::monitor::MonitorMessageItem >* +MonitorMessage::mutable_item() { + // @@protoc_insertion_point(field_mutable_list:apollo.common.monitor.MonitorMessage.item) + return &item_; +} +inline const ::apollo::common::monitor::MonitorMessageItem& MonitorMessage::item(int index) const { + // @@protoc_insertion_point(field_get:apollo.common.monitor.MonitorMessage.item) + return item_.Get(index); +} +inline ::apollo::common::monitor::MonitorMessageItem* MonitorMessage::add_item() { + // @@protoc_insertion_point(field_add:apollo.common.monitor.MonitorMessage.item) + return item_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::common::monitor::MonitorMessageItem >& +MonitorMessage::item() const { + // @@protoc_insertion_point(field_list:apollo.common.monitor.MonitorMessage.item) + return item_; +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace monitor +} // namespace common +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::common::monitor::MonitorMessageItem_MessageSource> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::common::monitor::MonitorMessageItem_MessageSource>() { + return ::apollo::common::monitor::MonitorMessageItem_MessageSource_descriptor(); +} +template <> struct is_proto_enum< ::apollo::common::monitor::MonitorMessageItem_LogLevel> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::common::monitor::MonitorMessageItem_LogLevel>() { + return ::apollo::common::monitor::MonitorMessageItem_LogLevel_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fmonitor_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/common/vehicle_config.pb.cc b/apollo_msgs/include/apollo_msgs/proto/common/vehicle_config.pb.cc new file mode 100644 index 0000000..7aeb113 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/vehicle_config.pb.cc @@ -0,0 +1,1254 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/vehicle_config.proto + +#include "apollo_msgs/proto/common/vehicle_config.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Extrinsics; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_VehicleParam; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto +namespace apollo { +namespace common { +namespace config { +class VehicleParamDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _VehicleParam_default_instance_; +class VehicleConfigDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _VehicleConfig_default_instance_; +} // namespace config +} // namespace common +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto { +static void InitDefaultsVehicleParam() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::config::_VehicleParam_default_instance_; + new (ptr) ::apollo::common::config::VehicleParam(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::config::VehicleParam::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_VehicleParam = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsVehicleParam}, {}}; + +static void InitDefaultsVehicleConfig() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::common::config::_VehicleConfig_default_instance_; + new (ptr) ::apollo::common::config::VehicleConfig(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::common::config::VehicleConfig::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<3> scc_info_VehicleConfig = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 3, InitDefaultsVehicleConfig}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::scc_info_VehicleParam.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::scc_info_Extrinsics.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_VehicleParam.base); + ::google::protobuf::internal::InitSCC(&scc_info_VehicleConfig.base); +} + +::google::protobuf::Metadata file_level_metadata[2]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, front_edge_to_center_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, back_edge_to_center_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, left_edge_to_center_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, right_edge_to_center_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, length_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, width_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, height_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, min_turn_radius_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, max_acceleration_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, max_deceleration_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, max_steer_angle_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, max_steer_angle_rate_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, steer_ratio_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, wheel_base_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleParam, wheel_rolling_radius_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleConfig, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleConfig, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleConfig, vehicle_param_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::common::config::VehicleConfig, extrinsics_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::common::config::VehicleParam)}, + { 20, -1, sizeof(::apollo::common::config::VehicleConfig)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::common::config::_VehicleParam_default_instance_), + reinterpret_cast(&::apollo::common::config::_VehicleConfig_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/common/vehicle_config.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 2); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n-apollo_msgs/proto/common/vehicle_confi" + "g.proto\022\024apollo.common.config\032%apollo_ms" + "gs/proto/common/header.proto\0320apollo_msg" + "s/proto/common/config_extrinsics.proto\"\376" + "\002\n\014VehicleParam\022\034\n\024front_edge_to_center\030" + "\001 \001(\001\022\033\n\023back_edge_to_center\030\002 \001(\001\022\033\n\023le" + "ft_edge_to_center\030\003 \001(\001\022\034\n\024right_edge_to" + "_center\030\004 \001(\001\022\016\n\006length\030\005 \001(\001\022\r\n\005width\030\006" + " \001(\001\022\016\n\006height\030\007 \001(\001\022\027\n\017min_turn_radius\030" + "\010 \001(\001\022\030\n\020max_acceleration\030\t \001(\001\022\030\n\020max_d" + "eceleration\030\n \001(\001\022\027\n\017max_steer_angle\030\013 \001" + "(\001\022\034\n\024max_steer_angle_rate\030\014 \001(\001\022\023\n\013stee" + "r_ratio\030\r \001(\001\022\022\n\nwheel_base\030\016 \001(\001\022\034\n\024whe" + "el_rolling_radius\030\017 \001(\001\"\247\001\n\rVehicleConfi" + "g\022%\n\006header\030\001 \001(\0132\025.apollo.common.Header" + "\0229\n\rvehicle_param\030\002 \001(\0132\".apollo.common." + "config.VehicleParam\0224\n\nextrinsics\030\003 \001(\0132" + " .apollo.common.config.Extrinsicsb\006proto" + "3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 721); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/common/vehicle_config.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fconfig_5fextrinsics_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto +namespace apollo { +namespace common { +namespace config { + +// =================================================================== + +void VehicleParam::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int VehicleParam::kFrontEdgeToCenterFieldNumber; +const int VehicleParam::kBackEdgeToCenterFieldNumber; +const int VehicleParam::kLeftEdgeToCenterFieldNumber; +const int VehicleParam::kRightEdgeToCenterFieldNumber; +const int VehicleParam::kLengthFieldNumber; +const int VehicleParam::kWidthFieldNumber; +const int VehicleParam::kHeightFieldNumber; +const int VehicleParam::kMinTurnRadiusFieldNumber; +const int VehicleParam::kMaxAccelerationFieldNumber; +const int VehicleParam::kMaxDecelerationFieldNumber; +const int VehicleParam::kMaxSteerAngleFieldNumber; +const int VehicleParam::kMaxSteerAngleRateFieldNumber; +const int VehicleParam::kSteerRatioFieldNumber; +const int VehicleParam::kWheelBaseFieldNumber; +const int VehicleParam::kWheelRollingRadiusFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +VehicleParam::VehicleParam() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::scc_info_VehicleParam.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.config.VehicleParam) +} +VehicleParam::VehicleParam(const VehicleParam& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&front_edge_to_center_, &from.front_edge_to_center_, + static_cast(reinterpret_cast(&wheel_rolling_radius_) - + reinterpret_cast(&front_edge_to_center_)) + sizeof(wheel_rolling_radius_)); + // @@protoc_insertion_point(copy_constructor:apollo.common.config.VehicleParam) +} + +void VehicleParam::SharedCtor() { + ::memset(&front_edge_to_center_, 0, static_cast( + reinterpret_cast(&wheel_rolling_radius_) - + reinterpret_cast(&front_edge_to_center_)) + sizeof(wheel_rolling_radius_)); +} + +VehicleParam::~VehicleParam() { + // @@protoc_insertion_point(destructor:apollo.common.config.VehicleParam) + SharedDtor(); +} + +void VehicleParam::SharedDtor() { +} + +void VehicleParam::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* VehicleParam::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const VehicleParam& VehicleParam::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::scc_info_VehicleParam.base); + return *internal_default_instance(); +} + + +void VehicleParam::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.config.VehicleParam) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&front_edge_to_center_, 0, static_cast( + reinterpret_cast(&wheel_rolling_radius_) - + reinterpret_cast(&front_edge_to_center_)) + sizeof(wheel_rolling_radius_)); + _internal_metadata_.Clear(); +} + +bool VehicleParam::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.config.VehicleParam) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double front_edge_to_center = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &front_edge_to_center_))); + } else { + goto handle_unusual; + } + break; + } + + // double back_edge_to_center = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &back_edge_to_center_))); + } else { + goto handle_unusual; + } + break; + } + + // double left_edge_to_center = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &left_edge_to_center_))); + } else { + goto handle_unusual; + } + break; + } + + // double right_edge_to_center = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &right_edge_to_center_))); + } else { + goto handle_unusual; + } + break; + } + + // double length = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &length_))); + } else { + goto handle_unusual; + } + break; + } + + // double width = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &width_))); + } else { + goto handle_unusual; + } + break; + } + + // double height = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &height_))); + } else { + goto handle_unusual; + } + break; + } + + // double min_turn_radius = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(65u /* 65 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &min_turn_radius_))); + } else { + goto handle_unusual; + } + break; + } + + // double max_acceleration = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &max_acceleration_))); + } else { + goto handle_unusual; + } + break; + } + + // double max_deceleration = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(81u /* 81 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &max_deceleration_))); + } else { + goto handle_unusual; + } + break; + } + + // double max_steer_angle = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &max_steer_angle_))); + } else { + goto handle_unusual; + } + break; + } + + // double max_steer_angle_rate = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &max_steer_angle_rate_))); + } else { + goto handle_unusual; + } + break; + } + + // double steer_ratio = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(105u /* 105 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steer_ratio_))); + } else { + goto handle_unusual; + } + break; + } + + // double wheel_base = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(113u /* 113 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &wheel_base_))); + } else { + goto handle_unusual; + } + break; + } + + // double wheel_rolling_radius = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(121u /* 121 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &wheel_rolling_radius_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.config.VehicleParam) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.config.VehicleParam) + return false; +#undef DO_ +} + +void VehicleParam::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.config.VehicleParam) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double front_edge_to_center = 1; + if (this->front_edge_to_center() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->front_edge_to_center(), output); + } + + // double back_edge_to_center = 2; + if (this->back_edge_to_center() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->back_edge_to_center(), output); + } + + // double left_edge_to_center = 3; + if (this->left_edge_to_center() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->left_edge_to_center(), output); + } + + // double right_edge_to_center = 4; + if (this->right_edge_to_center() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->right_edge_to_center(), output); + } + + // double length = 5; + if (this->length() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->length(), output); + } + + // double width = 6; + if (this->width() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->width(), output); + } + + // double height = 7; + if (this->height() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->height(), output); + } + + // double min_turn_radius = 8; + if (this->min_turn_radius() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(8, this->min_turn_radius(), output); + } + + // double max_acceleration = 9; + if (this->max_acceleration() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->max_acceleration(), output); + } + + // double max_deceleration = 10; + if (this->max_deceleration() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(10, this->max_deceleration(), output); + } + + // double max_steer_angle = 11; + if (this->max_steer_angle() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(11, this->max_steer_angle(), output); + } + + // double max_steer_angle_rate = 12; + if (this->max_steer_angle_rate() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(12, this->max_steer_angle_rate(), output); + } + + // double steer_ratio = 13; + if (this->steer_ratio() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(13, this->steer_ratio(), output); + } + + // double wheel_base = 14; + if (this->wheel_base() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(14, this->wheel_base(), output); + } + + // double wheel_rolling_radius = 15; + if (this->wheel_rolling_radius() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(15, this->wheel_rolling_radius(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.config.VehicleParam) +} + +::google::protobuf::uint8* VehicleParam::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.config.VehicleParam) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double front_edge_to_center = 1; + if (this->front_edge_to_center() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->front_edge_to_center(), target); + } + + // double back_edge_to_center = 2; + if (this->back_edge_to_center() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->back_edge_to_center(), target); + } + + // double left_edge_to_center = 3; + if (this->left_edge_to_center() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->left_edge_to_center(), target); + } + + // double right_edge_to_center = 4; + if (this->right_edge_to_center() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->right_edge_to_center(), target); + } + + // double length = 5; + if (this->length() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->length(), target); + } + + // double width = 6; + if (this->width() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->width(), target); + } + + // double height = 7; + if (this->height() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->height(), target); + } + + // double min_turn_radius = 8; + if (this->min_turn_radius() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(8, this->min_turn_radius(), target); + } + + // double max_acceleration = 9; + if (this->max_acceleration() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->max_acceleration(), target); + } + + // double max_deceleration = 10; + if (this->max_deceleration() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(10, this->max_deceleration(), target); + } + + // double max_steer_angle = 11; + if (this->max_steer_angle() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(11, this->max_steer_angle(), target); + } + + // double max_steer_angle_rate = 12; + if (this->max_steer_angle_rate() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(12, this->max_steer_angle_rate(), target); + } + + // double steer_ratio = 13; + if (this->steer_ratio() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(13, this->steer_ratio(), target); + } + + // double wheel_base = 14; + if (this->wheel_base() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(14, this->wheel_base(), target); + } + + // double wheel_rolling_radius = 15; + if (this->wheel_rolling_radius() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(15, this->wheel_rolling_radius(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.config.VehicleParam) + return target; +} + +size_t VehicleParam::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.config.VehicleParam) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double front_edge_to_center = 1; + if (this->front_edge_to_center() != 0) { + total_size += 1 + 8; + } + + // double back_edge_to_center = 2; + if (this->back_edge_to_center() != 0) { + total_size += 1 + 8; + } + + // double left_edge_to_center = 3; + if (this->left_edge_to_center() != 0) { + total_size += 1 + 8; + } + + // double right_edge_to_center = 4; + if (this->right_edge_to_center() != 0) { + total_size += 1 + 8; + } + + // double length = 5; + if (this->length() != 0) { + total_size += 1 + 8; + } + + // double width = 6; + if (this->width() != 0) { + total_size += 1 + 8; + } + + // double height = 7; + if (this->height() != 0) { + total_size += 1 + 8; + } + + // double min_turn_radius = 8; + if (this->min_turn_radius() != 0) { + total_size += 1 + 8; + } + + // double max_acceleration = 9; + if (this->max_acceleration() != 0) { + total_size += 1 + 8; + } + + // double max_deceleration = 10; + if (this->max_deceleration() != 0) { + total_size += 1 + 8; + } + + // double max_steer_angle = 11; + if (this->max_steer_angle() != 0) { + total_size += 1 + 8; + } + + // double max_steer_angle_rate = 12; + if (this->max_steer_angle_rate() != 0) { + total_size += 1 + 8; + } + + // double steer_ratio = 13; + if (this->steer_ratio() != 0) { + total_size += 1 + 8; + } + + // double wheel_base = 14; + if (this->wheel_base() != 0) { + total_size += 1 + 8; + } + + // double wheel_rolling_radius = 15; + if (this->wheel_rolling_radius() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void VehicleParam::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.config.VehicleParam) + GOOGLE_DCHECK_NE(&from, this); + const VehicleParam* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.config.VehicleParam) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.config.VehicleParam) + MergeFrom(*source); + } +} + +void VehicleParam::MergeFrom(const VehicleParam& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.config.VehicleParam) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.front_edge_to_center() != 0) { + set_front_edge_to_center(from.front_edge_to_center()); + } + if (from.back_edge_to_center() != 0) { + set_back_edge_to_center(from.back_edge_to_center()); + } + if (from.left_edge_to_center() != 0) { + set_left_edge_to_center(from.left_edge_to_center()); + } + if (from.right_edge_to_center() != 0) { + set_right_edge_to_center(from.right_edge_to_center()); + } + if (from.length() != 0) { + set_length(from.length()); + } + if (from.width() != 0) { + set_width(from.width()); + } + if (from.height() != 0) { + set_height(from.height()); + } + if (from.min_turn_radius() != 0) { + set_min_turn_radius(from.min_turn_radius()); + } + if (from.max_acceleration() != 0) { + set_max_acceleration(from.max_acceleration()); + } + if (from.max_deceleration() != 0) { + set_max_deceleration(from.max_deceleration()); + } + if (from.max_steer_angle() != 0) { + set_max_steer_angle(from.max_steer_angle()); + } + if (from.max_steer_angle_rate() != 0) { + set_max_steer_angle_rate(from.max_steer_angle_rate()); + } + if (from.steer_ratio() != 0) { + set_steer_ratio(from.steer_ratio()); + } + if (from.wheel_base() != 0) { + set_wheel_base(from.wheel_base()); + } + if (from.wheel_rolling_radius() != 0) { + set_wheel_rolling_radius(from.wheel_rolling_radius()); + } +} + +void VehicleParam::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.config.VehicleParam) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void VehicleParam::CopyFrom(const VehicleParam& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.config.VehicleParam) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool VehicleParam::IsInitialized() const { + return true; +} + +void VehicleParam::Swap(VehicleParam* other) { + if (other == this) return; + InternalSwap(other); +} +void VehicleParam::InternalSwap(VehicleParam* other) { + using std::swap; + swap(front_edge_to_center_, other->front_edge_to_center_); + swap(back_edge_to_center_, other->back_edge_to_center_); + swap(left_edge_to_center_, other->left_edge_to_center_); + swap(right_edge_to_center_, other->right_edge_to_center_); + swap(length_, other->length_); + swap(width_, other->width_); + swap(height_, other->height_); + swap(min_turn_radius_, other->min_turn_radius_); + swap(max_acceleration_, other->max_acceleration_); + swap(max_deceleration_, other->max_deceleration_); + swap(max_steer_angle_, other->max_steer_angle_); + swap(max_steer_angle_rate_, other->max_steer_angle_rate_); + swap(steer_ratio_, other->steer_ratio_); + swap(wheel_base_, other->wheel_base_); + swap(wheel_rolling_radius_, other->wheel_rolling_radius_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata VehicleParam::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void VehicleConfig::InitAsDefaultInstance() { + ::apollo::common::config::_VehicleConfig_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::common::config::_VehicleConfig_default_instance_._instance.get_mutable()->vehicle_param_ = const_cast< ::apollo::common::config::VehicleParam*>( + ::apollo::common::config::VehicleParam::internal_default_instance()); + ::apollo::common::config::_VehicleConfig_default_instance_._instance.get_mutable()->extrinsics_ = const_cast< ::apollo::common::config::Extrinsics*>( + ::apollo::common::config::Extrinsics::internal_default_instance()); +} +void VehicleConfig::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +void VehicleConfig::clear_extrinsics() { + if (GetArenaNoVirtual() == NULL && extrinsics_ != NULL) { + delete extrinsics_; + } + extrinsics_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int VehicleConfig::kHeaderFieldNumber; +const int VehicleConfig::kVehicleParamFieldNumber; +const int VehicleConfig::kExtrinsicsFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +VehicleConfig::VehicleConfig() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::scc_info_VehicleConfig.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.common.config.VehicleConfig) +} +VehicleConfig::VehicleConfig(const VehicleConfig& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + if (from.has_vehicle_param()) { + vehicle_param_ = new ::apollo::common::config::VehicleParam(*from.vehicle_param_); + } else { + vehicle_param_ = NULL; + } + if (from.has_extrinsics()) { + extrinsics_ = new ::apollo::common::config::Extrinsics(*from.extrinsics_); + } else { + extrinsics_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.common.config.VehicleConfig) +} + +void VehicleConfig::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&extrinsics_) - + reinterpret_cast(&header_)) + sizeof(extrinsics_)); +} + +VehicleConfig::~VehicleConfig() { + // @@protoc_insertion_point(destructor:apollo.common.config.VehicleConfig) + SharedDtor(); +} + +void VehicleConfig::SharedDtor() { + if (this != internal_default_instance()) delete header_; + if (this != internal_default_instance()) delete vehicle_param_; + if (this != internal_default_instance()) delete extrinsics_; +} + +void VehicleConfig::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* VehicleConfig::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const VehicleConfig& VehicleConfig::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::scc_info_VehicleConfig.base); + return *internal_default_instance(); +} + + +void VehicleConfig::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.common.config.VehicleConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + if (GetArenaNoVirtual() == NULL && vehicle_param_ != NULL) { + delete vehicle_param_; + } + vehicle_param_ = NULL; + if (GetArenaNoVirtual() == NULL && extrinsics_ != NULL) { + delete extrinsics_; + } + extrinsics_ = NULL; + _internal_metadata_.Clear(); +} + +bool VehicleConfig::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.common.config.VehicleConfig) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.config.VehicleParam vehicle_param = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_vehicle_param())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.config.Extrinsics extrinsics = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_extrinsics())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.common.config.VehicleConfig) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.common.config.VehicleConfig) + return false; +#undef DO_ +} + +void VehicleConfig::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.common.config.VehicleConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // .apollo.common.config.VehicleParam vehicle_param = 2; + if (this->has_vehicle_param()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_vehicle_param(), output); + } + + // .apollo.common.config.Extrinsics extrinsics = 3; + if (this->has_extrinsics()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_extrinsics(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.common.config.VehicleConfig) +} + +::google::protobuf::uint8* VehicleConfig::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.common.config.VehicleConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // .apollo.common.config.VehicleParam vehicle_param = 2; + if (this->has_vehicle_param()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_vehicle_param(), deterministic, target); + } + + // .apollo.common.config.Extrinsics extrinsics = 3; + if (this->has_extrinsics()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_extrinsics(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.common.config.VehicleConfig) + return target; +} + +size_t VehicleConfig::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.common.config.VehicleConfig) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.common.config.VehicleParam vehicle_param = 2; + if (this->has_vehicle_param()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *vehicle_param_); + } + + // .apollo.common.config.Extrinsics extrinsics = 3; + if (this->has_extrinsics()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *extrinsics_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void VehicleConfig::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.common.config.VehicleConfig) + GOOGLE_DCHECK_NE(&from, this); + const VehicleConfig* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.common.config.VehicleConfig) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.common.config.VehicleConfig) + MergeFrom(*source); + } +} + +void VehicleConfig::MergeFrom(const VehicleConfig& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.common.config.VehicleConfig) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.has_vehicle_param()) { + mutable_vehicle_param()->::apollo::common::config::VehicleParam::MergeFrom(from.vehicle_param()); + } + if (from.has_extrinsics()) { + mutable_extrinsics()->::apollo::common::config::Extrinsics::MergeFrom(from.extrinsics()); + } +} + +void VehicleConfig::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.common.config.VehicleConfig) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void VehicleConfig::CopyFrom(const VehicleConfig& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.common.config.VehicleConfig) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool VehicleConfig::IsInitialized() const { + return true; +} + +void VehicleConfig::Swap(VehicleConfig* other) { + if (other == this) return; + InternalSwap(other); +} +void VehicleConfig::InternalSwap(VehicleConfig* other) { + using std::swap; + swap(header_, other->header_); + swap(vehicle_param_, other->vehicle_param_); + swap(extrinsics_, other->extrinsics_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata VehicleConfig::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace config +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::config::VehicleParam* Arena::CreateMaybeMessage< ::apollo::common::config::VehicleParam >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::config::VehicleParam >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::common::config::VehicleConfig* Arena::CreateMaybeMessage< ::apollo::common::config::VehicleConfig >(Arena* arena) { + return Arena::CreateInternal< ::apollo::common::config::VehicleConfig >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/common/vehicle_config.pb.h b/apollo_msgs/include/apollo_msgs/proto/common/vehicle_config.pb.h new file mode 100644 index 0000000..1275949 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/common/vehicle_config.pb.h @@ -0,0 +1,797 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/common/vehicle_config.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/common/config_extrinsics.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[2]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto +namespace apollo { +namespace common { +namespace config { +class VehicleConfig; +class VehicleConfigDefaultTypeInternal; +extern VehicleConfigDefaultTypeInternal _VehicleConfig_default_instance_; +class VehicleParam; +class VehicleParamDefaultTypeInternal; +extern VehicleParamDefaultTypeInternal _VehicleParam_default_instance_; +} // namespace config +} // namespace common +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::common::config::VehicleConfig* Arena::CreateMaybeMessage<::apollo::common::config::VehicleConfig>(Arena*); +template<> ::apollo::common::config::VehicleParam* Arena::CreateMaybeMessage<::apollo::common::config::VehicleParam>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace common { +namespace config { + +// =================================================================== + +class VehicleParam : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.config.VehicleParam) */ { + public: + VehicleParam(); + virtual ~VehicleParam(); + + VehicleParam(const VehicleParam& from); + + inline VehicleParam& operator=(const VehicleParam& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + VehicleParam(VehicleParam&& from) noexcept + : VehicleParam() { + *this = ::std::move(from); + } + + inline VehicleParam& operator=(VehicleParam&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const VehicleParam& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const VehicleParam* internal_default_instance() { + return reinterpret_cast( + &_VehicleParam_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(VehicleParam* other); + friend void swap(VehicleParam& a, VehicleParam& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline VehicleParam* New() const final { + return CreateMaybeMessage(NULL); + } + + VehicleParam* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const VehicleParam& from); + void MergeFrom(const VehicleParam& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(VehicleParam* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double front_edge_to_center = 1; + void clear_front_edge_to_center(); + static const int kFrontEdgeToCenterFieldNumber = 1; + double front_edge_to_center() const; + void set_front_edge_to_center(double value); + + // double back_edge_to_center = 2; + void clear_back_edge_to_center(); + static const int kBackEdgeToCenterFieldNumber = 2; + double back_edge_to_center() const; + void set_back_edge_to_center(double value); + + // double left_edge_to_center = 3; + void clear_left_edge_to_center(); + static const int kLeftEdgeToCenterFieldNumber = 3; + double left_edge_to_center() const; + void set_left_edge_to_center(double value); + + // double right_edge_to_center = 4; + void clear_right_edge_to_center(); + static const int kRightEdgeToCenterFieldNumber = 4; + double right_edge_to_center() const; + void set_right_edge_to_center(double value); + + // double length = 5; + void clear_length(); + static const int kLengthFieldNumber = 5; + double length() const; + void set_length(double value); + + // double width = 6; + void clear_width(); + static const int kWidthFieldNumber = 6; + double width() const; + void set_width(double value); + + // double height = 7; + void clear_height(); + static const int kHeightFieldNumber = 7; + double height() const; + void set_height(double value); + + // double min_turn_radius = 8; + void clear_min_turn_radius(); + static const int kMinTurnRadiusFieldNumber = 8; + double min_turn_radius() const; + void set_min_turn_radius(double value); + + // double max_acceleration = 9; + void clear_max_acceleration(); + static const int kMaxAccelerationFieldNumber = 9; + double max_acceleration() const; + void set_max_acceleration(double value); + + // double max_deceleration = 10; + void clear_max_deceleration(); + static const int kMaxDecelerationFieldNumber = 10; + double max_deceleration() const; + void set_max_deceleration(double value); + + // double max_steer_angle = 11; + void clear_max_steer_angle(); + static const int kMaxSteerAngleFieldNumber = 11; + double max_steer_angle() const; + void set_max_steer_angle(double value); + + // double max_steer_angle_rate = 12; + void clear_max_steer_angle_rate(); + static const int kMaxSteerAngleRateFieldNumber = 12; + double max_steer_angle_rate() const; + void set_max_steer_angle_rate(double value); + + // double steer_ratio = 13; + void clear_steer_ratio(); + static const int kSteerRatioFieldNumber = 13; + double steer_ratio() const; + void set_steer_ratio(double value); + + // double wheel_base = 14; + void clear_wheel_base(); + static const int kWheelBaseFieldNumber = 14; + double wheel_base() const; + void set_wheel_base(double value); + + // double wheel_rolling_radius = 15; + void clear_wheel_rolling_radius(); + static const int kWheelRollingRadiusFieldNumber = 15; + double wheel_rolling_radius() const; + void set_wheel_rolling_radius(double value); + + // @@protoc_insertion_point(class_scope:apollo.common.config.VehicleParam) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double front_edge_to_center_; + double back_edge_to_center_; + double left_edge_to_center_; + double right_edge_to_center_; + double length_; + double width_; + double height_; + double min_turn_radius_; + double max_acceleration_; + double max_deceleration_; + double max_steer_angle_; + double max_steer_angle_rate_; + double steer_ratio_; + double wheel_base_; + double wheel_rolling_radius_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class VehicleConfig : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.common.config.VehicleConfig) */ { + public: + VehicleConfig(); + virtual ~VehicleConfig(); + + VehicleConfig(const VehicleConfig& from); + + inline VehicleConfig& operator=(const VehicleConfig& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + VehicleConfig(VehicleConfig&& from) noexcept + : VehicleConfig() { + *this = ::std::move(from); + } + + inline VehicleConfig& operator=(VehicleConfig&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const VehicleConfig& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const VehicleConfig* internal_default_instance() { + return reinterpret_cast( + &_VehicleConfig_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(VehicleConfig* other); + friend void swap(VehicleConfig& a, VehicleConfig& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline VehicleConfig* New() const final { + return CreateMaybeMessage(NULL); + } + + VehicleConfig* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const VehicleConfig& from); + void MergeFrom(const VehicleConfig& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(VehicleConfig* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.common.config.VehicleParam vehicle_param = 2; + bool has_vehicle_param() const; + void clear_vehicle_param(); + static const int kVehicleParamFieldNumber = 2; + private: + const ::apollo::common::config::VehicleParam& _internal_vehicle_param() const; + public: + const ::apollo::common::config::VehicleParam& vehicle_param() const; + ::apollo::common::config::VehicleParam* release_vehicle_param(); + ::apollo::common::config::VehicleParam* mutable_vehicle_param(); + void set_allocated_vehicle_param(::apollo::common::config::VehicleParam* vehicle_param); + + // .apollo.common.config.Extrinsics extrinsics = 3; + bool has_extrinsics() const; + void clear_extrinsics(); + static const int kExtrinsicsFieldNumber = 3; + private: + const ::apollo::common::config::Extrinsics& _internal_extrinsics() const; + public: + const ::apollo::common::config::Extrinsics& extrinsics() const; + ::apollo::common::config::Extrinsics* release_extrinsics(); + ::apollo::common::config::Extrinsics* mutable_extrinsics(); + void set_allocated_extrinsics(::apollo::common::config::Extrinsics* extrinsics); + + // @@protoc_insertion_point(class_scope:apollo.common.config.VehicleConfig) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + ::apollo::common::config::VehicleParam* vehicle_param_; + ::apollo::common::config::Extrinsics* extrinsics_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// VehicleParam + +// double front_edge_to_center = 1; +inline void VehicleParam::clear_front_edge_to_center() { + front_edge_to_center_ = 0; +} +inline double VehicleParam::front_edge_to_center() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.front_edge_to_center) + return front_edge_to_center_; +} +inline void VehicleParam::set_front_edge_to_center(double value) { + + front_edge_to_center_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.front_edge_to_center) +} + +// double back_edge_to_center = 2; +inline void VehicleParam::clear_back_edge_to_center() { + back_edge_to_center_ = 0; +} +inline double VehicleParam::back_edge_to_center() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.back_edge_to_center) + return back_edge_to_center_; +} +inline void VehicleParam::set_back_edge_to_center(double value) { + + back_edge_to_center_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.back_edge_to_center) +} + +// double left_edge_to_center = 3; +inline void VehicleParam::clear_left_edge_to_center() { + left_edge_to_center_ = 0; +} +inline double VehicleParam::left_edge_to_center() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.left_edge_to_center) + return left_edge_to_center_; +} +inline void VehicleParam::set_left_edge_to_center(double value) { + + left_edge_to_center_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.left_edge_to_center) +} + +// double right_edge_to_center = 4; +inline void VehicleParam::clear_right_edge_to_center() { + right_edge_to_center_ = 0; +} +inline double VehicleParam::right_edge_to_center() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.right_edge_to_center) + return right_edge_to_center_; +} +inline void VehicleParam::set_right_edge_to_center(double value) { + + right_edge_to_center_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.right_edge_to_center) +} + +// double length = 5; +inline void VehicleParam::clear_length() { + length_ = 0; +} +inline double VehicleParam::length() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.length) + return length_; +} +inline void VehicleParam::set_length(double value) { + + length_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.length) +} + +// double width = 6; +inline void VehicleParam::clear_width() { + width_ = 0; +} +inline double VehicleParam::width() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.width) + return width_; +} +inline void VehicleParam::set_width(double value) { + + width_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.width) +} + +// double height = 7; +inline void VehicleParam::clear_height() { + height_ = 0; +} +inline double VehicleParam::height() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.height) + return height_; +} +inline void VehicleParam::set_height(double value) { + + height_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.height) +} + +// double min_turn_radius = 8; +inline void VehicleParam::clear_min_turn_radius() { + min_turn_radius_ = 0; +} +inline double VehicleParam::min_turn_radius() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.min_turn_radius) + return min_turn_radius_; +} +inline void VehicleParam::set_min_turn_radius(double value) { + + min_turn_radius_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.min_turn_radius) +} + +// double max_acceleration = 9; +inline void VehicleParam::clear_max_acceleration() { + max_acceleration_ = 0; +} +inline double VehicleParam::max_acceleration() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.max_acceleration) + return max_acceleration_; +} +inline void VehicleParam::set_max_acceleration(double value) { + + max_acceleration_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.max_acceleration) +} + +// double max_deceleration = 10; +inline void VehicleParam::clear_max_deceleration() { + max_deceleration_ = 0; +} +inline double VehicleParam::max_deceleration() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.max_deceleration) + return max_deceleration_; +} +inline void VehicleParam::set_max_deceleration(double value) { + + max_deceleration_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.max_deceleration) +} + +// double max_steer_angle = 11; +inline void VehicleParam::clear_max_steer_angle() { + max_steer_angle_ = 0; +} +inline double VehicleParam::max_steer_angle() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.max_steer_angle) + return max_steer_angle_; +} +inline void VehicleParam::set_max_steer_angle(double value) { + + max_steer_angle_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.max_steer_angle) +} + +// double max_steer_angle_rate = 12; +inline void VehicleParam::clear_max_steer_angle_rate() { + max_steer_angle_rate_ = 0; +} +inline double VehicleParam::max_steer_angle_rate() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.max_steer_angle_rate) + return max_steer_angle_rate_; +} +inline void VehicleParam::set_max_steer_angle_rate(double value) { + + max_steer_angle_rate_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.max_steer_angle_rate) +} + +// double steer_ratio = 13; +inline void VehicleParam::clear_steer_ratio() { + steer_ratio_ = 0; +} +inline double VehicleParam::steer_ratio() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.steer_ratio) + return steer_ratio_; +} +inline void VehicleParam::set_steer_ratio(double value) { + + steer_ratio_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.steer_ratio) +} + +// double wheel_base = 14; +inline void VehicleParam::clear_wheel_base() { + wheel_base_ = 0; +} +inline double VehicleParam::wheel_base() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.wheel_base) + return wheel_base_; +} +inline void VehicleParam::set_wheel_base(double value) { + + wheel_base_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.wheel_base) +} + +// double wheel_rolling_radius = 15; +inline void VehicleParam::clear_wheel_rolling_radius() { + wheel_rolling_radius_ = 0; +} +inline double VehicleParam::wheel_rolling_radius() const { + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleParam.wheel_rolling_radius) + return wheel_rolling_radius_; +} +inline void VehicleParam::set_wheel_rolling_radius(double value) { + + wheel_rolling_radius_ = value; + // @@protoc_insertion_point(field_set:apollo.common.config.VehicleParam.wheel_rolling_radius) +} + +// ------------------------------------------------------------------- + +// VehicleConfig + +// .apollo.common.Header header = 1; +inline bool VehicleConfig::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& VehicleConfig::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& VehicleConfig::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleConfig.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* VehicleConfig::release_header() { + // @@protoc_insertion_point(field_release:apollo.common.config.VehicleConfig.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* VehicleConfig::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.config.VehicleConfig.header) + return header_; +} +inline void VehicleConfig::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.common.config.VehicleConfig.header) +} + +// .apollo.common.config.VehicleParam vehicle_param = 2; +inline bool VehicleConfig::has_vehicle_param() const { + return this != internal_default_instance() && vehicle_param_ != NULL; +} +inline void VehicleConfig::clear_vehicle_param() { + if (GetArenaNoVirtual() == NULL && vehicle_param_ != NULL) { + delete vehicle_param_; + } + vehicle_param_ = NULL; +} +inline const ::apollo::common::config::VehicleParam& VehicleConfig::_internal_vehicle_param() const { + return *vehicle_param_; +} +inline const ::apollo::common::config::VehicleParam& VehicleConfig::vehicle_param() const { + const ::apollo::common::config::VehicleParam* p = vehicle_param_; + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleConfig.vehicle_param) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::config::_VehicleParam_default_instance_); +} +inline ::apollo::common::config::VehicleParam* VehicleConfig::release_vehicle_param() { + // @@protoc_insertion_point(field_release:apollo.common.config.VehicleConfig.vehicle_param) + + ::apollo::common::config::VehicleParam* temp = vehicle_param_; + vehicle_param_ = NULL; + return temp; +} +inline ::apollo::common::config::VehicleParam* VehicleConfig::mutable_vehicle_param() { + + if (vehicle_param_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::config::VehicleParam>(GetArenaNoVirtual()); + vehicle_param_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.config.VehicleConfig.vehicle_param) + return vehicle_param_; +} +inline void VehicleConfig::set_allocated_vehicle_param(::apollo::common::config::VehicleParam* vehicle_param) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete vehicle_param_; + } + if (vehicle_param) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + vehicle_param = ::google::protobuf::internal::GetOwnedMessage( + message_arena, vehicle_param, submessage_arena); + } + + } else { + + } + vehicle_param_ = vehicle_param; + // @@protoc_insertion_point(field_set_allocated:apollo.common.config.VehicleConfig.vehicle_param) +} + +// .apollo.common.config.Extrinsics extrinsics = 3; +inline bool VehicleConfig::has_extrinsics() const { + return this != internal_default_instance() && extrinsics_ != NULL; +} +inline const ::apollo::common::config::Extrinsics& VehicleConfig::_internal_extrinsics() const { + return *extrinsics_; +} +inline const ::apollo::common::config::Extrinsics& VehicleConfig::extrinsics() const { + const ::apollo::common::config::Extrinsics* p = extrinsics_; + // @@protoc_insertion_point(field_get:apollo.common.config.VehicleConfig.extrinsics) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::config::_Extrinsics_default_instance_); +} +inline ::apollo::common::config::Extrinsics* VehicleConfig::release_extrinsics() { + // @@protoc_insertion_point(field_release:apollo.common.config.VehicleConfig.extrinsics) + + ::apollo::common::config::Extrinsics* temp = extrinsics_; + extrinsics_ = NULL; + return temp; +} +inline ::apollo::common::config::Extrinsics* VehicleConfig::mutable_extrinsics() { + + if (extrinsics_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::config::Extrinsics>(GetArenaNoVirtual()); + extrinsics_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.common.config.VehicleConfig.extrinsics) + return extrinsics_; +} +inline void VehicleConfig::set_allocated_extrinsics(::apollo::common::config::Extrinsics* extrinsics) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(extrinsics_); + } + if (extrinsics) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + extrinsics = ::google::protobuf::internal::GetOwnedMessage( + message_arena, extrinsics, submessage_arena); + } + + } else { + + } + extrinsics_ = extrinsics; + // @@protoc_insertion_point(field_set_allocated:apollo.common.config.VehicleConfig.extrinsics) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace config +} // namespace common +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcommon_2fvehicle_5fconfig_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/control/calibration_table.pb.cc b/apollo_msgs/include/apollo_msgs/proto/control/calibration_table.pb.cc new file mode 100644 index 0000000..a1aeef3 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/calibration_table.pb.cc @@ -0,0 +1,693 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/calibration_table.proto + +#include "apollo_msgs/proto/control/calibration_table.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_ControlCalibrationInfo; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto +namespace apollo { +namespace control { +namespace calibrationtable { +class ControlCalibrationTableDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ControlCalibrationTable_default_instance_; +class ControlCalibrationInfoDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ControlCalibrationInfo_default_instance_; +} // namespace calibrationtable +} // namespace control +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto { +static void InitDefaultsControlCalibrationTable() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::calibrationtable::_ControlCalibrationTable_default_instance_; + new (ptr) ::apollo::control::calibrationtable::ControlCalibrationTable(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::calibrationtable::ControlCalibrationTable::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_ControlCalibrationTable = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsControlCalibrationTable}, { + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::scc_info_ControlCalibrationInfo.base,}}; + +static void InitDefaultsControlCalibrationInfo() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::calibrationtable::_ControlCalibrationInfo_default_instance_; + new (ptr) ::apollo::control::calibrationtable::ControlCalibrationInfo(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::calibrationtable::ControlCalibrationInfo::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_ControlCalibrationInfo = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsControlCalibrationInfo}, {}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_ControlCalibrationTable.base); + ::google::protobuf::internal::InitSCC(&scc_info_ControlCalibrationInfo.base); +} + +::google::protobuf::Metadata file_level_metadata[2]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::calibrationtable::ControlCalibrationTable, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::calibrationtable::ControlCalibrationTable, calibration_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::calibrationtable::ControlCalibrationInfo, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::calibrationtable::ControlCalibrationInfo, speed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::calibrationtable::ControlCalibrationInfo, acceleration_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::calibrationtable::ControlCalibrationInfo, command_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::control::calibrationtable::ControlCalibrationTable)}, + { 6, -1, sizeof(::apollo::control::calibrationtable::ControlCalibrationInfo)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::control::calibrationtable::_ControlCalibrationTable_default_instance_), + reinterpret_cast(&::apollo::control::calibrationtable::_ControlCalibrationInfo_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/control/calibration_table.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 2); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n1apollo_msgs/proto/control/calibration_" + "table.proto\022\037apollo.control.calibrationt" + "able\"g\n\027ControlCalibrationTable\022L\n\013calib" + "ration\030\001 \003(\01327.apollo.control.calibratio" + "ntable.ControlCalibrationInfo\"N\n\026Control" + "CalibrationInfo\022\r\n\005speed\030\001 \001(\001\022\024\n\014accele" + "ration\030\002 \001(\001\022\017\n\007command\030\003 \001(\001b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 277); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/control/calibration_table.proto", &protobuf_RegisterTypes); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto +namespace apollo { +namespace control { +namespace calibrationtable { + +// =================================================================== + +void ControlCalibrationTable::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ControlCalibrationTable::kCalibrationFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ControlCalibrationTable::ControlCalibrationTable() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::scc_info_ControlCalibrationTable.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.calibrationtable.ControlCalibrationTable) +} +ControlCalibrationTable::ControlCalibrationTable(const ControlCalibrationTable& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + calibration_(from.calibration_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.control.calibrationtable.ControlCalibrationTable) +} + +void ControlCalibrationTable::SharedCtor() { +} + +ControlCalibrationTable::~ControlCalibrationTable() { + // @@protoc_insertion_point(destructor:apollo.control.calibrationtable.ControlCalibrationTable) + SharedDtor(); +} + +void ControlCalibrationTable::SharedDtor() { +} + +void ControlCalibrationTable::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ControlCalibrationTable::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ControlCalibrationTable& ControlCalibrationTable::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::scc_info_ControlCalibrationTable.base); + return *internal_default_instance(); +} + + +void ControlCalibrationTable::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.calibrationtable.ControlCalibrationTable) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + calibration_.Clear(); + _internal_metadata_.Clear(); +} + +bool ControlCalibrationTable::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.calibrationtable.ControlCalibrationTable) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // repeated .apollo.control.calibrationtable.ControlCalibrationInfo calibration = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_calibration())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.calibrationtable.ControlCalibrationTable) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.calibrationtable.ControlCalibrationTable) + return false; +#undef DO_ +} + +void ControlCalibrationTable::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.calibrationtable.ControlCalibrationTable) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.control.calibrationtable.ControlCalibrationInfo calibration = 1; + for (unsigned int i = 0, + n = static_cast(this->calibration_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, + this->calibration(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.calibrationtable.ControlCalibrationTable) +} + +::google::protobuf::uint8* ControlCalibrationTable::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.calibrationtable.ControlCalibrationTable) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.control.calibrationtable.ControlCalibrationInfo calibration = 1; + for (unsigned int i = 0, + n = static_cast(this->calibration_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->calibration(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.calibrationtable.ControlCalibrationTable) + return target; +} + +size_t ControlCalibrationTable::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.calibrationtable.ControlCalibrationTable) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.control.calibrationtable.ControlCalibrationInfo calibration = 1; + { + unsigned int count = static_cast(this->calibration_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->calibration(static_cast(i))); + } + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ControlCalibrationTable::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.calibrationtable.ControlCalibrationTable) + GOOGLE_DCHECK_NE(&from, this); + const ControlCalibrationTable* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.calibrationtable.ControlCalibrationTable) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.calibrationtable.ControlCalibrationTable) + MergeFrom(*source); + } +} + +void ControlCalibrationTable::MergeFrom(const ControlCalibrationTable& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.calibrationtable.ControlCalibrationTable) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + calibration_.MergeFrom(from.calibration_); +} + +void ControlCalibrationTable::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.calibrationtable.ControlCalibrationTable) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ControlCalibrationTable::CopyFrom(const ControlCalibrationTable& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.calibrationtable.ControlCalibrationTable) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ControlCalibrationTable::IsInitialized() const { + return true; +} + +void ControlCalibrationTable::Swap(ControlCalibrationTable* other) { + if (other == this) return; + InternalSwap(other); +} +void ControlCalibrationTable::InternalSwap(ControlCalibrationTable* other) { + using std::swap; + CastToBase(&calibration_)->InternalSwap(CastToBase(&other->calibration_)); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ControlCalibrationTable::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ControlCalibrationInfo::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ControlCalibrationInfo::kSpeedFieldNumber; +const int ControlCalibrationInfo::kAccelerationFieldNumber; +const int ControlCalibrationInfo::kCommandFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ControlCalibrationInfo::ControlCalibrationInfo() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::scc_info_ControlCalibrationInfo.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.calibrationtable.ControlCalibrationInfo) +} +ControlCalibrationInfo::ControlCalibrationInfo(const ControlCalibrationInfo& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&speed_, &from.speed_, + static_cast(reinterpret_cast(&command_) - + reinterpret_cast(&speed_)) + sizeof(command_)); + // @@protoc_insertion_point(copy_constructor:apollo.control.calibrationtable.ControlCalibrationInfo) +} + +void ControlCalibrationInfo::SharedCtor() { + ::memset(&speed_, 0, static_cast( + reinterpret_cast(&command_) - + reinterpret_cast(&speed_)) + sizeof(command_)); +} + +ControlCalibrationInfo::~ControlCalibrationInfo() { + // @@protoc_insertion_point(destructor:apollo.control.calibrationtable.ControlCalibrationInfo) + SharedDtor(); +} + +void ControlCalibrationInfo::SharedDtor() { +} + +void ControlCalibrationInfo::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ControlCalibrationInfo::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ControlCalibrationInfo& ControlCalibrationInfo::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::scc_info_ControlCalibrationInfo.base); + return *internal_default_instance(); +} + + +void ControlCalibrationInfo::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.calibrationtable.ControlCalibrationInfo) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&speed_, 0, static_cast( + reinterpret_cast(&command_) - + reinterpret_cast(&speed_)) + sizeof(command_)); + _internal_metadata_.Clear(); +} + +bool ControlCalibrationInfo::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.calibrationtable.ControlCalibrationInfo) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double speed = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_))); + } else { + goto handle_unusual; + } + break; + } + + // double acceleration = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &acceleration_))); + } else { + goto handle_unusual; + } + break; + } + + // double command = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &command_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.calibrationtable.ControlCalibrationInfo) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.calibrationtable.ControlCalibrationInfo) + return false; +#undef DO_ +} + +void ControlCalibrationInfo::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.calibrationtable.ControlCalibrationInfo) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double speed = 1; + if (this->speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->speed(), output); + } + + // double acceleration = 2; + if (this->acceleration() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->acceleration(), output); + } + + // double command = 3; + if (this->command() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->command(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.calibrationtable.ControlCalibrationInfo) +} + +::google::protobuf::uint8* ControlCalibrationInfo::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.calibrationtable.ControlCalibrationInfo) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double speed = 1; + if (this->speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->speed(), target); + } + + // double acceleration = 2; + if (this->acceleration() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->acceleration(), target); + } + + // double command = 3; + if (this->command() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->command(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.calibrationtable.ControlCalibrationInfo) + return target; +} + +size_t ControlCalibrationInfo::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.calibrationtable.ControlCalibrationInfo) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double speed = 1; + if (this->speed() != 0) { + total_size += 1 + 8; + } + + // double acceleration = 2; + if (this->acceleration() != 0) { + total_size += 1 + 8; + } + + // double command = 3; + if (this->command() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ControlCalibrationInfo::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.calibrationtable.ControlCalibrationInfo) + GOOGLE_DCHECK_NE(&from, this); + const ControlCalibrationInfo* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.calibrationtable.ControlCalibrationInfo) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.calibrationtable.ControlCalibrationInfo) + MergeFrom(*source); + } +} + +void ControlCalibrationInfo::MergeFrom(const ControlCalibrationInfo& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.calibrationtable.ControlCalibrationInfo) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.speed() != 0) { + set_speed(from.speed()); + } + if (from.acceleration() != 0) { + set_acceleration(from.acceleration()); + } + if (from.command() != 0) { + set_command(from.command()); + } +} + +void ControlCalibrationInfo::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.calibrationtable.ControlCalibrationInfo) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ControlCalibrationInfo::CopyFrom(const ControlCalibrationInfo& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.calibrationtable.ControlCalibrationInfo) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ControlCalibrationInfo::IsInitialized() const { + return true; +} + +void ControlCalibrationInfo::Swap(ControlCalibrationInfo* other) { + if (other == this) return; + InternalSwap(other); +} +void ControlCalibrationInfo::InternalSwap(ControlCalibrationInfo* other) { + using std::swap; + swap(speed_, other->speed_); + swap(acceleration_, other->acceleration_); + swap(command_, other->command_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ControlCalibrationInfo::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace calibrationtable +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::calibrationtable::ControlCalibrationTable* Arena::CreateMaybeMessage< ::apollo::control::calibrationtable::ControlCalibrationTable >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::calibrationtable::ControlCalibrationTable >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::calibrationtable::ControlCalibrationInfo* Arena::CreateMaybeMessage< ::apollo::control::calibrationtable::ControlCalibrationInfo >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::calibrationtable::ControlCalibrationInfo >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/control/calibration_table.pb.h b/apollo_msgs/include/apollo_msgs/proto/control/calibration_table.pb.h new file mode 100644 index 0000000..4810494 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/calibration_table.pb.h @@ -0,0 +1,397 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/calibration_table.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[2]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto +namespace apollo { +namespace control { +namespace calibrationtable { +class ControlCalibrationInfo; +class ControlCalibrationInfoDefaultTypeInternal; +extern ControlCalibrationInfoDefaultTypeInternal _ControlCalibrationInfo_default_instance_; +class ControlCalibrationTable; +class ControlCalibrationTableDefaultTypeInternal; +extern ControlCalibrationTableDefaultTypeInternal _ControlCalibrationTable_default_instance_; +} // namespace calibrationtable +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::control::calibrationtable::ControlCalibrationInfo* Arena::CreateMaybeMessage<::apollo::control::calibrationtable::ControlCalibrationInfo>(Arena*); +template<> ::apollo::control::calibrationtable::ControlCalibrationTable* Arena::CreateMaybeMessage<::apollo::control::calibrationtable::ControlCalibrationTable>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace control { +namespace calibrationtable { + +// =================================================================== + +class ControlCalibrationTable : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.calibrationtable.ControlCalibrationTable) */ { + public: + ControlCalibrationTable(); + virtual ~ControlCalibrationTable(); + + ControlCalibrationTable(const ControlCalibrationTable& from); + + inline ControlCalibrationTable& operator=(const ControlCalibrationTable& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ControlCalibrationTable(ControlCalibrationTable&& from) noexcept + : ControlCalibrationTable() { + *this = ::std::move(from); + } + + inline ControlCalibrationTable& operator=(ControlCalibrationTable&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ControlCalibrationTable& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ControlCalibrationTable* internal_default_instance() { + return reinterpret_cast( + &_ControlCalibrationTable_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(ControlCalibrationTable* other); + friend void swap(ControlCalibrationTable& a, ControlCalibrationTable& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ControlCalibrationTable* New() const final { + return CreateMaybeMessage(NULL); + } + + ControlCalibrationTable* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ControlCalibrationTable& from); + void MergeFrom(const ControlCalibrationTable& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ControlCalibrationTable* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.control.calibrationtable.ControlCalibrationInfo calibration = 1; + int calibration_size() const; + void clear_calibration(); + static const int kCalibrationFieldNumber = 1; + ::apollo::control::calibrationtable::ControlCalibrationInfo* mutable_calibration(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::control::calibrationtable::ControlCalibrationInfo >* + mutable_calibration(); + const ::apollo::control::calibrationtable::ControlCalibrationInfo& calibration(int index) const; + ::apollo::control::calibrationtable::ControlCalibrationInfo* add_calibration(); + const ::google::protobuf::RepeatedPtrField< ::apollo::control::calibrationtable::ControlCalibrationInfo >& + calibration() const; + + // @@protoc_insertion_point(class_scope:apollo.control.calibrationtable.ControlCalibrationTable) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::control::calibrationtable::ControlCalibrationInfo > calibration_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ControlCalibrationInfo : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.calibrationtable.ControlCalibrationInfo) */ { + public: + ControlCalibrationInfo(); + virtual ~ControlCalibrationInfo(); + + ControlCalibrationInfo(const ControlCalibrationInfo& from); + + inline ControlCalibrationInfo& operator=(const ControlCalibrationInfo& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ControlCalibrationInfo(ControlCalibrationInfo&& from) noexcept + : ControlCalibrationInfo() { + *this = ::std::move(from); + } + + inline ControlCalibrationInfo& operator=(ControlCalibrationInfo&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ControlCalibrationInfo& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ControlCalibrationInfo* internal_default_instance() { + return reinterpret_cast( + &_ControlCalibrationInfo_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(ControlCalibrationInfo* other); + friend void swap(ControlCalibrationInfo& a, ControlCalibrationInfo& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ControlCalibrationInfo* New() const final { + return CreateMaybeMessage(NULL); + } + + ControlCalibrationInfo* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ControlCalibrationInfo& from); + void MergeFrom(const ControlCalibrationInfo& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ControlCalibrationInfo* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double speed = 1; + void clear_speed(); + static const int kSpeedFieldNumber = 1; + double speed() const; + void set_speed(double value); + + // double acceleration = 2; + void clear_acceleration(); + static const int kAccelerationFieldNumber = 2; + double acceleration() const; + void set_acceleration(double value); + + // double command = 3; + void clear_command(); + static const int kCommandFieldNumber = 3; + double command() const; + void set_command(double value); + + // @@protoc_insertion_point(class_scope:apollo.control.calibrationtable.ControlCalibrationInfo) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double speed_; + double acceleration_; + double command_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// ControlCalibrationTable + +// repeated .apollo.control.calibrationtable.ControlCalibrationInfo calibration = 1; +inline int ControlCalibrationTable::calibration_size() const { + return calibration_.size(); +} +inline void ControlCalibrationTable::clear_calibration() { + calibration_.Clear(); +} +inline ::apollo::control::calibrationtable::ControlCalibrationInfo* ControlCalibrationTable::mutable_calibration(int index) { + // @@protoc_insertion_point(field_mutable:apollo.control.calibrationtable.ControlCalibrationTable.calibration) + return calibration_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::control::calibrationtable::ControlCalibrationInfo >* +ControlCalibrationTable::mutable_calibration() { + // @@protoc_insertion_point(field_mutable_list:apollo.control.calibrationtable.ControlCalibrationTable.calibration) + return &calibration_; +} +inline const ::apollo::control::calibrationtable::ControlCalibrationInfo& ControlCalibrationTable::calibration(int index) const { + // @@protoc_insertion_point(field_get:apollo.control.calibrationtable.ControlCalibrationTable.calibration) + return calibration_.Get(index); +} +inline ::apollo::control::calibrationtable::ControlCalibrationInfo* ControlCalibrationTable::add_calibration() { + // @@protoc_insertion_point(field_add:apollo.control.calibrationtable.ControlCalibrationTable.calibration) + return calibration_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::control::calibrationtable::ControlCalibrationInfo >& +ControlCalibrationTable::calibration() const { + // @@protoc_insertion_point(field_list:apollo.control.calibrationtable.ControlCalibrationTable.calibration) + return calibration_; +} + +// ------------------------------------------------------------------- + +// ControlCalibrationInfo + +// double speed = 1; +inline void ControlCalibrationInfo::clear_speed() { + speed_ = 0; +} +inline double ControlCalibrationInfo::speed() const { + // @@protoc_insertion_point(field_get:apollo.control.calibrationtable.ControlCalibrationInfo.speed) + return speed_; +} +inline void ControlCalibrationInfo::set_speed(double value) { + + speed_ = value; + // @@protoc_insertion_point(field_set:apollo.control.calibrationtable.ControlCalibrationInfo.speed) +} + +// double acceleration = 2; +inline void ControlCalibrationInfo::clear_acceleration() { + acceleration_ = 0; +} +inline double ControlCalibrationInfo::acceleration() const { + // @@protoc_insertion_point(field_get:apollo.control.calibrationtable.ControlCalibrationInfo.acceleration) + return acceleration_; +} +inline void ControlCalibrationInfo::set_acceleration(double value) { + + acceleration_ = value; + // @@protoc_insertion_point(field_set:apollo.control.calibrationtable.ControlCalibrationInfo.acceleration) +} + +// double command = 3; +inline void ControlCalibrationInfo::clear_command() { + command_ = 0; +} +inline double ControlCalibrationInfo::command() const { + // @@protoc_insertion_point(field_get:apollo.control.calibrationtable.ControlCalibrationInfo.command) + return command_; +} +inline void ControlCalibrationInfo::set_command(double value) { + + command_ = value; + // @@protoc_insertion_point(field_set:apollo.control.calibrationtable.ControlCalibrationInfo.command) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace calibrationtable +} // namespace control +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/control/control_cmd.pb.cc b/apollo_msgs/include/apollo_msgs/proto/control/control_cmd.pb.cc new file mode 100644 index 0000000..ea2a65f --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/control_cmd.pb.cc @@ -0,0 +1,4030 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/control_cmd.proto + +#include "apollo_msgs/proto/control/control_cmd.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Signal; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_LatencyStats; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_SimpleLateralDebug; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_SimpleLongitudinalDebug; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_InputDebug; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto ::google::protobuf::internal::SCCInfo<3> scc_info_Debug; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_PadMessage; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto +namespace apollo { +namespace control { +class LatencyStatsDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _LatencyStats_default_instance_; +class ControlCommandDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ControlCommand_default_instance_; +class SimpleLongitudinalDebugDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _SimpleLongitudinalDebug_default_instance_; +class SimpleLateralDebugDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _SimpleLateralDebug_default_instance_; +class InputDebugDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _InputDebug_default_instance_; +class DebugDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Debug_default_instance_; +} // namespace control +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto { +static void InitDefaultsLatencyStats() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_LatencyStats_default_instance_; + new (ptr) ::apollo::control::LatencyStats(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::LatencyStats::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_LatencyStats = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsLatencyStats}, {}}; + +static void InitDefaultsControlCommand() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_ControlCommand_default_instance_; + new (ptr) ::apollo::control::ControlCommand(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::ControlCommand::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<5> scc_info_ControlCommand = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 5, InitDefaultsControlCommand}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_Debug.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::scc_info_Signal.base, + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_LatencyStats.base, + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::scc_info_PadMessage.base,}}; + +static void InitDefaultsSimpleLongitudinalDebug() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_SimpleLongitudinalDebug_default_instance_; + new (ptr) ::apollo::control::SimpleLongitudinalDebug(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::SimpleLongitudinalDebug::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_SimpleLongitudinalDebug = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsSimpleLongitudinalDebug}, {}}; + +static void InitDefaultsSimpleLateralDebug() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_SimpleLateralDebug_default_instance_; + new (ptr) ::apollo::control::SimpleLateralDebug(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::SimpleLateralDebug::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_SimpleLateralDebug = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsSimpleLateralDebug}, {}}; + +static void InitDefaultsInputDebug() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_InputDebug_default_instance_; + new (ptr) ::apollo::control::InputDebug(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::InputDebug::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_InputDebug = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsInputDebug}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base,}}; + +static void InitDefaultsDebug() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_Debug_default_instance_; + new (ptr) ::apollo::control::Debug(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::Debug::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<3> scc_info_Debug = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 3, InitDefaultsDebug}, { + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_SimpleLongitudinalDebug.base, + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_SimpleLateralDebug.base, + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_InputDebug.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_LatencyStats.base); + ::google::protobuf::internal::InitSCC(&scc_info_ControlCommand.base); + ::google::protobuf::internal::InitSCC(&scc_info_SimpleLongitudinalDebug.base); + ::google::protobuf::internal::InitSCC(&scc_info_SimpleLateralDebug.base); + ::google::protobuf::internal::InitSCC(&scc_info_InputDebug.base); + ::google::protobuf::internal::InitSCC(&scc_info_Debug.base); +} + +::google::protobuf::Metadata file_level_metadata[6]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatencyStats, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatencyStats, total_time_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatencyStats, controller_time_ms_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, throttle_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, brake_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, steering_rate_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, steering_target_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, parking_brake_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, speed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, acceleration_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, reset_model_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, engine_on_off_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, trajectory_fraction_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, driving_mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, gear_location_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, debug_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, signal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, latency_stats_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, pad_msg_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, left_turn_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, right_turn_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, high_beam_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, low_beam_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, horn_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlCommand, turnsignal_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, station_reference_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, station_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, station_error_limited_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, preview_station_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, speed_reference_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, speed_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, speed_controller_input_limited_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, preview_speed_reference_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, preview_speed_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, preview_acceleration_reference_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, acceleration_cmd_closeloop_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, acceleration_cmd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, acceleration_lookup_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, speed_lookup_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, calibration_value_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, throttle_cmd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, brake_cmd_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLongitudinalDebug, is_full_stop_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, lateral_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, ref_heading_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, heading_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, heading_error_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, heading_error_rate_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, lateral_error_rate_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, curvature_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, steer_angle_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, steer_angle_feedforward_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, steer_angle_lateral_contribution_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, steer_angle_lateral_rate_contribution_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, steer_angle_heading_contribution_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, steer_angle_heading_rate_contribution_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, steer_angle_feedback_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, steering_position_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::SimpleLateralDebug, ref_speed_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::InputDebug, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::InputDebug, localization_header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::InputDebug, canbus_header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::InputDebug, trajectory_header_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::Debug, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::Debug, simple_lon_debug_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::Debug, simple_lat_debug_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::Debug, input_debug_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::control::LatencyStats)}, + { 7, -1, sizeof(::apollo::control::ControlCommand)}, + { 35, -1, sizeof(::apollo::control::SimpleLongitudinalDebug)}, + { 58, -1, sizeof(::apollo::control::SimpleLateralDebug)}, + { 79, -1, sizeof(::apollo::control::InputDebug)}, + { 87, -1, sizeof(::apollo::control::Debug)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::control::_LatencyStats_default_instance_), + reinterpret_cast(&::apollo::control::_ControlCommand_default_instance_), + reinterpret_cast(&::apollo::control::_SimpleLongitudinalDebug_default_instance_), + reinterpret_cast(&::apollo::control::_SimpleLateralDebug_default_instance_), + reinterpret_cast(&::apollo::control::_InputDebug_default_instance_), + reinterpret_cast(&::apollo::control::_Debug_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/control/control_cmd.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 6); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n+apollo_msgs/proto/control/control_cmd." + "proto\022\016apollo.control\032&apollo_msgs/proto" + "/canbus/chassis.proto\032%apollo_msgs/proto" + "/common/header.proto\032\'apollo_msgs/proto/" + "control/pad_msg.proto\"A\n\014LatencyStats\022\025\n" + "\rtotal_time_ms\030\001 \001(\001\022\032\n\022controller_time_" + "ms\030\002 \003(\001\"\274\005\n\016ControlCommand\022%\n\006header\030\001 " + "\001(\0132\025.apollo.common.Header\022\020\n\010throttle\030\003" + " \001(\001\022\r\n\005brake\030\004 \001(\001\022\025\n\rsteering_rate\030\006 \001" + "(\001\022\027\n\017steering_target\030\007 \001(\001\022\025\n\rparking_b" + "rake\030\010 \001(\010\022\r\n\005speed\030\t \001(\001\022\024\n\014acceleratio" + "n\030\n \001(\001\022\023\n\013reset_model\030\020 \001(\010\022\025\n\rengine_o" + "n_off\030\021 \001(\010\022\033\n\023trajectory_fraction\030\022 \001(\001" + "\0228\n\014driving_mode\030\023 \001(\0162\".apollo.canbus.C" + "hassis.DrivingMode\022:\n\rgear_location\030\024 \001(" + "\0162#.apollo.canbus.Chassis.GearPosition\022$" + "\n\005debug\030\026 \001(\0132\025.apollo.control.Debug\022%\n\006" + "signal\030\027 \001(\0132\025.apollo.canbus.Signal\0223\n\rl" + "atency_stats\030\030 \001(\0132\034.apollo.control.Late" + "ncyStats\022+\n\007pad_msg\030\031 \001(\0132\032.apollo.contr" + "ol.PadMessage\022\021\n\tleft_turn\030\r \001(\010\022\022\n\nrigh" + "t_turn\030\016 \001(\010\022\021\n\thigh_beam\030\013 \001(\010\022\020\n\010low_b" + "eam\030\014 \001(\010\022\014\n\004horn\030\017 \001(\010\022.\n\nturnsignal\030\025 " + "\001(\0162\032.apollo.control.TurnSignal\"\220\004\n\027Simp" + "leLongitudinalDebug\022\031\n\021station_reference" + "\030\001 \001(\001\022\025\n\rstation_error\030\002 \001(\001\022\035\n\025station" + "_error_limited\030\003 \001(\001\022\035\n\025preview_station_" + "error\030\004 \001(\001\022\027\n\017speed_reference\030\005 \001(\001\022\023\n\013" + "speed_error\030\006 \001(\001\022&\n\036speed_controller_in" + "put_limited\030\007 \001(\001\022\037\n\027preview_speed_refer" + "ence\030\010 \001(\001\022\033\n\023preview_speed_error\030\t \001(\001\022" + "&\n\036preview_acceleration_reference\030\n \001(\001\022" + "\"\n\032acceleration_cmd_closeloop\030\013 \001(\001\022\030\n\020a" + "cceleration_cmd\030\014 \001(\001\022\033\n\023acceleration_lo" + "okup\030\r \001(\001\022\024\n\014speed_lookup\030\016 \001(\001\022\031\n\021cali" + "bration_value\030\017 \001(\001\022\024\n\014throttle_cmd\030\020 \001(" + "\001\022\021\n\tbrake_cmd\030\021 \001(\001\022\024\n\014is_full_stop\030\022 \001" + "(\010\"\347\003\n\022SimpleLateralDebug\022\025\n\rlateral_err" + "or\030\001 \001(\001\022\023\n\013ref_heading\030\002 \001(\001\022\017\n\007heading" + "\030\003 \001(\001\022\025\n\rheading_error\030\004 \001(\001\022\032\n\022heading" + "_error_rate\030\005 \001(\001\022\032\n\022lateral_error_rate\030" + "\006 \001(\001\022\021\n\tcurvature\030\007 \001(\001\022\023\n\013steer_angle\030" + "\010 \001(\001\022\037\n\027steer_angle_feedforward\030\t \001(\001\022(" + "\n steer_angle_lateral_contribution\030\n \001(\001" + "\022-\n%steer_angle_lateral_rate_contributio" + "n\030\013 \001(\001\022(\n steer_angle_heading_contribut" + "ion\030\014 \001(\001\022-\n%steer_angle_heading_rate_co" + "ntribution\030\r \001(\001\022\034\n\024steer_angle_feedback" + "\030\016 \001(\001\022\031\n\021steering_position\030\017 \001(\001\022\021\n\tref" + "_speed\030\020 \001(\001\"\240\001\n\nInputDebug\0222\n\023localizat" + "ion_header\030\001 \001(\0132\025.apollo.common.Header\022" + ",\n\rcanbus_header\030\002 \001(\0132\025.apollo.common.H" + "eader\0220\n\021trajectory_header\030\003 \001(\0132\025.apoll" + "o.common.Header\"\271\001\n\005Debug\022A\n\020simple_lon_" + "debug\030\001 \001(\0132\'.apollo.control.SimpleLongi" + "tudinalDebug\022<\n\020simple_lat_debug\030\002 \001(\0132\"" + ".apollo.control.SimpleLateralDebug\022/\n\013in" + "put_debug\030\003 \001(\0132\032.apollo.control.InputDe" + "bug*:\n\nTurnSignal\022\r\n\tTURN_NONE\020\000\022\r\n\tTURN" + "_LEFT\020\001\022\016\n\nTURN_RIGHT\020\002b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 2391); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/control/control_cmd.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto +namespace apollo { +namespace control { +const ::google::protobuf::EnumDescriptor* TurnSignal_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_enum_descriptors[0]; +} +bool TurnSignal_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + return true; + default: + return false; + } +} + + +// =================================================================== + +void LatencyStats::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int LatencyStats::kTotalTimeMsFieldNumber; +const int LatencyStats::kControllerTimeMsFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +LatencyStats::LatencyStats() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_LatencyStats.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.LatencyStats) +} +LatencyStats::LatencyStats(const LatencyStats& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + controller_time_ms_(from.controller_time_ms_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + total_time_ms_ = from.total_time_ms_; + // @@protoc_insertion_point(copy_constructor:apollo.control.LatencyStats) +} + +void LatencyStats::SharedCtor() { + total_time_ms_ = 0; +} + +LatencyStats::~LatencyStats() { + // @@protoc_insertion_point(destructor:apollo.control.LatencyStats) + SharedDtor(); +} + +void LatencyStats::SharedDtor() { +} + +void LatencyStats::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* LatencyStats::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const LatencyStats& LatencyStats::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_LatencyStats.base); + return *internal_default_instance(); +} + + +void LatencyStats::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.LatencyStats) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + controller_time_ms_.Clear(); + total_time_ms_ = 0; + _internal_metadata_.Clear(); +} + +bool LatencyStats::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.LatencyStats) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double total_time_ms = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &total_time_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated double controller_time_ms = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_((::google::protobuf::internal::WireFormatLite::ReadPackedPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, this->mutable_controller_time_ms()))); + } else if ( + static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + DO_((::google::protobuf::internal::WireFormatLite::ReadRepeatedPrimitiveNoInline< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + 1, 18u, input, this->mutable_controller_time_ms()))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.LatencyStats) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.LatencyStats) + return false; +#undef DO_ +} + +void LatencyStats::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.LatencyStats) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double total_time_ms = 1; + if (this->total_time_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->total_time_ms(), output); + } + + // repeated double controller_time_ms = 2; + if (this->controller_time_ms_size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteTag(2, ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, output); + output->WriteVarint32(static_cast< ::google::protobuf::uint32>( + _controller_time_ms_cached_byte_size_)); + ::google::protobuf::internal::WireFormatLite::WriteDoubleArray( + this->controller_time_ms().data(), this->controller_time_ms_size(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.LatencyStats) +} + +::google::protobuf::uint8* LatencyStats::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.LatencyStats) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double total_time_ms = 1; + if (this->total_time_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->total_time_ms(), target); + } + + // repeated double controller_time_ms = 2; + if (this->controller_time_ms_size() > 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteTagToArray( + 2, + ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, + target); + target = ::google::protobuf::io::CodedOutputStream::WriteVarint32ToArray( + static_cast< ::google::protobuf::int32>( + _controller_time_ms_cached_byte_size_), target); + target = ::google::protobuf::internal::WireFormatLite:: + WriteDoubleNoTagToArray(this->controller_time_ms_, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.LatencyStats) + return target; +} + +size_t LatencyStats::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.LatencyStats) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated double controller_time_ms = 2; + { + unsigned int count = static_cast(this->controller_time_ms_size()); + size_t data_size = 8UL * count; + if (data_size > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + static_cast< ::google::protobuf::int32>(data_size)); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(data_size); + GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); + _controller_time_ms_cached_byte_size_ = cached_size; + GOOGLE_SAFE_CONCURRENT_WRITES_END(); + total_size += data_size; + } + + // double total_time_ms = 1; + if (this->total_time_ms() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void LatencyStats::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.LatencyStats) + GOOGLE_DCHECK_NE(&from, this); + const LatencyStats* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.LatencyStats) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.LatencyStats) + MergeFrom(*source); + } +} + +void LatencyStats::MergeFrom(const LatencyStats& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.LatencyStats) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + controller_time_ms_.MergeFrom(from.controller_time_ms_); + if (from.total_time_ms() != 0) { + set_total_time_ms(from.total_time_ms()); + } +} + +void LatencyStats::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.LatencyStats) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void LatencyStats::CopyFrom(const LatencyStats& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.LatencyStats) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool LatencyStats::IsInitialized() const { + return true; +} + +void LatencyStats::Swap(LatencyStats* other) { + if (other == this) return; + InternalSwap(other); +} +void LatencyStats::InternalSwap(LatencyStats* other) { + using std::swap; + controller_time_ms_.InternalSwap(&other->controller_time_ms_); + swap(total_time_ms_, other->total_time_ms_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata LatencyStats::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ControlCommand::InitAsDefaultInstance() { + ::apollo::control::_ControlCommand_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::control::_ControlCommand_default_instance_._instance.get_mutable()->debug_ = const_cast< ::apollo::control::Debug*>( + ::apollo::control::Debug::internal_default_instance()); + ::apollo::control::_ControlCommand_default_instance_._instance.get_mutable()->signal_ = const_cast< ::apollo::canbus::Signal*>( + ::apollo::canbus::Signal::internal_default_instance()); + ::apollo::control::_ControlCommand_default_instance_._instance.get_mutable()->latency_stats_ = const_cast< ::apollo::control::LatencyStats*>( + ::apollo::control::LatencyStats::internal_default_instance()); + ::apollo::control::_ControlCommand_default_instance_._instance.get_mutable()->pad_msg_ = const_cast< ::apollo::control::PadMessage*>( + ::apollo::control::PadMessage::internal_default_instance()); +} +void ControlCommand::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +void ControlCommand::clear_signal() { + if (GetArenaNoVirtual() == NULL && signal_ != NULL) { + delete signal_; + } + signal_ = NULL; +} +void ControlCommand::clear_pad_msg() { + if (GetArenaNoVirtual() == NULL && pad_msg_ != NULL) { + delete pad_msg_; + } + pad_msg_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ControlCommand::kHeaderFieldNumber; +const int ControlCommand::kThrottleFieldNumber; +const int ControlCommand::kBrakeFieldNumber; +const int ControlCommand::kSteeringRateFieldNumber; +const int ControlCommand::kSteeringTargetFieldNumber; +const int ControlCommand::kParkingBrakeFieldNumber; +const int ControlCommand::kSpeedFieldNumber; +const int ControlCommand::kAccelerationFieldNumber; +const int ControlCommand::kResetModelFieldNumber; +const int ControlCommand::kEngineOnOffFieldNumber; +const int ControlCommand::kTrajectoryFractionFieldNumber; +const int ControlCommand::kDrivingModeFieldNumber; +const int ControlCommand::kGearLocationFieldNumber; +const int ControlCommand::kDebugFieldNumber; +const int ControlCommand::kSignalFieldNumber; +const int ControlCommand::kLatencyStatsFieldNumber; +const int ControlCommand::kPadMsgFieldNumber; +const int ControlCommand::kLeftTurnFieldNumber; +const int ControlCommand::kRightTurnFieldNumber; +const int ControlCommand::kHighBeamFieldNumber; +const int ControlCommand::kLowBeamFieldNumber; +const int ControlCommand::kHornFieldNumber; +const int ControlCommand::kTurnsignalFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ControlCommand::ControlCommand() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_ControlCommand.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.ControlCommand) +} +ControlCommand::ControlCommand(const ControlCommand& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + if (from.has_debug()) { + debug_ = new ::apollo::control::Debug(*from.debug_); + } else { + debug_ = NULL; + } + if (from.has_signal()) { + signal_ = new ::apollo::canbus::Signal(*from.signal_); + } else { + signal_ = NULL; + } + if (from.has_latency_stats()) { + latency_stats_ = new ::apollo::control::LatencyStats(*from.latency_stats_); + } else { + latency_stats_ = NULL; + } + if (from.has_pad_msg()) { + pad_msg_ = new ::apollo::control::PadMessage(*from.pad_msg_); + } else { + pad_msg_ = NULL; + } + ::memcpy(&throttle_, &from.throttle_, + static_cast(reinterpret_cast(&turnsignal_) - + reinterpret_cast(&throttle_)) + sizeof(turnsignal_)); + // @@protoc_insertion_point(copy_constructor:apollo.control.ControlCommand) +} + +void ControlCommand::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&turnsignal_) - + reinterpret_cast(&header_)) + sizeof(turnsignal_)); +} + +ControlCommand::~ControlCommand() { + // @@protoc_insertion_point(destructor:apollo.control.ControlCommand) + SharedDtor(); +} + +void ControlCommand::SharedDtor() { + if (this != internal_default_instance()) delete header_; + if (this != internal_default_instance()) delete debug_; + if (this != internal_default_instance()) delete signal_; + if (this != internal_default_instance()) delete latency_stats_; + if (this != internal_default_instance()) delete pad_msg_; +} + +void ControlCommand::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ControlCommand::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ControlCommand& ControlCommand::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_ControlCommand.base); + return *internal_default_instance(); +} + + +void ControlCommand::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.ControlCommand) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + if (GetArenaNoVirtual() == NULL && debug_ != NULL) { + delete debug_; + } + debug_ = NULL; + if (GetArenaNoVirtual() == NULL && signal_ != NULL) { + delete signal_; + } + signal_ = NULL; + if (GetArenaNoVirtual() == NULL && latency_stats_ != NULL) { + delete latency_stats_; + } + latency_stats_ = NULL; + if (GetArenaNoVirtual() == NULL && pad_msg_ != NULL) { + delete pad_msg_; + } + pad_msg_ = NULL; + ::memset(&throttle_, 0, static_cast( + reinterpret_cast(&turnsignal_) - + reinterpret_cast(&throttle_)) + sizeof(turnsignal_)); + _internal_metadata_.Clear(); +} + +bool ControlCommand::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.ControlCommand) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // double throttle = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &throttle_))); + } else { + goto handle_unusual; + } + break; + } + + // double brake = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &brake_))); + } else { + goto handle_unusual; + } + break; + } + + // double steering_rate = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steering_rate_))); + } else { + goto handle_unusual; + } + break; + } + + // double steering_target = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steering_target_))); + } else { + goto handle_unusual; + } + break; + } + + // bool parking_brake = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &parking_brake_))); + } else { + goto handle_unusual; + } + break; + } + + // double speed = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_))); + } else { + goto handle_unusual; + } + break; + } + + // double acceleration = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(81u /* 81 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &acceleration_))); + } else { + goto handle_unusual; + } + break; + } + + // bool high_beam = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(88u /* 88 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &high_beam_))); + } else { + goto handle_unusual; + } + break; + } + + // bool low_beam = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(96u /* 96 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &low_beam_))); + } else { + goto handle_unusual; + } + break; + } + + // bool left_turn = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(104u /* 104 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &left_turn_))); + } else { + goto handle_unusual; + } + break; + } + + // bool right_turn = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(112u /* 112 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &right_turn_))); + } else { + goto handle_unusual; + } + break; + } + + // bool horn = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(120u /* 120 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &horn_))); + } else { + goto handle_unusual; + } + break; + } + + // bool reset_model = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(128u /* 128 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &reset_model_))); + } else { + goto handle_unusual; + } + break; + } + + // bool engine_on_off = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(136u /* 136 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &engine_on_off_))); + } else { + goto handle_unusual; + } + break; + } + + // double trajectory_fraction = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(145u /* 145 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &trajectory_fraction_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 19; + case 19: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(152u /* 152 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_driving_mode(static_cast< ::apollo::canbus::Chassis_DrivingMode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.GearPosition gear_location = 20; + case 20: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(160u /* 160 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_gear_location(static_cast< ::apollo::canbus::Chassis_GearPosition >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.TurnSignal turnsignal = 21; + case 21: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(168u /* 168 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_turnsignal(static_cast< ::apollo::control::TurnSignal >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.Debug debug = 22; + case 22: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(178u /* 178 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_debug())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Signal signal = 23; + case 23: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(186u /* 186 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_signal())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.LatencyStats latency_stats = 24; + case 24: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(194u /* 194 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_latency_stats())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.PadMessage pad_msg = 25; + case 25: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(202u /* 202 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_pad_msg())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.ControlCommand) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.ControlCommand) + return false; +#undef DO_ +} + +void ControlCommand::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.ControlCommand) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // double throttle = 3; + if (this->throttle() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->throttle(), output); + } + + // double brake = 4; + if (this->brake() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->brake(), output); + } + + // double steering_rate = 6; + if (this->steering_rate() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->steering_rate(), output); + } + + // double steering_target = 7; + if (this->steering_target() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->steering_target(), output); + } + + // bool parking_brake = 8; + if (this->parking_brake() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(8, this->parking_brake(), output); + } + + // double speed = 9; + if (this->speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->speed(), output); + } + + // double acceleration = 10; + if (this->acceleration() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(10, this->acceleration(), output); + } + + // bool high_beam = 11; + if (this->high_beam() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(11, this->high_beam(), output); + } + + // bool low_beam = 12; + if (this->low_beam() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(12, this->low_beam(), output); + } + + // bool left_turn = 13; + if (this->left_turn() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(13, this->left_turn(), output); + } + + // bool right_turn = 14; + if (this->right_turn() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(14, this->right_turn(), output); + } + + // bool horn = 15; + if (this->horn() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(15, this->horn(), output); + } + + // bool reset_model = 16; + if (this->reset_model() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(16, this->reset_model(), output); + } + + // bool engine_on_off = 17; + if (this->engine_on_off() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(17, this->engine_on_off(), output); + } + + // double trajectory_fraction = 18; + if (this->trajectory_fraction() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(18, this->trajectory_fraction(), output); + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 19; + if (this->driving_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 19, this->driving_mode(), output); + } + + // .apollo.canbus.Chassis.GearPosition gear_location = 20; + if (this->gear_location() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 20, this->gear_location(), output); + } + + // .apollo.control.TurnSignal turnsignal = 21; + if (this->turnsignal() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 21, this->turnsignal(), output); + } + + // .apollo.control.Debug debug = 22; + if (this->has_debug()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 22, this->_internal_debug(), output); + } + + // .apollo.canbus.Signal signal = 23; + if (this->has_signal()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 23, this->_internal_signal(), output); + } + + // .apollo.control.LatencyStats latency_stats = 24; + if (this->has_latency_stats()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 24, this->_internal_latency_stats(), output); + } + + // .apollo.control.PadMessage pad_msg = 25; + if (this->has_pad_msg()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 25, this->_internal_pad_msg(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.ControlCommand) +} + +::google::protobuf::uint8* ControlCommand::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.ControlCommand) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // double throttle = 3; + if (this->throttle() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->throttle(), target); + } + + // double brake = 4; + if (this->brake() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->brake(), target); + } + + // double steering_rate = 6; + if (this->steering_rate() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->steering_rate(), target); + } + + // double steering_target = 7; + if (this->steering_target() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->steering_target(), target); + } + + // bool parking_brake = 8; + if (this->parking_brake() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(8, this->parking_brake(), target); + } + + // double speed = 9; + if (this->speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->speed(), target); + } + + // double acceleration = 10; + if (this->acceleration() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(10, this->acceleration(), target); + } + + // bool high_beam = 11; + if (this->high_beam() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(11, this->high_beam(), target); + } + + // bool low_beam = 12; + if (this->low_beam() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(12, this->low_beam(), target); + } + + // bool left_turn = 13; + if (this->left_turn() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(13, this->left_turn(), target); + } + + // bool right_turn = 14; + if (this->right_turn() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(14, this->right_turn(), target); + } + + // bool horn = 15; + if (this->horn() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(15, this->horn(), target); + } + + // bool reset_model = 16; + if (this->reset_model() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(16, this->reset_model(), target); + } + + // bool engine_on_off = 17; + if (this->engine_on_off() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(17, this->engine_on_off(), target); + } + + // double trajectory_fraction = 18; + if (this->trajectory_fraction() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(18, this->trajectory_fraction(), target); + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 19; + if (this->driving_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 19, this->driving_mode(), target); + } + + // .apollo.canbus.Chassis.GearPosition gear_location = 20; + if (this->gear_location() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 20, this->gear_location(), target); + } + + // .apollo.control.TurnSignal turnsignal = 21; + if (this->turnsignal() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 21, this->turnsignal(), target); + } + + // .apollo.control.Debug debug = 22; + if (this->has_debug()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 22, this->_internal_debug(), deterministic, target); + } + + // .apollo.canbus.Signal signal = 23; + if (this->has_signal()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 23, this->_internal_signal(), deterministic, target); + } + + // .apollo.control.LatencyStats latency_stats = 24; + if (this->has_latency_stats()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 24, this->_internal_latency_stats(), deterministic, target); + } + + // .apollo.control.PadMessage pad_msg = 25; + if (this->has_pad_msg()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 25, this->_internal_pad_msg(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.ControlCommand) + return target; +} + +size_t ControlCommand::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.ControlCommand) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.control.Debug debug = 22; + if (this->has_debug()) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *debug_); + } + + // .apollo.canbus.Signal signal = 23; + if (this->has_signal()) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *signal_); + } + + // .apollo.control.LatencyStats latency_stats = 24; + if (this->has_latency_stats()) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *latency_stats_); + } + + // .apollo.control.PadMessage pad_msg = 25; + if (this->has_pad_msg()) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *pad_msg_); + } + + // double throttle = 3; + if (this->throttle() != 0) { + total_size += 1 + 8; + } + + // double brake = 4; + if (this->brake() != 0) { + total_size += 1 + 8; + } + + // double steering_rate = 6; + if (this->steering_rate() != 0) { + total_size += 1 + 8; + } + + // double steering_target = 7; + if (this->steering_target() != 0) { + total_size += 1 + 8; + } + + // double speed = 9; + if (this->speed() != 0) { + total_size += 1 + 8; + } + + // double acceleration = 10; + if (this->acceleration() != 0) { + total_size += 1 + 8; + } + + // bool right_turn = 14; + if (this->right_turn() != 0) { + total_size += 1 + 1; + } + + // bool high_beam = 11; + if (this->high_beam() != 0) { + total_size += 1 + 1; + } + + // bool low_beam = 12; + if (this->low_beam() != 0) { + total_size += 1 + 1; + } + + // bool horn = 15; + if (this->horn() != 0) { + total_size += 1 + 1; + } + + // bool parking_brake = 8; + if (this->parking_brake() != 0) { + total_size += 1 + 1; + } + + // bool reset_model = 16; + if (this->reset_model() != 0) { + total_size += 2 + 1; + } + + // bool engine_on_off = 17; + if (this->engine_on_off() != 0) { + total_size += 2 + 1; + } + + // bool left_turn = 13; + if (this->left_turn() != 0) { + total_size += 1 + 1; + } + + // double trajectory_fraction = 18; + if (this->trajectory_fraction() != 0) { + total_size += 2 + 8; + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 19; + if (this->driving_mode() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->driving_mode()); + } + + // .apollo.canbus.Chassis.GearPosition gear_location = 20; + if (this->gear_location() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->gear_location()); + } + + // .apollo.control.TurnSignal turnsignal = 21; + if (this->turnsignal() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->turnsignal()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ControlCommand::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.ControlCommand) + GOOGLE_DCHECK_NE(&from, this); + const ControlCommand* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.ControlCommand) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.ControlCommand) + MergeFrom(*source); + } +} + +void ControlCommand::MergeFrom(const ControlCommand& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.ControlCommand) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.has_debug()) { + mutable_debug()->::apollo::control::Debug::MergeFrom(from.debug()); + } + if (from.has_signal()) { + mutable_signal()->::apollo::canbus::Signal::MergeFrom(from.signal()); + } + if (from.has_latency_stats()) { + mutable_latency_stats()->::apollo::control::LatencyStats::MergeFrom(from.latency_stats()); + } + if (from.has_pad_msg()) { + mutable_pad_msg()->::apollo::control::PadMessage::MergeFrom(from.pad_msg()); + } + if (from.throttle() != 0) { + set_throttle(from.throttle()); + } + if (from.brake() != 0) { + set_brake(from.brake()); + } + if (from.steering_rate() != 0) { + set_steering_rate(from.steering_rate()); + } + if (from.steering_target() != 0) { + set_steering_target(from.steering_target()); + } + if (from.speed() != 0) { + set_speed(from.speed()); + } + if (from.acceleration() != 0) { + set_acceleration(from.acceleration()); + } + if (from.right_turn() != 0) { + set_right_turn(from.right_turn()); + } + if (from.high_beam() != 0) { + set_high_beam(from.high_beam()); + } + if (from.low_beam() != 0) { + set_low_beam(from.low_beam()); + } + if (from.horn() != 0) { + set_horn(from.horn()); + } + if (from.parking_brake() != 0) { + set_parking_brake(from.parking_brake()); + } + if (from.reset_model() != 0) { + set_reset_model(from.reset_model()); + } + if (from.engine_on_off() != 0) { + set_engine_on_off(from.engine_on_off()); + } + if (from.left_turn() != 0) { + set_left_turn(from.left_turn()); + } + if (from.trajectory_fraction() != 0) { + set_trajectory_fraction(from.trajectory_fraction()); + } + if (from.driving_mode() != 0) { + set_driving_mode(from.driving_mode()); + } + if (from.gear_location() != 0) { + set_gear_location(from.gear_location()); + } + if (from.turnsignal() != 0) { + set_turnsignal(from.turnsignal()); + } +} + +void ControlCommand::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.ControlCommand) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ControlCommand::CopyFrom(const ControlCommand& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.ControlCommand) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ControlCommand::IsInitialized() const { + return true; +} + +void ControlCommand::Swap(ControlCommand* other) { + if (other == this) return; + InternalSwap(other); +} +void ControlCommand::InternalSwap(ControlCommand* other) { + using std::swap; + swap(header_, other->header_); + swap(debug_, other->debug_); + swap(signal_, other->signal_); + swap(latency_stats_, other->latency_stats_); + swap(pad_msg_, other->pad_msg_); + swap(throttle_, other->throttle_); + swap(brake_, other->brake_); + swap(steering_rate_, other->steering_rate_); + swap(steering_target_, other->steering_target_); + swap(speed_, other->speed_); + swap(acceleration_, other->acceleration_); + swap(right_turn_, other->right_turn_); + swap(high_beam_, other->high_beam_); + swap(low_beam_, other->low_beam_); + swap(horn_, other->horn_); + swap(parking_brake_, other->parking_brake_); + swap(reset_model_, other->reset_model_); + swap(engine_on_off_, other->engine_on_off_); + swap(left_turn_, other->left_turn_); + swap(trajectory_fraction_, other->trajectory_fraction_); + swap(driving_mode_, other->driving_mode_); + swap(gear_location_, other->gear_location_); + swap(turnsignal_, other->turnsignal_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ControlCommand::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void SimpleLongitudinalDebug::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int SimpleLongitudinalDebug::kStationReferenceFieldNumber; +const int SimpleLongitudinalDebug::kStationErrorFieldNumber; +const int SimpleLongitudinalDebug::kStationErrorLimitedFieldNumber; +const int SimpleLongitudinalDebug::kPreviewStationErrorFieldNumber; +const int SimpleLongitudinalDebug::kSpeedReferenceFieldNumber; +const int SimpleLongitudinalDebug::kSpeedErrorFieldNumber; +const int SimpleLongitudinalDebug::kSpeedControllerInputLimitedFieldNumber; +const int SimpleLongitudinalDebug::kPreviewSpeedReferenceFieldNumber; +const int SimpleLongitudinalDebug::kPreviewSpeedErrorFieldNumber; +const int SimpleLongitudinalDebug::kPreviewAccelerationReferenceFieldNumber; +const int SimpleLongitudinalDebug::kAccelerationCmdCloseloopFieldNumber; +const int SimpleLongitudinalDebug::kAccelerationCmdFieldNumber; +const int SimpleLongitudinalDebug::kAccelerationLookupFieldNumber; +const int SimpleLongitudinalDebug::kSpeedLookupFieldNumber; +const int SimpleLongitudinalDebug::kCalibrationValueFieldNumber; +const int SimpleLongitudinalDebug::kThrottleCmdFieldNumber; +const int SimpleLongitudinalDebug::kBrakeCmdFieldNumber; +const int SimpleLongitudinalDebug::kIsFullStopFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +SimpleLongitudinalDebug::SimpleLongitudinalDebug() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_SimpleLongitudinalDebug.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.SimpleLongitudinalDebug) +} +SimpleLongitudinalDebug::SimpleLongitudinalDebug(const SimpleLongitudinalDebug& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&station_reference_, &from.station_reference_, + static_cast(reinterpret_cast(&is_full_stop_) - + reinterpret_cast(&station_reference_)) + sizeof(is_full_stop_)); + // @@protoc_insertion_point(copy_constructor:apollo.control.SimpleLongitudinalDebug) +} + +void SimpleLongitudinalDebug::SharedCtor() { + ::memset(&station_reference_, 0, static_cast( + reinterpret_cast(&is_full_stop_) - + reinterpret_cast(&station_reference_)) + sizeof(is_full_stop_)); +} + +SimpleLongitudinalDebug::~SimpleLongitudinalDebug() { + // @@protoc_insertion_point(destructor:apollo.control.SimpleLongitudinalDebug) + SharedDtor(); +} + +void SimpleLongitudinalDebug::SharedDtor() { +} + +void SimpleLongitudinalDebug::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* SimpleLongitudinalDebug::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const SimpleLongitudinalDebug& SimpleLongitudinalDebug::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_SimpleLongitudinalDebug.base); + return *internal_default_instance(); +} + + +void SimpleLongitudinalDebug::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.SimpleLongitudinalDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&station_reference_, 0, static_cast( + reinterpret_cast(&is_full_stop_) - + reinterpret_cast(&station_reference_)) + sizeof(is_full_stop_)); + _internal_metadata_.Clear(); +} + +bool SimpleLongitudinalDebug::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.SimpleLongitudinalDebug) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double station_reference = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &station_reference_))); + } else { + goto handle_unusual; + } + break; + } + + // double station_error = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &station_error_))); + } else { + goto handle_unusual; + } + break; + } + + // double station_error_limited = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &station_error_limited_))); + } else { + goto handle_unusual; + } + break; + } + + // double preview_station_error = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &preview_station_error_))); + } else { + goto handle_unusual; + } + break; + } + + // double speed_reference = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_reference_))); + } else { + goto handle_unusual; + } + break; + } + + // double speed_error = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_error_))); + } else { + goto handle_unusual; + } + break; + } + + // double speed_controller_input_limited = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_controller_input_limited_))); + } else { + goto handle_unusual; + } + break; + } + + // double preview_speed_reference = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(65u /* 65 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &preview_speed_reference_))); + } else { + goto handle_unusual; + } + break; + } + + // double preview_speed_error = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &preview_speed_error_))); + } else { + goto handle_unusual; + } + break; + } + + // double preview_acceleration_reference = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(81u /* 81 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &preview_acceleration_reference_))); + } else { + goto handle_unusual; + } + break; + } + + // double acceleration_cmd_closeloop = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &acceleration_cmd_closeloop_))); + } else { + goto handle_unusual; + } + break; + } + + // double acceleration_cmd = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &acceleration_cmd_))); + } else { + goto handle_unusual; + } + break; + } + + // double acceleration_lookup = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(105u /* 105 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &acceleration_lookup_))); + } else { + goto handle_unusual; + } + break; + } + + // double speed_lookup = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(113u /* 113 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_lookup_))); + } else { + goto handle_unusual; + } + break; + } + + // double calibration_value = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(121u /* 121 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &calibration_value_))); + } else { + goto handle_unusual; + } + break; + } + + // double throttle_cmd = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(129u /* 129 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &throttle_cmd_))); + } else { + goto handle_unusual; + } + break; + } + + // double brake_cmd = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(137u /* 137 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &brake_cmd_))); + } else { + goto handle_unusual; + } + break; + } + + // bool is_full_stop = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(144u /* 144 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_full_stop_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.SimpleLongitudinalDebug) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.SimpleLongitudinalDebug) + return false; +#undef DO_ +} + +void SimpleLongitudinalDebug::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.SimpleLongitudinalDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double station_reference = 1; + if (this->station_reference() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->station_reference(), output); + } + + // double station_error = 2; + if (this->station_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->station_error(), output); + } + + // double station_error_limited = 3; + if (this->station_error_limited() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->station_error_limited(), output); + } + + // double preview_station_error = 4; + if (this->preview_station_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->preview_station_error(), output); + } + + // double speed_reference = 5; + if (this->speed_reference() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->speed_reference(), output); + } + + // double speed_error = 6; + if (this->speed_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->speed_error(), output); + } + + // double speed_controller_input_limited = 7; + if (this->speed_controller_input_limited() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->speed_controller_input_limited(), output); + } + + // double preview_speed_reference = 8; + if (this->preview_speed_reference() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(8, this->preview_speed_reference(), output); + } + + // double preview_speed_error = 9; + if (this->preview_speed_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->preview_speed_error(), output); + } + + // double preview_acceleration_reference = 10; + if (this->preview_acceleration_reference() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(10, this->preview_acceleration_reference(), output); + } + + // double acceleration_cmd_closeloop = 11; + if (this->acceleration_cmd_closeloop() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(11, this->acceleration_cmd_closeloop(), output); + } + + // double acceleration_cmd = 12; + if (this->acceleration_cmd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(12, this->acceleration_cmd(), output); + } + + // double acceleration_lookup = 13; + if (this->acceleration_lookup() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(13, this->acceleration_lookup(), output); + } + + // double speed_lookup = 14; + if (this->speed_lookup() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(14, this->speed_lookup(), output); + } + + // double calibration_value = 15; + if (this->calibration_value() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(15, this->calibration_value(), output); + } + + // double throttle_cmd = 16; + if (this->throttle_cmd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(16, this->throttle_cmd(), output); + } + + // double brake_cmd = 17; + if (this->brake_cmd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(17, this->brake_cmd(), output); + } + + // bool is_full_stop = 18; + if (this->is_full_stop() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(18, this->is_full_stop(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.SimpleLongitudinalDebug) +} + +::google::protobuf::uint8* SimpleLongitudinalDebug::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.SimpleLongitudinalDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double station_reference = 1; + if (this->station_reference() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->station_reference(), target); + } + + // double station_error = 2; + if (this->station_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->station_error(), target); + } + + // double station_error_limited = 3; + if (this->station_error_limited() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->station_error_limited(), target); + } + + // double preview_station_error = 4; + if (this->preview_station_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->preview_station_error(), target); + } + + // double speed_reference = 5; + if (this->speed_reference() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->speed_reference(), target); + } + + // double speed_error = 6; + if (this->speed_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->speed_error(), target); + } + + // double speed_controller_input_limited = 7; + if (this->speed_controller_input_limited() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->speed_controller_input_limited(), target); + } + + // double preview_speed_reference = 8; + if (this->preview_speed_reference() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(8, this->preview_speed_reference(), target); + } + + // double preview_speed_error = 9; + if (this->preview_speed_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->preview_speed_error(), target); + } + + // double preview_acceleration_reference = 10; + if (this->preview_acceleration_reference() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(10, this->preview_acceleration_reference(), target); + } + + // double acceleration_cmd_closeloop = 11; + if (this->acceleration_cmd_closeloop() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(11, this->acceleration_cmd_closeloop(), target); + } + + // double acceleration_cmd = 12; + if (this->acceleration_cmd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(12, this->acceleration_cmd(), target); + } + + // double acceleration_lookup = 13; + if (this->acceleration_lookup() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(13, this->acceleration_lookup(), target); + } + + // double speed_lookup = 14; + if (this->speed_lookup() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(14, this->speed_lookup(), target); + } + + // double calibration_value = 15; + if (this->calibration_value() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(15, this->calibration_value(), target); + } + + // double throttle_cmd = 16; + if (this->throttle_cmd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(16, this->throttle_cmd(), target); + } + + // double brake_cmd = 17; + if (this->brake_cmd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(17, this->brake_cmd(), target); + } + + // bool is_full_stop = 18; + if (this->is_full_stop() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(18, this->is_full_stop(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.SimpleLongitudinalDebug) + return target; +} + +size_t SimpleLongitudinalDebug::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.SimpleLongitudinalDebug) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double station_reference = 1; + if (this->station_reference() != 0) { + total_size += 1 + 8; + } + + // double station_error = 2; + if (this->station_error() != 0) { + total_size += 1 + 8; + } + + // double station_error_limited = 3; + if (this->station_error_limited() != 0) { + total_size += 1 + 8; + } + + // double preview_station_error = 4; + if (this->preview_station_error() != 0) { + total_size += 1 + 8; + } + + // double speed_reference = 5; + if (this->speed_reference() != 0) { + total_size += 1 + 8; + } + + // double speed_error = 6; + if (this->speed_error() != 0) { + total_size += 1 + 8; + } + + // double speed_controller_input_limited = 7; + if (this->speed_controller_input_limited() != 0) { + total_size += 1 + 8; + } + + // double preview_speed_reference = 8; + if (this->preview_speed_reference() != 0) { + total_size += 1 + 8; + } + + // double preview_speed_error = 9; + if (this->preview_speed_error() != 0) { + total_size += 1 + 8; + } + + // double preview_acceleration_reference = 10; + if (this->preview_acceleration_reference() != 0) { + total_size += 1 + 8; + } + + // double acceleration_cmd_closeloop = 11; + if (this->acceleration_cmd_closeloop() != 0) { + total_size += 1 + 8; + } + + // double acceleration_cmd = 12; + if (this->acceleration_cmd() != 0) { + total_size += 1 + 8; + } + + // double acceleration_lookup = 13; + if (this->acceleration_lookup() != 0) { + total_size += 1 + 8; + } + + // double speed_lookup = 14; + if (this->speed_lookup() != 0) { + total_size += 1 + 8; + } + + // double calibration_value = 15; + if (this->calibration_value() != 0) { + total_size += 1 + 8; + } + + // double throttle_cmd = 16; + if (this->throttle_cmd() != 0) { + total_size += 2 + 8; + } + + // double brake_cmd = 17; + if (this->brake_cmd() != 0) { + total_size += 2 + 8; + } + + // bool is_full_stop = 18; + if (this->is_full_stop() != 0) { + total_size += 2 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void SimpleLongitudinalDebug::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.SimpleLongitudinalDebug) + GOOGLE_DCHECK_NE(&from, this); + const SimpleLongitudinalDebug* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.SimpleLongitudinalDebug) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.SimpleLongitudinalDebug) + MergeFrom(*source); + } +} + +void SimpleLongitudinalDebug::MergeFrom(const SimpleLongitudinalDebug& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.SimpleLongitudinalDebug) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.station_reference() != 0) { + set_station_reference(from.station_reference()); + } + if (from.station_error() != 0) { + set_station_error(from.station_error()); + } + if (from.station_error_limited() != 0) { + set_station_error_limited(from.station_error_limited()); + } + if (from.preview_station_error() != 0) { + set_preview_station_error(from.preview_station_error()); + } + if (from.speed_reference() != 0) { + set_speed_reference(from.speed_reference()); + } + if (from.speed_error() != 0) { + set_speed_error(from.speed_error()); + } + if (from.speed_controller_input_limited() != 0) { + set_speed_controller_input_limited(from.speed_controller_input_limited()); + } + if (from.preview_speed_reference() != 0) { + set_preview_speed_reference(from.preview_speed_reference()); + } + if (from.preview_speed_error() != 0) { + set_preview_speed_error(from.preview_speed_error()); + } + if (from.preview_acceleration_reference() != 0) { + set_preview_acceleration_reference(from.preview_acceleration_reference()); + } + if (from.acceleration_cmd_closeloop() != 0) { + set_acceleration_cmd_closeloop(from.acceleration_cmd_closeloop()); + } + if (from.acceleration_cmd() != 0) { + set_acceleration_cmd(from.acceleration_cmd()); + } + if (from.acceleration_lookup() != 0) { + set_acceleration_lookup(from.acceleration_lookup()); + } + if (from.speed_lookup() != 0) { + set_speed_lookup(from.speed_lookup()); + } + if (from.calibration_value() != 0) { + set_calibration_value(from.calibration_value()); + } + if (from.throttle_cmd() != 0) { + set_throttle_cmd(from.throttle_cmd()); + } + if (from.brake_cmd() != 0) { + set_brake_cmd(from.brake_cmd()); + } + if (from.is_full_stop() != 0) { + set_is_full_stop(from.is_full_stop()); + } +} + +void SimpleLongitudinalDebug::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.SimpleLongitudinalDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void SimpleLongitudinalDebug::CopyFrom(const SimpleLongitudinalDebug& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.SimpleLongitudinalDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool SimpleLongitudinalDebug::IsInitialized() const { + return true; +} + +void SimpleLongitudinalDebug::Swap(SimpleLongitudinalDebug* other) { + if (other == this) return; + InternalSwap(other); +} +void SimpleLongitudinalDebug::InternalSwap(SimpleLongitudinalDebug* other) { + using std::swap; + swap(station_reference_, other->station_reference_); + swap(station_error_, other->station_error_); + swap(station_error_limited_, other->station_error_limited_); + swap(preview_station_error_, other->preview_station_error_); + swap(speed_reference_, other->speed_reference_); + swap(speed_error_, other->speed_error_); + swap(speed_controller_input_limited_, other->speed_controller_input_limited_); + swap(preview_speed_reference_, other->preview_speed_reference_); + swap(preview_speed_error_, other->preview_speed_error_); + swap(preview_acceleration_reference_, other->preview_acceleration_reference_); + swap(acceleration_cmd_closeloop_, other->acceleration_cmd_closeloop_); + swap(acceleration_cmd_, other->acceleration_cmd_); + swap(acceleration_lookup_, other->acceleration_lookup_); + swap(speed_lookup_, other->speed_lookup_); + swap(calibration_value_, other->calibration_value_); + swap(throttle_cmd_, other->throttle_cmd_); + swap(brake_cmd_, other->brake_cmd_); + swap(is_full_stop_, other->is_full_stop_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata SimpleLongitudinalDebug::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void SimpleLateralDebug::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int SimpleLateralDebug::kLateralErrorFieldNumber; +const int SimpleLateralDebug::kRefHeadingFieldNumber; +const int SimpleLateralDebug::kHeadingFieldNumber; +const int SimpleLateralDebug::kHeadingErrorFieldNumber; +const int SimpleLateralDebug::kHeadingErrorRateFieldNumber; +const int SimpleLateralDebug::kLateralErrorRateFieldNumber; +const int SimpleLateralDebug::kCurvatureFieldNumber; +const int SimpleLateralDebug::kSteerAngleFieldNumber; +const int SimpleLateralDebug::kSteerAngleFeedforwardFieldNumber; +const int SimpleLateralDebug::kSteerAngleLateralContributionFieldNumber; +const int SimpleLateralDebug::kSteerAngleLateralRateContributionFieldNumber; +const int SimpleLateralDebug::kSteerAngleHeadingContributionFieldNumber; +const int SimpleLateralDebug::kSteerAngleHeadingRateContributionFieldNumber; +const int SimpleLateralDebug::kSteerAngleFeedbackFieldNumber; +const int SimpleLateralDebug::kSteeringPositionFieldNumber; +const int SimpleLateralDebug::kRefSpeedFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +SimpleLateralDebug::SimpleLateralDebug() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_SimpleLateralDebug.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.SimpleLateralDebug) +} +SimpleLateralDebug::SimpleLateralDebug(const SimpleLateralDebug& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&lateral_error_, &from.lateral_error_, + static_cast(reinterpret_cast(&ref_speed_) - + reinterpret_cast(&lateral_error_)) + sizeof(ref_speed_)); + // @@protoc_insertion_point(copy_constructor:apollo.control.SimpleLateralDebug) +} + +void SimpleLateralDebug::SharedCtor() { + ::memset(&lateral_error_, 0, static_cast( + reinterpret_cast(&ref_speed_) - + reinterpret_cast(&lateral_error_)) + sizeof(ref_speed_)); +} + +SimpleLateralDebug::~SimpleLateralDebug() { + // @@protoc_insertion_point(destructor:apollo.control.SimpleLateralDebug) + SharedDtor(); +} + +void SimpleLateralDebug::SharedDtor() { +} + +void SimpleLateralDebug::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* SimpleLateralDebug::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const SimpleLateralDebug& SimpleLateralDebug::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_SimpleLateralDebug.base); + return *internal_default_instance(); +} + + +void SimpleLateralDebug::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.SimpleLateralDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&lateral_error_, 0, static_cast( + reinterpret_cast(&ref_speed_) - + reinterpret_cast(&lateral_error_)) + sizeof(ref_speed_)); + _internal_metadata_.Clear(); +} + +bool SimpleLateralDebug::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.SimpleLateralDebug) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double lateral_error = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &lateral_error_))); + } else { + goto handle_unusual; + } + break; + } + + // double ref_heading = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ref_heading_))); + } else { + goto handle_unusual; + } + break; + } + + // double heading = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_))); + } else { + goto handle_unusual; + } + break; + } + + // double heading_error = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_error_))); + } else { + goto handle_unusual; + } + break; + } + + // double heading_error_rate = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_error_rate_))); + } else { + goto handle_unusual; + } + break; + } + + // double lateral_error_rate = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &lateral_error_rate_))); + } else { + goto handle_unusual; + } + break; + } + + // double curvature = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &curvature_))); + } else { + goto handle_unusual; + } + break; + } + + // double steer_angle = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(65u /* 65 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steer_angle_))); + } else { + goto handle_unusual; + } + break; + } + + // double steer_angle_feedforward = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steer_angle_feedforward_))); + } else { + goto handle_unusual; + } + break; + } + + // double steer_angle_lateral_contribution = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(81u /* 81 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steer_angle_lateral_contribution_))); + } else { + goto handle_unusual; + } + break; + } + + // double steer_angle_lateral_rate_contribution = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steer_angle_lateral_rate_contribution_))); + } else { + goto handle_unusual; + } + break; + } + + // double steer_angle_heading_contribution = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steer_angle_heading_contribution_))); + } else { + goto handle_unusual; + } + break; + } + + // double steer_angle_heading_rate_contribution = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(105u /* 105 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steer_angle_heading_rate_contribution_))); + } else { + goto handle_unusual; + } + break; + } + + // double steer_angle_feedback = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(113u /* 113 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steer_angle_feedback_))); + } else { + goto handle_unusual; + } + break; + } + + // double steering_position = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(121u /* 121 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &steering_position_))); + } else { + goto handle_unusual; + } + break; + } + + // double ref_speed = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(129u /* 129 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ref_speed_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.SimpleLateralDebug) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.SimpleLateralDebug) + return false; +#undef DO_ +} + +void SimpleLateralDebug::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.SimpleLateralDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double lateral_error = 1; + if (this->lateral_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->lateral_error(), output); + } + + // double ref_heading = 2; + if (this->ref_heading() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->ref_heading(), output); + } + + // double heading = 3; + if (this->heading() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->heading(), output); + } + + // double heading_error = 4; + if (this->heading_error() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->heading_error(), output); + } + + // double heading_error_rate = 5; + if (this->heading_error_rate() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->heading_error_rate(), output); + } + + // double lateral_error_rate = 6; + if (this->lateral_error_rate() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->lateral_error_rate(), output); + } + + // double curvature = 7; + if (this->curvature() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->curvature(), output); + } + + // double steer_angle = 8; + if (this->steer_angle() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(8, this->steer_angle(), output); + } + + // double steer_angle_feedforward = 9; + if (this->steer_angle_feedforward() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->steer_angle_feedforward(), output); + } + + // double steer_angle_lateral_contribution = 10; + if (this->steer_angle_lateral_contribution() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(10, this->steer_angle_lateral_contribution(), output); + } + + // double steer_angle_lateral_rate_contribution = 11; + if (this->steer_angle_lateral_rate_contribution() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(11, this->steer_angle_lateral_rate_contribution(), output); + } + + // double steer_angle_heading_contribution = 12; + if (this->steer_angle_heading_contribution() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(12, this->steer_angle_heading_contribution(), output); + } + + // double steer_angle_heading_rate_contribution = 13; + if (this->steer_angle_heading_rate_contribution() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(13, this->steer_angle_heading_rate_contribution(), output); + } + + // double steer_angle_feedback = 14; + if (this->steer_angle_feedback() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(14, this->steer_angle_feedback(), output); + } + + // double steering_position = 15; + if (this->steering_position() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(15, this->steering_position(), output); + } + + // double ref_speed = 16; + if (this->ref_speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(16, this->ref_speed(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.SimpleLateralDebug) +} + +::google::protobuf::uint8* SimpleLateralDebug::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.SimpleLateralDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double lateral_error = 1; + if (this->lateral_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->lateral_error(), target); + } + + // double ref_heading = 2; + if (this->ref_heading() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->ref_heading(), target); + } + + // double heading = 3; + if (this->heading() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->heading(), target); + } + + // double heading_error = 4; + if (this->heading_error() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->heading_error(), target); + } + + // double heading_error_rate = 5; + if (this->heading_error_rate() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->heading_error_rate(), target); + } + + // double lateral_error_rate = 6; + if (this->lateral_error_rate() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->lateral_error_rate(), target); + } + + // double curvature = 7; + if (this->curvature() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->curvature(), target); + } + + // double steer_angle = 8; + if (this->steer_angle() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(8, this->steer_angle(), target); + } + + // double steer_angle_feedforward = 9; + if (this->steer_angle_feedforward() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->steer_angle_feedforward(), target); + } + + // double steer_angle_lateral_contribution = 10; + if (this->steer_angle_lateral_contribution() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(10, this->steer_angle_lateral_contribution(), target); + } + + // double steer_angle_lateral_rate_contribution = 11; + if (this->steer_angle_lateral_rate_contribution() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(11, this->steer_angle_lateral_rate_contribution(), target); + } + + // double steer_angle_heading_contribution = 12; + if (this->steer_angle_heading_contribution() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(12, this->steer_angle_heading_contribution(), target); + } + + // double steer_angle_heading_rate_contribution = 13; + if (this->steer_angle_heading_rate_contribution() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(13, this->steer_angle_heading_rate_contribution(), target); + } + + // double steer_angle_feedback = 14; + if (this->steer_angle_feedback() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(14, this->steer_angle_feedback(), target); + } + + // double steering_position = 15; + if (this->steering_position() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(15, this->steering_position(), target); + } + + // double ref_speed = 16; + if (this->ref_speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(16, this->ref_speed(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.SimpleLateralDebug) + return target; +} + +size_t SimpleLateralDebug::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.SimpleLateralDebug) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double lateral_error = 1; + if (this->lateral_error() != 0) { + total_size += 1 + 8; + } + + // double ref_heading = 2; + if (this->ref_heading() != 0) { + total_size += 1 + 8; + } + + // double heading = 3; + if (this->heading() != 0) { + total_size += 1 + 8; + } + + // double heading_error = 4; + if (this->heading_error() != 0) { + total_size += 1 + 8; + } + + // double heading_error_rate = 5; + if (this->heading_error_rate() != 0) { + total_size += 1 + 8; + } + + // double lateral_error_rate = 6; + if (this->lateral_error_rate() != 0) { + total_size += 1 + 8; + } + + // double curvature = 7; + if (this->curvature() != 0) { + total_size += 1 + 8; + } + + // double steer_angle = 8; + if (this->steer_angle() != 0) { + total_size += 1 + 8; + } + + // double steer_angle_feedforward = 9; + if (this->steer_angle_feedforward() != 0) { + total_size += 1 + 8; + } + + // double steer_angle_lateral_contribution = 10; + if (this->steer_angle_lateral_contribution() != 0) { + total_size += 1 + 8; + } + + // double steer_angle_lateral_rate_contribution = 11; + if (this->steer_angle_lateral_rate_contribution() != 0) { + total_size += 1 + 8; + } + + // double steer_angle_heading_contribution = 12; + if (this->steer_angle_heading_contribution() != 0) { + total_size += 1 + 8; + } + + // double steer_angle_heading_rate_contribution = 13; + if (this->steer_angle_heading_rate_contribution() != 0) { + total_size += 1 + 8; + } + + // double steer_angle_feedback = 14; + if (this->steer_angle_feedback() != 0) { + total_size += 1 + 8; + } + + // double steering_position = 15; + if (this->steering_position() != 0) { + total_size += 1 + 8; + } + + // double ref_speed = 16; + if (this->ref_speed() != 0) { + total_size += 2 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void SimpleLateralDebug::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.SimpleLateralDebug) + GOOGLE_DCHECK_NE(&from, this); + const SimpleLateralDebug* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.SimpleLateralDebug) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.SimpleLateralDebug) + MergeFrom(*source); + } +} + +void SimpleLateralDebug::MergeFrom(const SimpleLateralDebug& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.SimpleLateralDebug) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.lateral_error() != 0) { + set_lateral_error(from.lateral_error()); + } + if (from.ref_heading() != 0) { + set_ref_heading(from.ref_heading()); + } + if (from.heading() != 0) { + set_heading(from.heading()); + } + if (from.heading_error() != 0) { + set_heading_error(from.heading_error()); + } + if (from.heading_error_rate() != 0) { + set_heading_error_rate(from.heading_error_rate()); + } + if (from.lateral_error_rate() != 0) { + set_lateral_error_rate(from.lateral_error_rate()); + } + if (from.curvature() != 0) { + set_curvature(from.curvature()); + } + if (from.steer_angle() != 0) { + set_steer_angle(from.steer_angle()); + } + if (from.steer_angle_feedforward() != 0) { + set_steer_angle_feedforward(from.steer_angle_feedforward()); + } + if (from.steer_angle_lateral_contribution() != 0) { + set_steer_angle_lateral_contribution(from.steer_angle_lateral_contribution()); + } + if (from.steer_angle_lateral_rate_contribution() != 0) { + set_steer_angle_lateral_rate_contribution(from.steer_angle_lateral_rate_contribution()); + } + if (from.steer_angle_heading_contribution() != 0) { + set_steer_angle_heading_contribution(from.steer_angle_heading_contribution()); + } + if (from.steer_angle_heading_rate_contribution() != 0) { + set_steer_angle_heading_rate_contribution(from.steer_angle_heading_rate_contribution()); + } + if (from.steer_angle_feedback() != 0) { + set_steer_angle_feedback(from.steer_angle_feedback()); + } + if (from.steering_position() != 0) { + set_steering_position(from.steering_position()); + } + if (from.ref_speed() != 0) { + set_ref_speed(from.ref_speed()); + } +} + +void SimpleLateralDebug::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.SimpleLateralDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void SimpleLateralDebug::CopyFrom(const SimpleLateralDebug& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.SimpleLateralDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool SimpleLateralDebug::IsInitialized() const { + return true; +} + +void SimpleLateralDebug::Swap(SimpleLateralDebug* other) { + if (other == this) return; + InternalSwap(other); +} +void SimpleLateralDebug::InternalSwap(SimpleLateralDebug* other) { + using std::swap; + swap(lateral_error_, other->lateral_error_); + swap(ref_heading_, other->ref_heading_); + swap(heading_, other->heading_); + swap(heading_error_, other->heading_error_); + swap(heading_error_rate_, other->heading_error_rate_); + swap(lateral_error_rate_, other->lateral_error_rate_); + swap(curvature_, other->curvature_); + swap(steer_angle_, other->steer_angle_); + swap(steer_angle_feedforward_, other->steer_angle_feedforward_); + swap(steer_angle_lateral_contribution_, other->steer_angle_lateral_contribution_); + swap(steer_angle_lateral_rate_contribution_, other->steer_angle_lateral_rate_contribution_); + swap(steer_angle_heading_contribution_, other->steer_angle_heading_contribution_); + swap(steer_angle_heading_rate_contribution_, other->steer_angle_heading_rate_contribution_); + swap(steer_angle_feedback_, other->steer_angle_feedback_); + swap(steering_position_, other->steering_position_); + swap(ref_speed_, other->ref_speed_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata SimpleLateralDebug::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void InputDebug::InitAsDefaultInstance() { + ::apollo::control::_InputDebug_default_instance_._instance.get_mutable()->localization_header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::control::_InputDebug_default_instance_._instance.get_mutable()->canbus_header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::control::_InputDebug_default_instance_._instance.get_mutable()->trajectory_header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void InputDebug::clear_localization_header() { + if (GetArenaNoVirtual() == NULL && localization_header_ != NULL) { + delete localization_header_; + } + localization_header_ = NULL; +} +void InputDebug::clear_canbus_header() { + if (GetArenaNoVirtual() == NULL && canbus_header_ != NULL) { + delete canbus_header_; + } + canbus_header_ = NULL; +} +void InputDebug::clear_trajectory_header() { + if (GetArenaNoVirtual() == NULL && trajectory_header_ != NULL) { + delete trajectory_header_; + } + trajectory_header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int InputDebug::kLocalizationHeaderFieldNumber; +const int InputDebug::kCanbusHeaderFieldNumber; +const int InputDebug::kTrajectoryHeaderFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +InputDebug::InputDebug() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_InputDebug.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.InputDebug) +} +InputDebug::InputDebug(const InputDebug& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_localization_header()) { + localization_header_ = new ::apollo::common::Header(*from.localization_header_); + } else { + localization_header_ = NULL; + } + if (from.has_canbus_header()) { + canbus_header_ = new ::apollo::common::Header(*from.canbus_header_); + } else { + canbus_header_ = NULL; + } + if (from.has_trajectory_header()) { + trajectory_header_ = new ::apollo::common::Header(*from.trajectory_header_); + } else { + trajectory_header_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.control.InputDebug) +} + +void InputDebug::SharedCtor() { + ::memset(&localization_header_, 0, static_cast( + reinterpret_cast(&trajectory_header_) - + reinterpret_cast(&localization_header_)) + sizeof(trajectory_header_)); +} + +InputDebug::~InputDebug() { + // @@protoc_insertion_point(destructor:apollo.control.InputDebug) + SharedDtor(); +} + +void InputDebug::SharedDtor() { + if (this != internal_default_instance()) delete localization_header_; + if (this != internal_default_instance()) delete canbus_header_; + if (this != internal_default_instance()) delete trajectory_header_; +} + +void InputDebug::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* InputDebug::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const InputDebug& InputDebug::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_InputDebug.base); + return *internal_default_instance(); +} + + +void InputDebug::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.InputDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && localization_header_ != NULL) { + delete localization_header_; + } + localization_header_ = NULL; + if (GetArenaNoVirtual() == NULL && canbus_header_ != NULL) { + delete canbus_header_; + } + canbus_header_ = NULL; + if (GetArenaNoVirtual() == NULL && trajectory_header_ != NULL) { + delete trajectory_header_; + } + trajectory_header_ = NULL; + _internal_metadata_.Clear(); +} + +bool InputDebug::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.InputDebug) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header localization_header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_localization_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Header canbus_header = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_canbus_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Header trajectory_header = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_trajectory_header())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.InputDebug) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.InputDebug) + return false; +#undef DO_ +} + +void InputDebug::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.InputDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header localization_header = 1; + if (this->has_localization_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_localization_header(), output); + } + + // .apollo.common.Header canbus_header = 2; + if (this->has_canbus_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_canbus_header(), output); + } + + // .apollo.common.Header trajectory_header = 3; + if (this->has_trajectory_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_trajectory_header(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.InputDebug) +} + +::google::protobuf::uint8* InputDebug::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.InputDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header localization_header = 1; + if (this->has_localization_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_localization_header(), deterministic, target); + } + + // .apollo.common.Header canbus_header = 2; + if (this->has_canbus_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_canbus_header(), deterministic, target); + } + + // .apollo.common.Header trajectory_header = 3; + if (this->has_trajectory_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_trajectory_header(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.InputDebug) + return target; +} + +size_t InputDebug::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.InputDebug) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header localization_header = 1; + if (this->has_localization_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *localization_header_); + } + + // .apollo.common.Header canbus_header = 2; + if (this->has_canbus_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *canbus_header_); + } + + // .apollo.common.Header trajectory_header = 3; + if (this->has_trajectory_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *trajectory_header_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void InputDebug::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.InputDebug) + GOOGLE_DCHECK_NE(&from, this); + const InputDebug* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.InputDebug) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.InputDebug) + MergeFrom(*source); + } +} + +void InputDebug::MergeFrom(const InputDebug& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.InputDebug) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_localization_header()) { + mutable_localization_header()->::apollo::common::Header::MergeFrom(from.localization_header()); + } + if (from.has_canbus_header()) { + mutable_canbus_header()->::apollo::common::Header::MergeFrom(from.canbus_header()); + } + if (from.has_trajectory_header()) { + mutable_trajectory_header()->::apollo::common::Header::MergeFrom(from.trajectory_header()); + } +} + +void InputDebug::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.InputDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void InputDebug::CopyFrom(const InputDebug& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.InputDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool InputDebug::IsInitialized() const { + return true; +} + +void InputDebug::Swap(InputDebug* other) { + if (other == this) return; + InternalSwap(other); +} +void InputDebug::InternalSwap(InputDebug* other) { + using std::swap; + swap(localization_header_, other->localization_header_); + swap(canbus_header_, other->canbus_header_); + swap(trajectory_header_, other->trajectory_header_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata InputDebug::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Debug::InitAsDefaultInstance() { + ::apollo::control::_Debug_default_instance_._instance.get_mutable()->simple_lon_debug_ = const_cast< ::apollo::control::SimpleLongitudinalDebug*>( + ::apollo::control::SimpleLongitudinalDebug::internal_default_instance()); + ::apollo::control::_Debug_default_instance_._instance.get_mutable()->simple_lat_debug_ = const_cast< ::apollo::control::SimpleLateralDebug*>( + ::apollo::control::SimpleLateralDebug::internal_default_instance()); + ::apollo::control::_Debug_default_instance_._instance.get_mutable()->input_debug_ = const_cast< ::apollo::control::InputDebug*>( + ::apollo::control::InputDebug::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Debug::kSimpleLonDebugFieldNumber; +const int Debug::kSimpleLatDebugFieldNumber; +const int Debug::kInputDebugFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Debug::Debug() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_Debug.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.Debug) +} +Debug::Debug(const Debug& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_simple_lon_debug()) { + simple_lon_debug_ = new ::apollo::control::SimpleLongitudinalDebug(*from.simple_lon_debug_); + } else { + simple_lon_debug_ = NULL; + } + if (from.has_simple_lat_debug()) { + simple_lat_debug_ = new ::apollo::control::SimpleLateralDebug(*from.simple_lat_debug_); + } else { + simple_lat_debug_ = NULL; + } + if (from.has_input_debug()) { + input_debug_ = new ::apollo::control::InputDebug(*from.input_debug_); + } else { + input_debug_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.control.Debug) +} + +void Debug::SharedCtor() { + ::memset(&simple_lon_debug_, 0, static_cast( + reinterpret_cast(&input_debug_) - + reinterpret_cast(&simple_lon_debug_)) + sizeof(input_debug_)); +} + +Debug::~Debug() { + // @@protoc_insertion_point(destructor:apollo.control.Debug) + SharedDtor(); +} + +void Debug::SharedDtor() { + if (this != internal_default_instance()) delete simple_lon_debug_; + if (this != internal_default_instance()) delete simple_lat_debug_; + if (this != internal_default_instance()) delete input_debug_; +} + +void Debug::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Debug::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Debug& Debug::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::scc_info_Debug.base); + return *internal_default_instance(); +} + + +void Debug::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.Debug) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && simple_lon_debug_ != NULL) { + delete simple_lon_debug_; + } + simple_lon_debug_ = NULL; + if (GetArenaNoVirtual() == NULL && simple_lat_debug_ != NULL) { + delete simple_lat_debug_; + } + simple_lat_debug_ = NULL; + if (GetArenaNoVirtual() == NULL && input_debug_ != NULL) { + delete input_debug_; + } + input_debug_ = NULL; + _internal_metadata_.Clear(); +} + +bool Debug::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.Debug) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.control.SimpleLongitudinalDebug simple_lon_debug = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_simple_lon_debug())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.SimpleLateralDebug simple_lat_debug = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_simple_lat_debug())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.InputDebug input_debug = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_input_debug())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.Debug) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.Debug) + return false; +#undef DO_ +} + +void Debug::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.Debug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.control.SimpleLongitudinalDebug simple_lon_debug = 1; + if (this->has_simple_lon_debug()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_simple_lon_debug(), output); + } + + // .apollo.control.SimpleLateralDebug simple_lat_debug = 2; + if (this->has_simple_lat_debug()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_simple_lat_debug(), output); + } + + // .apollo.control.InputDebug input_debug = 3; + if (this->has_input_debug()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_input_debug(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.Debug) +} + +::google::protobuf::uint8* Debug::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.Debug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.control.SimpleLongitudinalDebug simple_lon_debug = 1; + if (this->has_simple_lon_debug()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_simple_lon_debug(), deterministic, target); + } + + // .apollo.control.SimpleLateralDebug simple_lat_debug = 2; + if (this->has_simple_lat_debug()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_simple_lat_debug(), deterministic, target); + } + + // .apollo.control.InputDebug input_debug = 3; + if (this->has_input_debug()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_input_debug(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.Debug) + return target; +} + +size_t Debug::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.Debug) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.control.SimpleLongitudinalDebug simple_lon_debug = 1; + if (this->has_simple_lon_debug()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *simple_lon_debug_); + } + + // .apollo.control.SimpleLateralDebug simple_lat_debug = 2; + if (this->has_simple_lat_debug()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *simple_lat_debug_); + } + + // .apollo.control.InputDebug input_debug = 3; + if (this->has_input_debug()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *input_debug_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Debug::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.Debug) + GOOGLE_DCHECK_NE(&from, this); + const Debug* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.Debug) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.Debug) + MergeFrom(*source); + } +} + +void Debug::MergeFrom(const Debug& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.Debug) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_simple_lon_debug()) { + mutable_simple_lon_debug()->::apollo::control::SimpleLongitudinalDebug::MergeFrom(from.simple_lon_debug()); + } + if (from.has_simple_lat_debug()) { + mutable_simple_lat_debug()->::apollo::control::SimpleLateralDebug::MergeFrom(from.simple_lat_debug()); + } + if (from.has_input_debug()) { + mutable_input_debug()->::apollo::control::InputDebug::MergeFrom(from.input_debug()); + } +} + +void Debug::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.Debug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Debug::CopyFrom(const Debug& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.Debug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Debug::IsInitialized() const { + return true; +} + +void Debug::Swap(Debug* other) { + if (other == this) return; + InternalSwap(other); +} +void Debug::InternalSwap(Debug* other) { + using std::swap; + swap(simple_lon_debug_, other->simple_lon_debug_); + swap(simple_lat_debug_, other->simple_lat_debug_); + swap(input_debug_, other->input_debug_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Debug::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::LatencyStats* Arena::CreateMaybeMessage< ::apollo::control::LatencyStats >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::LatencyStats >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::ControlCommand* Arena::CreateMaybeMessage< ::apollo::control::ControlCommand >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::ControlCommand >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::SimpleLongitudinalDebug* Arena::CreateMaybeMessage< ::apollo::control::SimpleLongitudinalDebug >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::SimpleLongitudinalDebug >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::SimpleLateralDebug* Arena::CreateMaybeMessage< ::apollo::control::SimpleLateralDebug >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::SimpleLateralDebug >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::InputDebug* Arena::CreateMaybeMessage< ::apollo::control::InputDebug >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::InputDebug >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::Debug* Arena::CreateMaybeMessage< ::apollo::control::Debug >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::Debug >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/control/control_cmd.pb.h b/apollo_msgs/include/apollo_msgs/proto/control/control_cmd.pb.h new file mode 100644 index 0000000..e9107ca --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/control_cmd.pb.h @@ -0,0 +1,2607 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/control_cmd.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/canbus/chassis.pb.h" +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/control/pad_msg.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[6]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto +namespace apollo { +namespace control { +class ControlCommand; +class ControlCommandDefaultTypeInternal; +extern ControlCommandDefaultTypeInternal _ControlCommand_default_instance_; +class Debug; +class DebugDefaultTypeInternal; +extern DebugDefaultTypeInternal _Debug_default_instance_; +class InputDebug; +class InputDebugDefaultTypeInternal; +extern InputDebugDefaultTypeInternal _InputDebug_default_instance_; +class LatencyStats; +class LatencyStatsDefaultTypeInternal; +extern LatencyStatsDefaultTypeInternal _LatencyStats_default_instance_; +class SimpleLateralDebug; +class SimpleLateralDebugDefaultTypeInternal; +extern SimpleLateralDebugDefaultTypeInternal _SimpleLateralDebug_default_instance_; +class SimpleLongitudinalDebug; +class SimpleLongitudinalDebugDefaultTypeInternal; +extern SimpleLongitudinalDebugDefaultTypeInternal _SimpleLongitudinalDebug_default_instance_; +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::control::ControlCommand* Arena::CreateMaybeMessage<::apollo::control::ControlCommand>(Arena*); +template<> ::apollo::control::Debug* Arena::CreateMaybeMessage<::apollo::control::Debug>(Arena*); +template<> ::apollo::control::InputDebug* Arena::CreateMaybeMessage<::apollo::control::InputDebug>(Arena*); +template<> ::apollo::control::LatencyStats* Arena::CreateMaybeMessage<::apollo::control::LatencyStats>(Arena*); +template<> ::apollo::control::SimpleLateralDebug* Arena::CreateMaybeMessage<::apollo::control::SimpleLateralDebug>(Arena*); +template<> ::apollo::control::SimpleLongitudinalDebug* Arena::CreateMaybeMessage<::apollo::control::SimpleLongitudinalDebug>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace control { + +enum TurnSignal { + TURN_NONE = 0, + TURN_LEFT = 1, + TURN_RIGHT = 2, + TurnSignal_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + TurnSignal_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool TurnSignal_IsValid(int value); +const TurnSignal TurnSignal_MIN = TURN_NONE; +const TurnSignal TurnSignal_MAX = TURN_RIGHT; +const int TurnSignal_ARRAYSIZE = TurnSignal_MAX + 1; + +const ::google::protobuf::EnumDescriptor* TurnSignal_descriptor(); +inline const ::std::string& TurnSignal_Name(TurnSignal value) { + return ::google::protobuf::internal::NameOfEnum( + TurnSignal_descriptor(), value); +} +inline bool TurnSignal_Parse( + const ::std::string& name, TurnSignal* value) { + return ::google::protobuf::internal::ParseNamedEnum( + TurnSignal_descriptor(), name, value); +} +// =================================================================== + +class LatencyStats : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.LatencyStats) */ { + public: + LatencyStats(); + virtual ~LatencyStats(); + + LatencyStats(const LatencyStats& from); + + inline LatencyStats& operator=(const LatencyStats& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + LatencyStats(LatencyStats&& from) noexcept + : LatencyStats() { + *this = ::std::move(from); + } + + inline LatencyStats& operator=(LatencyStats&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const LatencyStats& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const LatencyStats* internal_default_instance() { + return reinterpret_cast( + &_LatencyStats_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(LatencyStats* other); + friend void swap(LatencyStats& a, LatencyStats& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline LatencyStats* New() const final { + return CreateMaybeMessage(NULL); + } + + LatencyStats* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const LatencyStats& from); + void MergeFrom(const LatencyStats& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(LatencyStats* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated double controller_time_ms = 2; + int controller_time_ms_size() const; + void clear_controller_time_ms(); + static const int kControllerTimeMsFieldNumber = 2; + double controller_time_ms(int index) const; + void set_controller_time_ms(int index, double value); + void add_controller_time_ms(double value); + const ::google::protobuf::RepeatedField< double >& + controller_time_ms() const; + ::google::protobuf::RepeatedField< double >* + mutable_controller_time_ms(); + + // double total_time_ms = 1; + void clear_total_time_ms(); + static const int kTotalTimeMsFieldNumber = 1; + double total_time_ms() const; + void set_total_time_ms(double value); + + // @@protoc_insertion_point(class_scope:apollo.control.LatencyStats) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedField< double > controller_time_ms_; + mutable int _controller_time_ms_cached_byte_size_; + double total_time_ms_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ControlCommand : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.ControlCommand) */ { + public: + ControlCommand(); + virtual ~ControlCommand(); + + ControlCommand(const ControlCommand& from); + + inline ControlCommand& operator=(const ControlCommand& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ControlCommand(ControlCommand&& from) noexcept + : ControlCommand() { + *this = ::std::move(from); + } + + inline ControlCommand& operator=(ControlCommand&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ControlCommand& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ControlCommand* internal_default_instance() { + return reinterpret_cast( + &_ControlCommand_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(ControlCommand* other); + friend void swap(ControlCommand& a, ControlCommand& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ControlCommand* New() const final { + return CreateMaybeMessage(NULL); + } + + ControlCommand* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ControlCommand& from); + void MergeFrom(const ControlCommand& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ControlCommand* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.control.Debug debug = 22; + bool has_debug() const; + void clear_debug(); + static const int kDebugFieldNumber = 22; + private: + const ::apollo::control::Debug& _internal_debug() const; + public: + const ::apollo::control::Debug& debug() const; + ::apollo::control::Debug* release_debug(); + ::apollo::control::Debug* mutable_debug(); + void set_allocated_debug(::apollo::control::Debug* debug); + + // .apollo.canbus.Signal signal = 23; + bool has_signal() const; + void clear_signal(); + static const int kSignalFieldNumber = 23; + private: + const ::apollo::canbus::Signal& _internal_signal() const; + public: + const ::apollo::canbus::Signal& signal() const; + ::apollo::canbus::Signal* release_signal(); + ::apollo::canbus::Signal* mutable_signal(); + void set_allocated_signal(::apollo::canbus::Signal* signal); + + // .apollo.control.LatencyStats latency_stats = 24; + bool has_latency_stats() const; + void clear_latency_stats(); + static const int kLatencyStatsFieldNumber = 24; + private: + const ::apollo::control::LatencyStats& _internal_latency_stats() const; + public: + const ::apollo::control::LatencyStats& latency_stats() const; + ::apollo::control::LatencyStats* release_latency_stats(); + ::apollo::control::LatencyStats* mutable_latency_stats(); + void set_allocated_latency_stats(::apollo::control::LatencyStats* latency_stats); + + // .apollo.control.PadMessage pad_msg = 25; + bool has_pad_msg() const; + void clear_pad_msg(); + static const int kPadMsgFieldNumber = 25; + private: + const ::apollo::control::PadMessage& _internal_pad_msg() const; + public: + const ::apollo::control::PadMessage& pad_msg() const; + ::apollo::control::PadMessage* release_pad_msg(); + ::apollo::control::PadMessage* mutable_pad_msg(); + void set_allocated_pad_msg(::apollo::control::PadMessage* pad_msg); + + // double throttle = 3; + void clear_throttle(); + static const int kThrottleFieldNumber = 3; + double throttle() const; + void set_throttle(double value); + + // double brake = 4; + void clear_brake(); + static const int kBrakeFieldNumber = 4; + double brake() const; + void set_brake(double value); + + // double steering_rate = 6; + void clear_steering_rate(); + static const int kSteeringRateFieldNumber = 6; + double steering_rate() const; + void set_steering_rate(double value); + + // double steering_target = 7; + void clear_steering_target(); + static const int kSteeringTargetFieldNumber = 7; + double steering_target() const; + void set_steering_target(double value); + + // double speed = 9; + void clear_speed(); + static const int kSpeedFieldNumber = 9; + double speed() const; + void set_speed(double value); + + // double acceleration = 10; + void clear_acceleration(); + static const int kAccelerationFieldNumber = 10; + double acceleration() const; + void set_acceleration(double value); + + // bool right_turn = 14; + void clear_right_turn(); + static const int kRightTurnFieldNumber = 14; + bool right_turn() const; + void set_right_turn(bool value); + + // bool high_beam = 11; + void clear_high_beam(); + static const int kHighBeamFieldNumber = 11; + bool high_beam() const; + void set_high_beam(bool value); + + // bool low_beam = 12; + void clear_low_beam(); + static const int kLowBeamFieldNumber = 12; + bool low_beam() const; + void set_low_beam(bool value); + + // bool horn = 15; + void clear_horn(); + static const int kHornFieldNumber = 15; + bool horn() const; + void set_horn(bool value); + + // bool parking_brake = 8; + void clear_parking_brake(); + static const int kParkingBrakeFieldNumber = 8; + bool parking_brake() const; + void set_parking_brake(bool value); + + // bool reset_model = 16; + void clear_reset_model(); + static const int kResetModelFieldNumber = 16; + bool reset_model() const; + void set_reset_model(bool value); + + // bool engine_on_off = 17; + void clear_engine_on_off(); + static const int kEngineOnOffFieldNumber = 17; + bool engine_on_off() const; + void set_engine_on_off(bool value); + + // bool left_turn = 13; + void clear_left_turn(); + static const int kLeftTurnFieldNumber = 13; + bool left_turn() const; + void set_left_turn(bool value); + + // double trajectory_fraction = 18; + void clear_trajectory_fraction(); + static const int kTrajectoryFractionFieldNumber = 18; + double trajectory_fraction() const; + void set_trajectory_fraction(double value); + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 19; + void clear_driving_mode(); + static const int kDrivingModeFieldNumber = 19; + ::apollo::canbus::Chassis_DrivingMode driving_mode() const; + void set_driving_mode(::apollo::canbus::Chassis_DrivingMode value); + + // .apollo.canbus.Chassis.GearPosition gear_location = 20; + void clear_gear_location(); + static const int kGearLocationFieldNumber = 20; + ::apollo::canbus::Chassis_GearPosition gear_location() const; + void set_gear_location(::apollo::canbus::Chassis_GearPosition value); + + // .apollo.control.TurnSignal turnsignal = 21; + void clear_turnsignal(); + static const int kTurnsignalFieldNumber = 21; + ::apollo::control::TurnSignal turnsignal() const; + void set_turnsignal(::apollo::control::TurnSignal value); + + // @@protoc_insertion_point(class_scope:apollo.control.ControlCommand) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + ::apollo::control::Debug* debug_; + ::apollo::canbus::Signal* signal_; + ::apollo::control::LatencyStats* latency_stats_; + ::apollo::control::PadMessage* pad_msg_; + double throttle_; + double brake_; + double steering_rate_; + double steering_target_; + double speed_; + double acceleration_; + bool right_turn_; + bool high_beam_; + bool low_beam_; + bool horn_; + bool parking_brake_; + bool reset_model_; + bool engine_on_off_; + bool left_turn_; + double trajectory_fraction_; + int driving_mode_; + int gear_location_; + int turnsignal_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class SimpleLongitudinalDebug : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.SimpleLongitudinalDebug) */ { + public: + SimpleLongitudinalDebug(); + virtual ~SimpleLongitudinalDebug(); + + SimpleLongitudinalDebug(const SimpleLongitudinalDebug& from); + + inline SimpleLongitudinalDebug& operator=(const SimpleLongitudinalDebug& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + SimpleLongitudinalDebug(SimpleLongitudinalDebug&& from) noexcept + : SimpleLongitudinalDebug() { + *this = ::std::move(from); + } + + inline SimpleLongitudinalDebug& operator=(SimpleLongitudinalDebug&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const SimpleLongitudinalDebug& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const SimpleLongitudinalDebug* internal_default_instance() { + return reinterpret_cast( + &_SimpleLongitudinalDebug_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(SimpleLongitudinalDebug* other); + friend void swap(SimpleLongitudinalDebug& a, SimpleLongitudinalDebug& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline SimpleLongitudinalDebug* New() const final { + return CreateMaybeMessage(NULL); + } + + SimpleLongitudinalDebug* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const SimpleLongitudinalDebug& from); + void MergeFrom(const SimpleLongitudinalDebug& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(SimpleLongitudinalDebug* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double station_reference = 1; + void clear_station_reference(); + static const int kStationReferenceFieldNumber = 1; + double station_reference() const; + void set_station_reference(double value); + + // double station_error = 2; + void clear_station_error(); + static const int kStationErrorFieldNumber = 2; + double station_error() const; + void set_station_error(double value); + + // double station_error_limited = 3; + void clear_station_error_limited(); + static const int kStationErrorLimitedFieldNumber = 3; + double station_error_limited() const; + void set_station_error_limited(double value); + + // double preview_station_error = 4; + void clear_preview_station_error(); + static const int kPreviewStationErrorFieldNumber = 4; + double preview_station_error() const; + void set_preview_station_error(double value); + + // double speed_reference = 5; + void clear_speed_reference(); + static const int kSpeedReferenceFieldNumber = 5; + double speed_reference() const; + void set_speed_reference(double value); + + // double speed_error = 6; + void clear_speed_error(); + static const int kSpeedErrorFieldNumber = 6; + double speed_error() const; + void set_speed_error(double value); + + // double speed_controller_input_limited = 7; + void clear_speed_controller_input_limited(); + static const int kSpeedControllerInputLimitedFieldNumber = 7; + double speed_controller_input_limited() const; + void set_speed_controller_input_limited(double value); + + // double preview_speed_reference = 8; + void clear_preview_speed_reference(); + static const int kPreviewSpeedReferenceFieldNumber = 8; + double preview_speed_reference() const; + void set_preview_speed_reference(double value); + + // double preview_speed_error = 9; + void clear_preview_speed_error(); + static const int kPreviewSpeedErrorFieldNumber = 9; + double preview_speed_error() const; + void set_preview_speed_error(double value); + + // double preview_acceleration_reference = 10; + void clear_preview_acceleration_reference(); + static const int kPreviewAccelerationReferenceFieldNumber = 10; + double preview_acceleration_reference() const; + void set_preview_acceleration_reference(double value); + + // double acceleration_cmd_closeloop = 11; + void clear_acceleration_cmd_closeloop(); + static const int kAccelerationCmdCloseloopFieldNumber = 11; + double acceleration_cmd_closeloop() const; + void set_acceleration_cmd_closeloop(double value); + + // double acceleration_cmd = 12; + void clear_acceleration_cmd(); + static const int kAccelerationCmdFieldNumber = 12; + double acceleration_cmd() const; + void set_acceleration_cmd(double value); + + // double acceleration_lookup = 13; + void clear_acceleration_lookup(); + static const int kAccelerationLookupFieldNumber = 13; + double acceleration_lookup() const; + void set_acceleration_lookup(double value); + + // double speed_lookup = 14; + void clear_speed_lookup(); + static const int kSpeedLookupFieldNumber = 14; + double speed_lookup() const; + void set_speed_lookup(double value); + + // double calibration_value = 15; + void clear_calibration_value(); + static const int kCalibrationValueFieldNumber = 15; + double calibration_value() const; + void set_calibration_value(double value); + + // double throttle_cmd = 16; + void clear_throttle_cmd(); + static const int kThrottleCmdFieldNumber = 16; + double throttle_cmd() const; + void set_throttle_cmd(double value); + + // double brake_cmd = 17; + void clear_brake_cmd(); + static const int kBrakeCmdFieldNumber = 17; + double brake_cmd() const; + void set_brake_cmd(double value); + + // bool is_full_stop = 18; + void clear_is_full_stop(); + static const int kIsFullStopFieldNumber = 18; + bool is_full_stop() const; + void set_is_full_stop(bool value); + + // @@protoc_insertion_point(class_scope:apollo.control.SimpleLongitudinalDebug) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double station_reference_; + double station_error_; + double station_error_limited_; + double preview_station_error_; + double speed_reference_; + double speed_error_; + double speed_controller_input_limited_; + double preview_speed_reference_; + double preview_speed_error_; + double preview_acceleration_reference_; + double acceleration_cmd_closeloop_; + double acceleration_cmd_; + double acceleration_lookup_; + double speed_lookup_; + double calibration_value_; + double throttle_cmd_; + double brake_cmd_; + bool is_full_stop_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class SimpleLateralDebug : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.SimpleLateralDebug) */ { + public: + SimpleLateralDebug(); + virtual ~SimpleLateralDebug(); + + SimpleLateralDebug(const SimpleLateralDebug& from); + + inline SimpleLateralDebug& operator=(const SimpleLateralDebug& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + SimpleLateralDebug(SimpleLateralDebug&& from) noexcept + : SimpleLateralDebug() { + *this = ::std::move(from); + } + + inline SimpleLateralDebug& operator=(SimpleLateralDebug&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const SimpleLateralDebug& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const SimpleLateralDebug* internal_default_instance() { + return reinterpret_cast( + &_SimpleLateralDebug_default_instance_); + } + static constexpr int kIndexInFileMessages = + 3; + + void Swap(SimpleLateralDebug* other); + friend void swap(SimpleLateralDebug& a, SimpleLateralDebug& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline SimpleLateralDebug* New() const final { + return CreateMaybeMessage(NULL); + } + + SimpleLateralDebug* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const SimpleLateralDebug& from); + void MergeFrom(const SimpleLateralDebug& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(SimpleLateralDebug* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double lateral_error = 1; + void clear_lateral_error(); + static const int kLateralErrorFieldNumber = 1; + double lateral_error() const; + void set_lateral_error(double value); + + // double ref_heading = 2; + void clear_ref_heading(); + static const int kRefHeadingFieldNumber = 2; + double ref_heading() const; + void set_ref_heading(double value); + + // double heading = 3; + void clear_heading(); + static const int kHeadingFieldNumber = 3; + double heading() const; + void set_heading(double value); + + // double heading_error = 4; + void clear_heading_error(); + static const int kHeadingErrorFieldNumber = 4; + double heading_error() const; + void set_heading_error(double value); + + // double heading_error_rate = 5; + void clear_heading_error_rate(); + static const int kHeadingErrorRateFieldNumber = 5; + double heading_error_rate() const; + void set_heading_error_rate(double value); + + // double lateral_error_rate = 6; + void clear_lateral_error_rate(); + static const int kLateralErrorRateFieldNumber = 6; + double lateral_error_rate() const; + void set_lateral_error_rate(double value); + + // double curvature = 7; + void clear_curvature(); + static const int kCurvatureFieldNumber = 7; + double curvature() const; + void set_curvature(double value); + + // double steer_angle = 8; + void clear_steer_angle(); + static const int kSteerAngleFieldNumber = 8; + double steer_angle() const; + void set_steer_angle(double value); + + // double steer_angle_feedforward = 9; + void clear_steer_angle_feedforward(); + static const int kSteerAngleFeedforwardFieldNumber = 9; + double steer_angle_feedforward() const; + void set_steer_angle_feedforward(double value); + + // double steer_angle_lateral_contribution = 10; + void clear_steer_angle_lateral_contribution(); + static const int kSteerAngleLateralContributionFieldNumber = 10; + double steer_angle_lateral_contribution() const; + void set_steer_angle_lateral_contribution(double value); + + // double steer_angle_lateral_rate_contribution = 11; + void clear_steer_angle_lateral_rate_contribution(); + static const int kSteerAngleLateralRateContributionFieldNumber = 11; + double steer_angle_lateral_rate_contribution() const; + void set_steer_angle_lateral_rate_contribution(double value); + + // double steer_angle_heading_contribution = 12; + void clear_steer_angle_heading_contribution(); + static const int kSteerAngleHeadingContributionFieldNumber = 12; + double steer_angle_heading_contribution() const; + void set_steer_angle_heading_contribution(double value); + + // double steer_angle_heading_rate_contribution = 13; + void clear_steer_angle_heading_rate_contribution(); + static const int kSteerAngleHeadingRateContributionFieldNumber = 13; + double steer_angle_heading_rate_contribution() const; + void set_steer_angle_heading_rate_contribution(double value); + + // double steer_angle_feedback = 14; + void clear_steer_angle_feedback(); + static const int kSteerAngleFeedbackFieldNumber = 14; + double steer_angle_feedback() const; + void set_steer_angle_feedback(double value); + + // double steering_position = 15; + void clear_steering_position(); + static const int kSteeringPositionFieldNumber = 15; + double steering_position() const; + void set_steering_position(double value); + + // double ref_speed = 16; + void clear_ref_speed(); + static const int kRefSpeedFieldNumber = 16; + double ref_speed() const; + void set_ref_speed(double value); + + // @@protoc_insertion_point(class_scope:apollo.control.SimpleLateralDebug) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double lateral_error_; + double ref_heading_; + double heading_; + double heading_error_; + double heading_error_rate_; + double lateral_error_rate_; + double curvature_; + double steer_angle_; + double steer_angle_feedforward_; + double steer_angle_lateral_contribution_; + double steer_angle_lateral_rate_contribution_; + double steer_angle_heading_contribution_; + double steer_angle_heading_rate_contribution_; + double steer_angle_feedback_; + double steering_position_; + double ref_speed_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class InputDebug : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.InputDebug) */ { + public: + InputDebug(); + virtual ~InputDebug(); + + InputDebug(const InputDebug& from); + + inline InputDebug& operator=(const InputDebug& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + InputDebug(InputDebug&& from) noexcept + : InputDebug() { + *this = ::std::move(from); + } + + inline InputDebug& operator=(InputDebug&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const InputDebug& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const InputDebug* internal_default_instance() { + return reinterpret_cast( + &_InputDebug_default_instance_); + } + static constexpr int kIndexInFileMessages = + 4; + + void Swap(InputDebug* other); + friend void swap(InputDebug& a, InputDebug& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline InputDebug* New() const final { + return CreateMaybeMessage(NULL); + } + + InputDebug* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const InputDebug& from); + void MergeFrom(const InputDebug& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(InputDebug* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Header localization_header = 1; + bool has_localization_header() const; + void clear_localization_header(); + static const int kLocalizationHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_localization_header() const; + public: + const ::apollo::common::Header& localization_header() const; + ::apollo::common::Header* release_localization_header(); + ::apollo::common::Header* mutable_localization_header(); + void set_allocated_localization_header(::apollo::common::Header* localization_header); + + // .apollo.common.Header canbus_header = 2; + bool has_canbus_header() const; + void clear_canbus_header(); + static const int kCanbusHeaderFieldNumber = 2; + private: + const ::apollo::common::Header& _internal_canbus_header() const; + public: + const ::apollo::common::Header& canbus_header() const; + ::apollo::common::Header* release_canbus_header(); + ::apollo::common::Header* mutable_canbus_header(); + void set_allocated_canbus_header(::apollo::common::Header* canbus_header); + + // .apollo.common.Header trajectory_header = 3; + bool has_trajectory_header() const; + void clear_trajectory_header(); + static const int kTrajectoryHeaderFieldNumber = 3; + private: + const ::apollo::common::Header& _internal_trajectory_header() const; + public: + const ::apollo::common::Header& trajectory_header() const; + ::apollo::common::Header* release_trajectory_header(); + ::apollo::common::Header* mutable_trajectory_header(); + void set_allocated_trajectory_header(::apollo::common::Header* trajectory_header); + + // @@protoc_insertion_point(class_scope:apollo.control.InputDebug) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* localization_header_; + ::apollo::common::Header* canbus_header_; + ::apollo::common::Header* trajectory_header_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Debug : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.Debug) */ { + public: + Debug(); + virtual ~Debug(); + + Debug(const Debug& from); + + inline Debug& operator=(const Debug& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Debug(Debug&& from) noexcept + : Debug() { + *this = ::std::move(from); + } + + inline Debug& operator=(Debug&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Debug& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Debug* internal_default_instance() { + return reinterpret_cast( + &_Debug_default_instance_); + } + static constexpr int kIndexInFileMessages = + 5; + + void Swap(Debug* other); + friend void swap(Debug& a, Debug& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Debug* New() const final { + return CreateMaybeMessage(NULL); + } + + Debug* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Debug& from); + void MergeFrom(const Debug& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Debug* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.control.SimpleLongitudinalDebug simple_lon_debug = 1; + bool has_simple_lon_debug() const; + void clear_simple_lon_debug(); + static const int kSimpleLonDebugFieldNumber = 1; + private: + const ::apollo::control::SimpleLongitudinalDebug& _internal_simple_lon_debug() const; + public: + const ::apollo::control::SimpleLongitudinalDebug& simple_lon_debug() const; + ::apollo::control::SimpleLongitudinalDebug* release_simple_lon_debug(); + ::apollo::control::SimpleLongitudinalDebug* mutable_simple_lon_debug(); + void set_allocated_simple_lon_debug(::apollo::control::SimpleLongitudinalDebug* simple_lon_debug); + + // .apollo.control.SimpleLateralDebug simple_lat_debug = 2; + bool has_simple_lat_debug() const; + void clear_simple_lat_debug(); + static const int kSimpleLatDebugFieldNumber = 2; + private: + const ::apollo::control::SimpleLateralDebug& _internal_simple_lat_debug() const; + public: + const ::apollo::control::SimpleLateralDebug& simple_lat_debug() const; + ::apollo::control::SimpleLateralDebug* release_simple_lat_debug(); + ::apollo::control::SimpleLateralDebug* mutable_simple_lat_debug(); + void set_allocated_simple_lat_debug(::apollo::control::SimpleLateralDebug* simple_lat_debug); + + // .apollo.control.InputDebug input_debug = 3; + bool has_input_debug() const; + void clear_input_debug(); + static const int kInputDebugFieldNumber = 3; + private: + const ::apollo::control::InputDebug& _internal_input_debug() const; + public: + const ::apollo::control::InputDebug& input_debug() const; + ::apollo::control::InputDebug* release_input_debug(); + ::apollo::control::InputDebug* mutable_input_debug(); + void set_allocated_input_debug(::apollo::control::InputDebug* input_debug); + + // @@protoc_insertion_point(class_scope:apollo.control.Debug) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::control::SimpleLongitudinalDebug* simple_lon_debug_; + ::apollo::control::SimpleLateralDebug* simple_lat_debug_; + ::apollo::control::InputDebug* input_debug_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// LatencyStats + +// double total_time_ms = 1; +inline void LatencyStats::clear_total_time_ms() { + total_time_ms_ = 0; +} +inline double LatencyStats::total_time_ms() const { + // @@protoc_insertion_point(field_get:apollo.control.LatencyStats.total_time_ms) + return total_time_ms_; +} +inline void LatencyStats::set_total_time_ms(double value) { + + total_time_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatencyStats.total_time_ms) +} + +// repeated double controller_time_ms = 2; +inline int LatencyStats::controller_time_ms_size() const { + return controller_time_ms_.size(); +} +inline void LatencyStats::clear_controller_time_ms() { + controller_time_ms_.Clear(); +} +inline double LatencyStats::controller_time_ms(int index) const { + // @@protoc_insertion_point(field_get:apollo.control.LatencyStats.controller_time_ms) + return controller_time_ms_.Get(index); +} +inline void LatencyStats::set_controller_time_ms(int index, double value) { + controller_time_ms_.Set(index, value); + // @@protoc_insertion_point(field_set:apollo.control.LatencyStats.controller_time_ms) +} +inline void LatencyStats::add_controller_time_ms(double value) { + controller_time_ms_.Add(value); + // @@protoc_insertion_point(field_add:apollo.control.LatencyStats.controller_time_ms) +} +inline const ::google::protobuf::RepeatedField< double >& +LatencyStats::controller_time_ms() const { + // @@protoc_insertion_point(field_list:apollo.control.LatencyStats.controller_time_ms) + return controller_time_ms_; +} +inline ::google::protobuf::RepeatedField< double >* +LatencyStats::mutable_controller_time_ms() { + // @@protoc_insertion_point(field_mutable_list:apollo.control.LatencyStats.controller_time_ms) + return &controller_time_ms_; +} + +// ------------------------------------------------------------------- + +// ControlCommand + +// .apollo.common.Header header = 1; +inline bool ControlCommand::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& ControlCommand::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& ControlCommand::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* ControlCommand::release_header() { + // @@protoc_insertion_point(field_release:apollo.control.ControlCommand.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* ControlCommand::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.ControlCommand.header) + return header_; +} +inline void ControlCommand::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.control.ControlCommand.header) +} + +// double throttle = 3; +inline void ControlCommand::clear_throttle() { + throttle_ = 0; +} +inline double ControlCommand::throttle() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.throttle) + return throttle_; +} +inline void ControlCommand::set_throttle(double value) { + + throttle_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.throttle) +} + +// double brake = 4; +inline void ControlCommand::clear_brake() { + brake_ = 0; +} +inline double ControlCommand::brake() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.brake) + return brake_; +} +inline void ControlCommand::set_brake(double value) { + + brake_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.brake) +} + +// double steering_rate = 6; +inline void ControlCommand::clear_steering_rate() { + steering_rate_ = 0; +} +inline double ControlCommand::steering_rate() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.steering_rate) + return steering_rate_; +} +inline void ControlCommand::set_steering_rate(double value) { + + steering_rate_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.steering_rate) +} + +// double steering_target = 7; +inline void ControlCommand::clear_steering_target() { + steering_target_ = 0; +} +inline double ControlCommand::steering_target() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.steering_target) + return steering_target_; +} +inline void ControlCommand::set_steering_target(double value) { + + steering_target_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.steering_target) +} + +// bool parking_brake = 8; +inline void ControlCommand::clear_parking_brake() { + parking_brake_ = false; +} +inline bool ControlCommand::parking_brake() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.parking_brake) + return parking_brake_; +} +inline void ControlCommand::set_parking_brake(bool value) { + + parking_brake_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.parking_brake) +} + +// double speed = 9; +inline void ControlCommand::clear_speed() { + speed_ = 0; +} +inline double ControlCommand::speed() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.speed) + return speed_; +} +inline void ControlCommand::set_speed(double value) { + + speed_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.speed) +} + +// double acceleration = 10; +inline void ControlCommand::clear_acceleration() { + acceleration_ = 0; +} +inline double ControlCommand::acceleration() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.acceleration) + return acceleration_; +} +inline void ControlCommand::set_acceleration(double value) { + + acceleration_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.acceleration) +} + +// bool reset_model = 16; +inline void ControlCommand::clear_reset_model() { + reset_model_ = false; +} +inline bool ControlCommand::reset_model() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.reset_model) + return reset_model_; +} +inline void ControlCommand::set_reset_model(bool value) { + + reset_model_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.reset_model) +} + +// bool engine_on_off = 17; +inline void ControlCommand::clear_engine_on_off() { + engine_on_off_ = false; +} +inline bool ControlCommand::engine_on_off() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.engine_on_off) + return engine_on_off_; +} +inline void ControlCommand::set_engine_on_off(bool value) { + + engine_on_off_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.engine_on_off) +} + +// double trajectory_fraction = 18; +inline void ControlCommand::clear_trajectory_fraction() { + trajectory_fraction_ = 0; +} +inline double ControlCommand::trajectory_fraction() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.trajectory_fraction) + return trajectory_fraction_; +} +inline void ControlCommand::set_trajectory_fraction(double value) { + + trajectory_fraction_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.trajectory_fraction) +} + +// .apollo.canbus.Chassis.DrivingMode driving_mode = 19; +inline void ControlCommand::clear_driving_mode() { + driving_mode_ = 0; +} +inline ::apollo::canbus::Chassis_DrivingMode ControlCommand::driving_mode() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.driving_mode) + return static_cast< ::apollo::canbus::Chassis_DrivingMode >(driving_mode_); +} +inline void ControlCommand::set_driving_mode(::apollo::canbus::Chassis_DrivingMode value) { + + driving_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.driving_mode) +} + +// .apollo.canbus.Chassis.GearPosition gear_location = 20; +inline void ControlCommand::clear_gear_location() { + gear_location_ = 0; +} +inline ::apollo::canbus::Chassis_GearPosition ControlCommand::gear_location() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.gear_location) + return static_cast< ::apollo::canbus::Chassis_GearPosition >(gear_location_); +} +inline void ControlCommand::set_gear_location(::apollo::canbus::Chassis_GearPosition value) { + + gear_location_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.gear_location) +} + +// .apollo.control.Debug debug = 22; +inline bool ControlCommand::has_debug() const { + return this != internal_default_instance() && debug_ != NULL; +} +inline void ControlCommand::clear_debug() { + if (GetArenaNoVirtual() == NULL && debug_ != NULL) { + delete debug_; + } + debug_ = NULL; +} +inline const ::apollo::control::Debug& ControlCommand::_internal_debug() const { + return *debug_; +} +inline const ::apollo::control::Debug& ControlCommand::debug() const { + const ::apollo::control::Debug* p = debug_; + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.debug) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_Debug_default_instance_); +} +inline ::apollo::control::Debug* ControlCommand::release_debug() { + // @@protoc_insertion_point(field_release:apollo.control.ControlCommand.debug) + + ::apollo::control::Debug* temp = debug_; + debug_ = NULL; + return temp; +} +inline ::apollo::control::Debug* ControlCommand::mutable_debug() { + + if (debug_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::Debug>(GetArenaNoVirtual()); + debug_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.ControlCommand.debug) + return debug_; +} +inline void ControlCommand::set_allocated_debug(::apollo::control::Debug* debug) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete debug_; + } + if (debug) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + debug = ::google::protobuf::internal::GetOwnedMessage( + message_arena, debug, submessage_arena); + } + + } else { + + } + debug_ = debug; + // @@protoc_insertion_point(field_set_allocated:apollo.control.ControlCommand.debug) +} + +// .apollo.canbus.Signal signal = 23; +inline bool ControlCommand::has_signal() const { + return this != internal_default_instance() && signal_ != NULL; +} +inline const ::apollo::canbus::Signal& ControlCommand::_internal_signal() const { + return *signal_; +} +inline const ::apollo::canbus::Signal& ControlCommand::signal() const { + const ::apollo::canbus::Signal* p = signal_; + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.signal) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Signal_default_instance_); +} +inline ::apollo::canbus::Signal* ControlCommand::release_signal() { + // @@protoc_insertion_point(field_release:apollo.control.ControlCommand.signal) + + ::apollo::canbus::Signal* temp = signal_; + signal_ = NULL; + return temp; +} +inline ::apollo::canbus::Signal* ControlCommand::mutable_signal() { + + if (signal_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Signal>(GetArenaNoVirtual()); + signal_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.ControlCommand.signal) + return signal_; +} +inline void ControlCommand::set_allocated_signal(::apollo::canbus::Signal* signal) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(signal_); + } + if (signal) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + signal = ::google::protobuf::internal::GetOwnedMessage( + message_arena, signal, submessage_arena); + } + + } else { + + } + signal_ = signal; + // @@protoc_insertion_point(field_set_allocated:apollo.control.ControlCommand.signal) +} + +// .apollo.control.LatencyStats latency_stats = 24; +inline bool ControlCommand::has_latency_stats() const { + return this != internal_default_instance() && latency_stats_ != NULL; +} +inline void ControlCommand::clear_latency_stats() { + if (GetArenaNoVirtual() == NULL && latency_stats_ != NULL) { + delete latency_stats_; + } + latency_stats_ = NULL; +} +inline const ::apollo::control::LatencyStats& ControlCommand::_internal_latency_stats() const { + return *latency_stats_; +} +inline const ::apollo::control::LatencyStats& ControlCommand::latency_stats() const { + const ::apollo::control::LatencyStats* p = latency_stats_; + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.latency_stats) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_LatencyStats_default_instance_); +} +inline ::apollo::control::LatencyStats* ControlCommand::release_latency_stats() { + // @@protoc_insertion_point(field_release:apollo.control.ControlCommand.latency_stats) + + ::apollo::control::LatencyStats* temp = latency_stats_; + latency_stats_ = NULL; + return temp; +} +inline ::apollo::control::LatencyStats* ControlCommand::mutable_latency_stats() { + + if (latency_stats_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::LatencyStats>(GetArenaNoVirtual()); + latency_stats_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.ControlCommand.latency_stats) + return latency_stats_; +} +inline void ControlCommand::set_allocated_latency_stats(::apollo::control::LatencyStats* latency_stats) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete latency_stats_; + } + if (latency_stats) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + latency_stats = ::google::protobuf::internal::GetOwnedMessage( + message_arena, latency_stats, submessage_arena); + } + + } else { + + } + latency_stats_ = latency_stats; + // @@protoc_insertion_point(field_set_allocated:apollo.control.ControlCommand.latency_stats) +} + +// .apollo.control.PadMessage pad_msg = 25; +inline bool ControlCommand::has_pad_msg() const { + return this != internal_default_instance() && pad_msg_ != NULL; +} +inline const ::apollo::control::PadMessage& ControlCommand::_internal_pad_msg() const { + return *pad_msg_; +} +inline const ::apollo::control::PadMessage& ControlCommand::pad_msg() const { + const ::apollo::control::PadMessage* p = pad_msg_; + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.pad_msg) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_PadMessage_default_instance_); +} +inline ::apollo::control::PadMessage* ControlCommand::release_pad_msg() { + // @@protoc_insertion_point(field_release:apollo.control.ControlCommand.pad_msg) + + ::apollo::control::PadMessage* temp = pad_msg_; + pad_msg_ = NULL; + return temp; +} +inline ::apollo::control::PadMessage* ControlCommand::mutable_pad_msg() { + + if (pad_msg_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::PadMessage>(GetArenaNoVirtual()); + pad_msg_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.ControlCommand.pad_msg) + return pad_msg_; +} +inline void ControlCommand::set_allocated_pad_msg(::apollo::control::PadMessage* pad_msg) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(pad_msg_); + } + if (pad_msg) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + pad_msg = ::google::protobuf::internal::GetOwnedMessage( + message_arena, pad_msg, submessage_arena); + } + + } else { + + } + pad_msg_ = pad_msg; + // @@protoc_insertion_point(field_set_allocated:apollo.control.ControlCommand.pad_msg) +} + +// bool left_turn = 13; +inline void ControlCommand::clear_left_turn() { + left_turn_ = false; +} +inline bool ControlCommand::left_turn() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.left_turn) + return left_turn_; +} +inline void ControlCommand::set_left_turn(bool value) { + + left_turn_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.left_turn) +} + +// bool right_turn = 14; +inline void ControlCommand::clear_right_turn() { + right_turn_ = false; +} +inline bool ControlCommand::right_turn() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.right_turn) + return right_turn_; +} +inline void ControlCommand::set_right_turn(bool value) { + + right_turn_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.right_turn) +} + +// bool high_beam = 11; +inline void ControlCommand::clear_high_beam() { + high_beam_ = false; +} +inline bool ControlCommand::high_beam() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.high_beam) + return high_beam_; +} +inline void ControlCommand::set_high_beam(bool value) { + + high_beam_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.high_beam) +} + +// bool low_beam = 12; +inline void ControlCommand::clear_low_beam() { + low_beam_ = false; +} +inline bool ControlCommand::low_beam() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.low_beam) + return low_beam_; +} +inline void ControlCommand::set_low_beam(bool value) { + + low_beam_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.low_beam) +} + +// bool horn = 15; +inline void ControlCommand::clear_horn() { + horn_ = false; +} +inline bool ControlCommand::horn() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.horn) + return horn_; +} +inline void ControlCommand::set_horn(bool value) { + + horn_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.horn) +} + +// .apollo.control.TurnSignal turnsignal = 21; +inline void ControlCommand::clear_turnsignal() { + turnsignal_ = 0; +} +inline ::apollo::control::TurnSignal ControlCommand::turnsignal() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlCommand.turnsignal) + return static_cast< ::apollo::control::TurnSignal >(turnsignal_); +} +inline void ControlCommand::set_turnsignal(::apollo::control::TurnSignal value) { + + turnsignal_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlCommand.turnsignal) +} + +// ------------------------------------------------------------------- + +// SimpleLongitudinalDebug + +// double station_reference = 1; +inline void SimpleLongitudinalDebug::clear_station_reference() { + station_reference_ = 0; +} +inline double SimpleLongitudinalDebug::station_reference() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.station_reference) + return station_reference_; +} +inline void SimpleLongitudinalDebug::set_station_reference(double value) { + + station_reference_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.station_reference) +} + +// double station_error = 2; +inline void SimpleLongitudinalDebug::clear_station_error() { + station_error_ = 0; +} +inline double SimpleLongitudinalDebug::station_error() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.station_error) + return station_error_; +} +inline void SimpleLongitudinalDebug::set_station_error(double value) { + + station_error_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.station_error) +} + +// double station_error_limited = 3; +inline void SimpleLongitudinalDebug::clear_station_error_limited() { + station_error_limited_ = 0; +} +inline double SimpleLongitudinalDebug::station_error_limited() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.station_error_limited) + return station_error_limited_; +} +inline void SimpleLongitudinalDebug::set_station_error_limited(double value) { + + station_error_limited_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.station_error_limited) +} + +// double preview_station_error = 4; +inline void SimpleLongitudinalDebug::clear_preview_station_error() { + preview_station_error_ = 0; +} +inline double SimpleLongitudinalDebug::preview_station_error() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.preview_station_error) + return preview_station_error_; +} +inline void SimpleLongitudinalDebug::set_preview_station_error(double value) { + + preview_station_error_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.preview_station_error) +} + +// double speed_reference = 5; +inline void SimpleLongitudinalDebug::clear_speed_reference() { + speed_reference_ = 0; +} +inline double SimpleLongitudinalDebug::speed_reference() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.speed_reference) + return speed_reference_; +} +inline void SimpleLongitudinalDebug::set_speed_reference(double value) { + + speed_reference_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.speed_reference) +} + +// double speed_error = 6; +inline void SimpleLongitudinalDebug::clear_speed_error() { + speed_error_ = 0; +} +inline double SimpleLongitudinalDebug::speed_error() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.speed_error) + return speed_error_; +} +inline void SimpleLongitudinalDebug::set_speed_error(double value) { + + speed_error_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.speed_error) +} + +// double speed_controller_input_limited = 7; +inline void SimpleLongitudinalDebug::clear_speed_controller_input_limited() { + speed_controller_input_limited_ = 0; +} +inline double SimpleLongitudinalDebug::speed_controller_input_limited() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.speed_controller_input_limited) + return speed_controller_input_limited_; +} +inline void SimpleLongitudinalDebug::set_speed_controller_input_limited(double value) { + + speed_controller_input_limited_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.speed_controller_input_limited) +} + +// double preview_speed_reference = 8; +inline void SimpleLongitudinalDebug::clear_preview_speed_reference() { + preview_speed_reference_ = 0; +} +inline double SimpleLongitudinalDebug::preview_speed_reference() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.preview_speed_reference) + return preview_speed_reference_; +} +inline void SimpleLongitudinalDebug::set_preview_speed_reference(double value) { + + preview_speed_reference_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.preview_speed_reference) +} + +// double preview_speed_error = 9; +inline void SimpleLongitudinalDebug::clear_preview_speed_error() { + preview_speed_error_ = 0; +} +inline double SimpleLongitudinalDebug::preview_speed_error() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.preview_speed_error) + return preview_speed_error_; +} +inline void SimpleLongitudinalDebug::set_preview_speed_error(double value) { + + preview_speed_error_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.preview_speed_error) +} + +// double preview_acceleration_reference = 10; +inline void SimpleLongitudinalDebug::clear_preview_acceleration_reference() { + preview_acceleration_reference_ = 0; +} +inline double SimpleLongitudinalDebug::preview_acceleration_reference() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.preview_acceleration_reference) + return preview_acceleration_reference_; +} +inline void SimpleLongitudinalDebug::set_preview_acceleration_reference(double value) { + + preview_acceleration_reference_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.preview_acceleration_reference) +} + +// double acceleration_cmd_closeloop = 11; +inline void SimpleLongitudinalDebug::clear_acceleration_cmd_closeloop() { + acceleration_cmd_closeloop_ = 0; +} +inline double SimpleLongitudinalDebug::acceleration_cmd_closeloop() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.acceleration_cmd_closeloop) + return acceleration_cmd_closeloop_; +} +inline void SimpleLongitudinalDebug::set_acceleration_cmd_closeloop(double value) { + + acceleration_cmd_closeloop_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.acceleration_cmd_closeloop) +} + +// double acceleration_cmd = 12; +inline void SimpleLongitudinalDebug::clear_acceleration_cmd() { + acceleration_cmd_ = 0; +} +inline double SimpleLongitudinalDebug::acceleration_cmd() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.acceleration_cmd) + return acceleration_cmd_; +} +inline void SimpleLongitudinalDebug::set_acceleration_cmd(double value) { + + acceleration_cmd_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.acceleration_cmd) +} + +// double acceleration_lookup = 13; +inline void SimpleLongitudinalDebug::clear_acceleration_lookup() { + acceleration_lookup_ = 0; +} +inline double SimpleLongitudinalDebug::acceleration_lookup() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.acceleration_lookup) + return acceleration_lookup_; +} +inline void SimpleLongitudinalDebug::set_acceleration_lookup(double value) { + + acceleration_lookup_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.acceleration_lookup) +} + +// double speed_lookup = 14; +inline void SimpleLongitudinalDebug::clear_speed_lookup() { + speed_lookup_ = 0; +} +inline double SimpleLongitudinalDebug::speed_lookup() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.speed_lookup) + return speed_lookup_; +} +inline void SimpleLongitudinalDebug::set_speed_lookup(double value) { + + speed_lookup_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.speed_lookup) +} + +// double calibration_value = 15; +inline void SimpleLongitudinalDebug::clear_calibration_value() { + calibration_value_ = 0; +} +inline double SimpleLongitudinalDebug::calibration_value() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.calibration_value) + return calibration_value_; +} +inline void SimpleLongitudinalDebug::set_calibration_value(double value) { + + calibration_value_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.calibration_value) +} + +// double throttle_cmd = 16; +inline void SimpleLongitudinalDebug::clear_throttle_cmd() { + throttle_cmd_ = 0; +} +inline double SimpleLongitudinalDebug::throttle_cmd() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.throttle_cmd) + return throttle_cmd_; +} +inline void SimpleLongitudinalDebug::set_throttle_cmd(double value) { + + throttle_cmd_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.throttle_cmd) +} + +// double brake_cmd = 17; +inline void SimpleLongitudinalDebug::clear_brake_cmd() { + brake_cmd_ = 0; +} +inline double SimpleLongitudinalDebug::brake_cmd() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.brake_cmd) + return brake_cmd_; +} +inline void SimpleLongitudinalDebug::set_brake_cmd(double value) { + + brake_cmd_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.brake_cmd) +} + +// bool is_full_stop = 18; +inline void SimpleLongitudinalDebug::clear_is_full_stop() { + is_full_stop_ = false; +} +inline bool SimpleLongitudinalDebug::is_full_stop() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLongitudinalDebug.is_full_stop) + return is_full_stop_; +} +inline void SimpleLongitudinalDebug::set_is_full_stop(bool value) { + + is_full_stop_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLongitudinalDebug.is_full_stop) +} + +// ------------------------------------------------------------------- + +// SimpleLateralDebug + +// double lateral_error = 1; +inline void SimpleLateralDebug::clear_lateral_error() { + lateral_error_ = 0; +} +inline double SimpleLateralDebug::lateral_error() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.lateral_error) + return lateral_error_; +} +inline void SimpleLateralDebug::set_lateral_error(double value) { + + lateral_error_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.lateral_error) +} + +// double ref_heading = 2; +inline void SimpleLateralDebug::clear_ref_heading() { + ref_heading_ = 0; +} +inline double SimpleLateralDebug::ref_heading() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.ref_heading) + return ref_heading_; +} +inline void SimpleLateralDebug::set_ref_heading(double value) { + + ref_heading_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.ref_heading) +} + +// double heading = 3; +inline void SimpleLateralDebug::clear_heading() { + heading_ = 0; +} +inline double SimpleLateralDebug::heading() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.heading) + return heading_; +} +inline void SimpleLateralDebug::set_heading(double value) { + + heading_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.heading) +} + +// double heading_error = 4; +inline void SimpleLateralDebug::clear_heading_error() { + heading_error_ = 0; +} +inline double SimpleLateralDebug::heading_error() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.heading_error) + return heading_error_; +} +inline void SimpleLateralDebug::set_heading_error(double value) { + + heading_error_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.heading_error) +} + +// double heading_error_rate = 5; +inline void SimpleLateralDebug::clear_heading_error_rate() { + heading_error_rate_ = 0; +} +inline double SimpleLateralDebug::heading_error_rate() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.heading_error_rate) + return heading_error_rate_; +} +inline void SimpleLateralDebug::set_heading_error_rate(double value) { + + heading_error_rate_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.heading_error_rate) +} + +// double lateral_error_rate = 6; +inline void SimpleLateralDebug::clear_lateral_error_rate() { + lateral_error_rate_ = 0; +} +inline double SimpleLateralDebug::lateral_error_rate() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.lateral_error_rate) + return lateral_error_rate_; +} +inline void SimpleLateralDebug::set_lateral_error_rate(double value) { + + lateral_error_rate_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.lateral_error_rate) +} + +// double curvature = 7; +inline void SimpleLateralDebug::clear_curvature() { + curvature_ = 0; +} +inline double SimpleLateralDebug::curvature() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.curvature) + return curvature_; +} +inline void SimpleLateralDebug::set_curvature(double value) { + + curvature_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.curvature) +} + +// double steer_angle = 8; +inline void SimpleLateralDebug::clear_steer_angle() { + steer_angle_ = 0; +} +inline double SimpleLateralDebug::steer_angle() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.steer_angle) + return steer_angle_; +} +inline void SimpleLateralDebug::set_steer_angle(double value) { + + steer_angle_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.steer_angle) +} + +// double steer_angle_feedforward = 9; +inline void SimpleLateralDebug::clear_steer_angle_feedforward() { + steer_angle_feedforward_ = 0; +} +inline double SimpleLateralDebug::steer_angle_feedforward() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.steer_angle_feedforward) + return steer_angle_feedforward_; +} +inline void SimpleLateralDebug::set_steer_angle_feedforward(double value) { + + steer_angle_feedforward_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.steer_angle_feedforward) +} + +// double steer_angle_lateral_contribution = 10; +inline void SimpleLateralDebug::clear_steer_angle_lateral_contribution() { + steer_angle_lateral_contribution_ = 0; +} +inline double SimpleLateralDebug::steer_angle_lateral_contribution() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.steer_angle_lateral_contribution) + return steer_angle_lateral_contribution_; +} +inline void SimpleLateralDebug::set_steer_angle_lateral_contribution(double value) { + + steer_angle_lateral_contribution_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.steer_angle_lateral_contribution) +} + +// double steer_angle_lateral_rate_contribution = 11; +inline void SimpleLateralDebug::clear_steer_angle_lateral_rate_contribution() { + steer_angle_lateral_rate_contribution_ = 0; +} +inline double SimpleLateralDebug::steer_angle_lateral_rate_contribution() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.steer_angle_lateral_rate_contribution) + return steer_angle_lateral_rate_contribution_; +} +inline void SimpleLateralDebug::set_steer_angle_lateral_rate_contribution(double value) { + + steer_angle_lateral_rate_contribution_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.steer_angle_lateral_rate_contribution) +} + +// double steer_angle_heading_contribution = 12; +inline void SimpleLateralDebug::clear_steer_angle_heading_contribution() { + steer_angle_heading_contribution_ = 0; +} +inline double SimpleLateralDebug::steer_angle_heading_contribution() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.steer_angle_heading_contribution) + return steer_angle_heading_contribution_; +} +inline void SimpleLateralDebug::set_steer_angle_heading_contribution(double value) { + + steer_angle_heading_contribution_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.steer_angle_heading_contribution) +} + +// double steer_angle_heading_rate_contribution = 13; +inline void SimpleLateralDebug::clear_steer_angle_heading_rate_contribution() { + steer_angle_heading_rate_contribution_ = 0; +} +inline double SimpleLateralDebug::steer_angle_heading_rate_contribution() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.steer_angle_heading_rate_contribution) + return steer_angle_heading_rate_contribution_; +} +inline void SimpleLateralDebug::set_steer_angle_heading_rate_contribution(double value) { + + steer_angle_heading_rate_contribution_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.steer_angle_heading_rate_contribution) +} + +// double steer_angle_feedback = 14; +inline void SimpleLateralDebug::clear_steer_angle_feedback() { + steer_angle_feedback_ = 0; +} +inline double SimpleLateralDebug::steer_angle_feedback() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.steer_angle_feedback) + return steer_angle_feedback_; +} +inline void SimpleLateralDebug::set_steer_angle_feedback(double value) { + + steer_angle_feedback_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.steer_angle_feedback) +} + +// double steering_position = 15; +inline void SimpleLateralDebug::clear_steering_position() { + steering_position_ = 0; +} +inline double SimpleLateralDebug::steering_position() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.steering_position) + return steering_position_; +} +inline void SimpleLateralDebug::set_steering_position(double value) { + + steering_position_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.steering_position) +} + +// double ref_speed = 16; +inline void SimpleLateralDebug::clear_ref_speed() { + ref_speed_ = 0; +} +inline double SimpleLateralDebug::ref_speed() const { + // @@protoc_insertion_point(field_get:apollo.control.SimpleLateralDebug.ref_speed) + return ref_speed_; +} +inline void SimpleLateralDebug::set_ref_speed(double value) { + + ref_speed_ = value; + // @@protoc_insertion_point(field_set:apollo.control.SimpleLateralDebug.ref_speed) +} + +// ------------------------------------------------------------------- + +// InputDebug + +// .apollo.common.Header localization_header = 1; +inline bool InputDebug::has_localization_header() const { + return this != internal_default_instance() && localization_header_ != NULL; +} +inline const ::apollo::common::Header& InputDebug::_internal_localization_header() const { + return *localization_header_; +} +inline const ::apollo::common::Header& InputDebug::localization_header() const { + const ::apollo::common::Header* p = localization_header_; + // @@protoc_insertion_point(field_get:apollo.control.InputDebug.localization_header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* InputDebug::release_localization_header() { + // @@protoc_insertion_point(field_release:apollo.control.InputDebug.localization_header) + + ::apollo::common::Header* temp = localization_header_; + localization_header_ = NULL; + return temp; +} +inline ::apollo::common::Header* InputDebug::mutable_localization_header() { + + if (localization_header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + localization_header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.InputDebug.localization_header) + return localization_header_; +} +inline void InputDebug::set_allocated_localization_header(::apollo::common::Header* localization_header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(localization_header_); + } + if (localization_header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + localization_header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, localization_header, submessage_arena); + } + + } else { + + } + localization_header_ = localization_header; + // @@protoc_insertion_point(field_set_allocated:apollo.control.InputDebug.localization_header) +} + +// .apollo.common.Header canbus_header = 2; +inline bool InputDebug::has_canbus_header() const { + return this != internal_default_instance() && canbus_header_ != NULL; +} +inline const ::apollo::common::Header& InputDebug::_internal_canbus_header() const { + return *canbus_header_; +} +inline const ::apollo::common::Header& InputDebug::canbus_header() const { + const ::apollo::common::Header* p = canbus_header_; + // @@protoc_insertion_point(field_get:apollo.control.InputDebug.canbus_header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* InputDebug::release_canbus_header() { + // @@protoc_insertion_point(field_release:apollo.control.InputDebug.canbus_header) + + ::apollo::common::Header* temp = canbus_header_; + canbus_header_ = NULL; + return temp; +} +inline ::apollo::common::Header* InputDebug::mutable_canbus_header() { + + if (canbus_header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + canbus_header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.InputDebug.canbus_header) + return canbus_header_; +} +inline void InputDebug::set_allocated_canbus_header(::apollo::common::Header* canbus_header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(canbus_header_); + } + if (canbus_header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + canbus_header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, canbus_header, submessage_arena); + } + + } else { + + } + canbus_header_ = canbus_header; + // @@protoc_insertion_point(field_set_allocated:apollo.control.InputDebug.canbus_header) +} + +// .apollo.common.Header trajectory_header = 3; +inline bool InputDebug::has_trajectory_header() const { + return this != internal_default_instance() && trajectory_header_ != NULL; +} +inline const ::apollo::common::Header& InputDebug::_internal_trajectory_header() const { + return *trajectory_header_; +} +inline const ::apollo::common::Header& InputDebug::trajectory_header() const { + const ::apollo::common::Header* p = trajectory_header_; + // @@protoc_insertion_point(field_get:apollo.control.InputDebug.trajectory_header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* InputDebug::release_trajectory_header() { + // @@protoc_insertion_point(field_release:apollo.control.InputDebug.trajectory_header) + + ::apollo::common::Header* temp = trajectory_header_; + trajectory_header_ = NULL; + return temp; +} +inline ::apollo::common::Header* InputDebug::mutable_trajectory_header() { + + if (trajectory_header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + trajectory_header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.InputDebug.trajectory_header) + return trajectory_header_; +} +inline void InputDebug::set_allocated_trajectory_header(::apollo::common::Header* trajectory_header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(trajectory_header_); + } + if (trajectory_header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + trajectory_header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, trajectory_header, submessage_arena); + } + + } else { + + } + trajectory_header_ = trajectory_header; + // @@protoc_insertion_point(field_set_allocated:apollo.control.InputDebug.trajectory_header) +} + +// ------------------------------------------------------------------- + +// Debug + +// .apollo.control.SimpleLongitudinalDebug simple_lon_debug = 1; +inline bool Debug::has_simple_lon_debug() const { + return this != internal_default_instance() && simple_lon_debug_ != NULL; +} +inline void Debug::clear_simple_lon_debug() { + if (GetArenaNoVirtual() == NULL && simple_lon_debug_ != NULL) { + delete simple_lon_debug_; + } + simple_lon_debug_ = NULL; +} +inline const ::apollo::control::SimpleLongitudinalDebug& Debug::_internal_simple_lon_debug() const { + return *simple_lon_debug_; +} +inline const ::apollo::control::SimpleLongitudinalDebug& Debug::simple_lon_debug() const { + const ::apollo::control::SimpleLongitudinalDebug* p = simple_lon_debug_; + // @@protoc_insertion_point(field_get:apollo.control.Debug.simple_lon_debug) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_SimpleLongitudinalDebug_default_instance_); +} +inline ::apollo::control::SimpleLongitudinalDebug* Debug::release_simple_lon_debug() { + // @@protoc_insertion_point(field_release:apollo.control.Debug.simple_lon_debug) + + ::apollo::control::SimpleLongitudinalDebug* temp = simple_lon_debug_; + simple_lon_debug_ = NULL; + return temp; +} +inline ::apollo::control::SimpleLongitudinalDebug* Debug::mutable_simple_lon_debug() { + + if (simple_lon_debug_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::SimpleLongitudinalDebug>(GetArenaNoVirtual()); + simple_lon_debug_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.Debug.simple_lon_debug) + return simple_lon_debug_; +} +inline void Debug::set_allocated_simple_lon_debug(::apollo::control::SimpleLongitudinalDebug* simple_lon_debug) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete simple_lon_debug_; + } + if (simple_lon_debug) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + simple_lon_debug = ::google::protobuf::internal::GetOwnedMessage( + message_arena, simple_lon_debug, submessage_arena); + } + + } else { + + } + simple_lon_debug_ = simple_lon_debug; + // @@protoc_insertion_point(field_set_allocated:apollo.control.Debug.simple_lon_debug) +} + +// .apollo.control.SimpleLateralDebug simple_lat_debug = 2; +inline bool Debug::has_simple_lat_debug() const { + return this != internal_default_instance() && simple_lat_debug_ != NULL; +} +inline void Debug::clear_simple_lat_debug() { + if (GetArenaNoVirtual() == NULL && simple_lat_debug_ != NULL) { + delete simple_lat_debug_; + } + simple_lat_debug_ = NULL; +} +inline const ::apollo::control::SimpleLateralDebug& Debug::_internal_simple_lat_debug() const { + return *simple_lat_debug_; +} +inline const ::apollo::control::SimpleLateralDebug& Debug::simple_lat_debug() const { + const ::apollo::control::SimpleLateralDebug* p = simple_lat_debug_; + // @@protoc_insertion_point(field_get:apollo.control.Debug.simple_lat_debug) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_SimpleLateralDebug_default_instance_); +} +inline ::apollo::control::SimpleLateralDebug* Debug::release_simple_lat_debug() { + // @@protoc_insertion_point(field_release:apollo.control.Debug.simple_lat_debug) + + ::apollo::control::SimpleLateralDebug* temp = simple_lat_debug_; + simple_lat_debug_ = NULL; + return temp; +} +inline ::apollo::control::SimpleLateralDebug* Debug::mutable_simple_lat_debug() { + + if (simple_lat_debug_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::SimpleLateralDebug>(GetArenaNoVirtual()); + simple_lat_debug_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.Debug.simple_lat_debug) + return simple_lat_debug_; +} +inline void Debug::set_allocated_simple_lat_debug(::apollo::control::SimpleLateralDebug* simple_lat_debug) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete simple_lat_debug_; + } + if (simple_lat_debug) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + simple_lat_debug = ::google::protobuf::internal::GetOwnedMessage( + message_arena, simple_lat_debug, submessage_arena); + } + + } else { + + } + simple_lat_debug_ = simple_lat_debug; + // @@protoc_insertion_point(field_set_allocated:apollo.control.Debug.simple_lat_debug) +} + +// .apollo.control.InputDebug input_debug = 3; +inline bool Debug::has_input_debug() const { + return this != internal_default_instance() && input_debug_ != NULL; +} +inline void Debug::clear_input_debug() { + if (GetArenaNoVirtual() == NULL && input_debug_ != NULL) { + delete input_debug_; + } + input_debug_ = NULL; +} +inline const ::apollo::control::InputDebug& Debug::_internal_input_debug() const { + return *input_debug_; +} +inline const ::apollo::control::InputDebug& Debug::input_debug() const { + const ::apollo::control::InputDebug* p = input_debug_; + // @@protoc_insertion_point(field_get:apollo.control.Debug.input_debug) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_InputDebug_default_instance_); +} +inline ::apollo::control::InputDebug* Debug::release_input_debug() { + // @@protoc_insertion_point(field_release:apollo.control.Debug.input_debug) + + ::apollo::control::InputDebug* temp = input_debug_; + input_debug_ = NULL; + return temp; +} +inline ::apollo::control::InputDebug* Debug::mutable_input_debug() { + + if (input_debug_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::InputDebug>(GetArenaNoVirtual()); + input_debug_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.Debug.input_debug) + return input_debug_; +} +inline void Debug::set_allocated_input_debug(::apollo::control::InputDebug* input_debug) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete input_debug_; + } + if (input_debug) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + input_debug = ::google::protobuf::internal::GetOwnedMessage( + message_arena, input_debug, submessage_arena); + } + + } else { + + } + input_debug_ = input_debug; + // @@protoc_insertion_point(field_set_allocated:apollo.control.Debug.input_debug) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace control +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::control::TurnSignal> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::control::TurnSignal>() { + return ::apollo::control::TurnSignal_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fcmd_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/control/control_conf.pb.cc b/apollo_msgs/include/apollo_msgs/proto/control/control_conf.pb.cc new file mode 100644 index 0000000..8d83dea --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/control_conf.pb.cc @@ -0,0 +1,957 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/control_conf.proto + +#include "apollo_msgs/proto/control/control_conf.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_LatControllerConf; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto ::google::protobuf::internal::SCCInfo<3> scc_info_LonControllerConf; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto +namespace apollo { +namespace control { +class ControlConfDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ControlConf_default_instance_; +} // namespace control +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto { +static void InitDefaultsControlConf() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_ControlConf_default_instance_; + new (ptr) ::apollo::control::ControlConf(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::ControlConf::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_ControlConf = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsControlConf}, { + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto::scc_info_LatControllerConf.base, + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::scc_info_LonControllerConf.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_ControlConf.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, control_period_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, max_planning_interval_sec_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, max_planning_delay_threshold_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, driving_mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, action_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, soft_estop_brake_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, active_controllers_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, max_steering_percentage_allowed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, max_status_interval_sec_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, lat_controller_conf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, lon_controller_conf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, trajectory_period_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, chassis_period_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::ControlConf, localization_period_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::control::ControlConf)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::control::_ControlConf_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/control/control_conf.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n,apollo_msgs/proto/control/control_conf" + ".proto\022\016apollo.control\032&apollo_msgs/prot" + "o/canbus/chassis.proto\032\'apollo_msgs/prot" + "o/control/pad_msg.proto\0323apollo_msgs/pro" + "to/control/lat_controller_conf.proto\0323ap" + "ollo_msgs/proto/control/lon_controller_c" + "onf.proto\"\215\005\n\013ControlConf\022\026\n\016control_per" + "iod\030\001 \001(\001\022!\n\031max_planning_interval_sec\030\002" + " \001(\001\022$\n\034max_planning_delay_threshold\030\003 \001" + "(\001\0228\n\014driving_mode\030\004 \001(\0162\".apollo.canbus" + ".Chassis.DrivingMode\022-\n\006action\030\005 \001(\0162\035.a" + "pollo.control.DrivingAction\022\030\n\020soft_esto" + "p_brake\030\006 \001(\001\022F\n\022active_controllers\030\007 \003(" + "\0162*.apollo.control.ControlConf.Controlle" + "rType\022\'\n\037max_steering_percentage_allowed" + "\030\010 \001(\005\022\037\n\027max_status_interval_sec\030\t \001(\001\022" + ">\n\023lat_controller_conf\030\n \001(\0132!.apollo.co" + "ntrol.LatControllerConf\022>\n\023lon_controlle" + "r_conf\030\013 \001(\0132!.apollo.control.LonControl" + "lerConf\022\031\n\021trajectory_period\030\014 \001(\001\022\026\n\016ch" + "assis_period\030\r \001(\001\022\033\n\023localization_perio" + "d\030\016 \001(\001\"8\n\016ControllerType\022\022\n\016LAT_CONTROL" + "LER\020\000\022\022\n\016LON_CONTROLLER\020\001b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 913); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/control/control_conf.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto +namespace apollo { +namespace control { +const ::google::protobuf::EnumDescriptor* ControlConf_ControllerType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto::file_level_enum_descriptors[0]; +} +bool ControlConf_ControllerType_IsValid(int value) { + switch (value) { + case 0: + case 1: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const ControlConf_ControllerType ControlConf::LAT_CONTROLLER; +const ControlConf_ControllerType ControlConf::LON_CONTROLLER; +const ControlConf_ControllerType ControlConf::ControllerType_MIN; +const ControlConf_ControllerType ControlConf::ControllerType_MAX; +const int ControlConf::ControllerType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void ControlConf::InitAsDefaultInstance() { + ::apollo::control::_ControlConf_default_instance_._instance.get_mutable()->lat_controller_conf_ = const_cast< ::apollo::control::LatControllerConf*>( + ::apollo::control::LatControllerConf::internal_default_instance()); + ::apollo::control::_ControlConf_default_instance_._instance.get_mutable()->lon_controller_conf_ = const_cast< ::apollo::control::LonControllerConf*>( + ::apollo::control::LonControllerConf::internal_default_instance()); +} +void ControlConf::clear_lat_controller_conf() { + if (GetArenaNoVirtual() == NULL && lat_controller_conf_ != NULL) { + delete lat_controller_conf_; + } + lat_controller_conf_ = NULL; +} +void ControlConf::clear_lon_controller_conf() { + if (GetArenaNoVirtual() == NULL && lon_controller_conf_ != NULL) { + delete lon_controller_conf_; + } + lon_controller_conf_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ControlConf::kControlPeriodFieldNumber; +const int ControlConf::kMaxPlanningIntervalSecFieldNumber; +const int ControlConf::kMaxPlanningDelayThresholdFieldNumber; +const int ControlConf::kDrivingModeFieldNumber; +const int ControlConf::kActionFieldNumber; +const int ControlConf::kSoftEstopBrakeFieldNumber; +const int ControlConf::kActiveControllersFieldNumber; +const int ControlConf::kMaxSteeringPercentageAllowedFieldNumber; +const int ControlConf::kMaxStatusIntervalSecFieldNumber; +const int ControlConf::kLatControllerConfFieldNumber; +const int ControlConf::kLonControllerConfFieldNumber; +const int ControlConf::kTrajectoryPeriodFieldNumber; +const int ControlConf::kChassisPeriodFieldNumber; +const int ControlConf::kLocalizationPeriodFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ControlConf::ControlConf() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto::scc_info_ControlConf.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.ControlConf) +} +ControlConf::ControlConf(const ControlConf& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + active_controllers_(from.active_controllers_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_lat_controller_conf()) { + lat_controller_conf_ = new ::apollo::control::LatControllerConf(*from.lat_controller_conf_); + } else { + lat_controller_conf_ = NULL; + } + if (from.has_lon_controller_conf()) { + lon_controller_conf_ = new ::apollo::control::LonControllerConf(*from.lon_controller_conf_); + } else { + lon_controller_conf_ = NULL; + } + ::memcpy(&control_period_, &from.control_period_, + static_cast(reinterpret_cast(&max_steering_percentage_allowed_) - + reinterpret_cast(&control_period_)) + sizeof(max_steering_percentage_allowed_)); + // @@protoc_insertion_point(copy_constructor:apollo.control.ControlConf) +} + +void ControlConf::SharedCtor() { + ::memset(&lat_controller_conf_, 0, static_cast( + reinterpret_cast(&max_steering_percentage_allowed_) - + reinterpret_cast(&lat_controller_conf_)) + sizeof(max_steering_percentage_allowed_)); +} + +ControlConf::~ControlConf() { + // @@protoc_insertion_point(destructor:apollo.control.ControlConf) + SharedDtor(); +} + +void ControlConf::SharedDtor() { + if (this != internal_default_instance()) delete lat_controller_conf_; + if (this != internal_default_instance()) delete lon_controller_conf_; +} + +void ControlConf::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ControlConf::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ControlConf& ControlConf::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto::scc_info_ControlConf.base); + return *internal_default_instance(); +} + + +void ControlConf::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.ControlConf) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + active_controllers_.Clear(); + if (GetArenaNoVirtual() == NULL && lat_controller_conf_ != NULL) { + delete lat_controller_conf_; + } + lat_controller_conf_ = NULL; + if (GetArenaNoVirtual() == NULL && lon_controller_conf_ != NULL) { + delete lon_controller_conf_; + } + lon_controller_conf_ = NULL; + ::memset(&control_period_, 0, static_cast( + reinterpret_cast(&max_steering_percentage_allowed_) - + reinterpret_cast(&control_period_)) + sizeof(max_steering_percentage_allowed_)); + _internal_metadata_.Clear(); +} + +bool ControlConf::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.ControlConf) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double control_period = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &control_period_))); + } else { + goto handle_unusual; + } + break; + } + + // double max_planning_interval_sec = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &max_planning_interval_sec_))); + } else { + goto handle_unusual; + } + break; + } + + // double max_planning_delay_threshold = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &max_planning_delay_threshold_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_driving_mode(static_cast< ::apollo::canbus::Chassis_DrivingMode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.DrivingAction action = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_action(static_cast< ::apollo::control::DrivingAction >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double soft_estop_brake = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &soft_estop_brake_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.control.ControlConf.ControllerType active_controllers = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(58u /* 58 & 0xFF */)) { + ::google::protobuf::uint32 length; + DO_(input->ReadVarint32(&length)); + ::google::protobuf::io::CodedInputStream::Limit limit = input->PushLimit(static_cast(length)); + while (input->BytesUntilLimit() > 0) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + add_active_controllers(static_cast< ::apollo::control::ControlConf_ControllerType >(value)); + } + input->PopLimit(limit); + } else if ( + static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + add_active_controllers(static_cast< ::apollo::control::ControlConf_ControllerType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // int32 max_steering_percentage_allowed = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &max_steering_percentage_allowed_))); + } else { + goto handle_unusual; + } + break; + } + + // double max_status_interval_sec = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &max_status_interval_sec_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.LatControllerConf lat_controller_conf = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(82u /* 82 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_lat_controller_conf())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.LonControllerConf lon_controller_conf = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(90u /* 90 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_lon_controller_conf())); + } else { + goto handle_unusual; + } + break; + } + + // double trajectory_period = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &trajectory_period_))); + } else { + goto handle_unusual; + } + break; + } + + // double chassis_period = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(105u /* 105 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &chassis_period_))); + } else { + goto handle_unusual; + } + break; + } + + // double localization_period = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(113u /* 113 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &localization_period_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.ControlConf) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.ControlConf) + return false; +#undef DO_ +} + +void ControlConf::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.ControlConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double control_period = 1; + if (this->control_period() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->control_period(), output); + } + + // double max_planning_interval_sec = 2; + if (this->max_planning_interval_sec() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->max_planning_interval_sec(), output); + } + + // double max_planning_delay_threshold = 3; + if (this->max_planning_delay_threshold() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->max_planning_delay_threshold(), output); + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 4; + if (this->driving_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 4, this->driving_mode(), output); + } + + // .apollo.control.DrivingAction action = 5; + if (this->action() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 5, this->action(), output); + } + + // double soft_estop_brake = 6; + if (this->soft_estop_brake() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->soft_estop_brake(), output); + } + + // repeated .apollo.control.ControlConf.ControllerType active_controllers = 7; + if (this->active_controllers_size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteTag( + 7, + ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, + output); + output->WriteVarint32( + static_cast< ::google::protobuf::uint32>(_active_controllers_cached_byte_size_)); + } + for (int i = 0, n = this->active_controllers_size(); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteEnumNoTag( + this->active_controllers(i), output); + } + + // int32 max_steering_percentage_allowed = 8; + if (this->max_steering_percentage_allowed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(8, this->max_steering_percentage_allowed(), output); + } + + // double max_status_interval_sec = 9; + if (this->max_status_interval_sec() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->max_status_interval_sec(), output); + } + + // .apollo.control.LatControllerConf lat_controller_conf = 10; + if (this->has_lat_controller_conf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 10, this->_internal_lat_controller_conf(), output); + } + + // .apollo.control.LonControllerConf lon_controller_conf = 11; + if (this->has_lon_controller_conf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 11, this->_internal_lon_controller_conf(), output); + } + + // double trajectory_period = 12; + if (this->trajectory_period() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(12, this->trajectory_period(), output); + } + + // double chassis_period = 13; + if (this->chassis_period() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(13, this->chassis_period(), output); + } + + // double localization_period = 14; + if (this->localization_period() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(14, this->localization_period(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.ControlConf) +} + +::google::protobuf::uint8* ControlConf::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.ControlConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double control_period = 1; + if (this->control_period() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->control_period(), target); + } + + // double max_planning_interval_sec = 2; + if (this->max_planning_interval_sec() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->max_planning_interval_sec(), target); + } + + // double max_planning_delay_threshold = 3; + if (this->max_planning_delay_threshold() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->max_planning_delay_threshold(), target); + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 4; + if (this->driving_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 4, this->driving_mode(), target); + } + + // .apollo.control.DrivingAction action = 5; + if (this->action() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 5, this->action(), target); + } + + // double soft_estop_brake = 6; + if (this->soft_estop_brake() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->soft_estop_brake(), target); + } + + // repeated .apollo.control.ControlConf.ControllerType active_controllers = 7; + if (this->active_controllers_size() > 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteTagToArray( + 7, + ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, + target); + target = ::google::protobuf::io::CodedOutputStream::WriteVarint32ToArray( static_cast< ::google::protobuf::uint32>( + _active_controllers_cached_byte_size_), target); + target = ::google::protobuf::internal::WireFormatLite::WriteEnumNoTagToArray( + this->active_controllers_, target); + } + + // int32 max_steering_percentage_allowed = 8; + if (this->max_steering_percentage_allowed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(8, this->max_steering_percentage_allowed(), target); + } + + // double max_status_interval_sec = 9; + if (this->max_status_interval_sec() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->max_status_interval_sec(), target); + } + + // .apollo.control.LatControllerConf lat_controller_conf = 10; + if (this->has_lat_controller_conf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 10, this->_internal_lat_controller_conf(), deterministic, target); + } + + // .apollo.control.LonControllerConf lon_controller_conf = 11; + if (this->has_lon_controller_conf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 11, this->_internal_lon_controller_conf(), deterministic, target); + } + + // double trajectory_period = 12; + if (this->trajectory_period() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(12, this->trajectory_period(), target); + } + + // double chassis_period = 13; + if (this->chassis_period() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(13, this->chassis_period(), target); + } + + // double localization_period = 14; + if (this->localization_period() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(14, this->localization_period(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.ControlConf) + return target; +} + +size_t ControlConf::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.ControlConf) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.control.ControlConf.ControllerType active_controllers = 7; + { + size_t data_size = 0; + unsigned int count = static_cast(this->active_controllers_size());for (unsigned int i = 0; i < count; i++) { + data_size += ::google::protobuf::internal::WireFormatLite::EnumSize( + this->active_controllers(static_cast(i))); + } + if (data_size > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + static_cast< ::google::protobuf::int32>(data_size)); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(data_size); + GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); + _active_controllers_cached_byte_size_ = cached_size; + GOOGLE_SAFE_CONCURRENT_WRITES_END(); + total_size += data_size; + } + + // .apollo.control.LatControllerConf lat_controller_conf = 10; + if (this->has_lat_controller_conf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *lat_controller_conf_); + } + + // .apollo.control.LonControllerConf lon_controller_conf = 11; + if (this->has_lon_controller_conf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *lon_controller_conf_); + } + + // double control_period = 1; + if (this->control_period() != 0) { + total_size += 1 + 8; + } + + // double max_planning_interval_sec = 2; + if (this->max_planning_interval_sec() != 0) { + total_size += 1 + 8; + } + + // double max_planning_delay_threshold = 3; + if (this->max_planning_delay_threshold() != 0) { + total_size += 1 + 8; + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 4; + if (this->driving_mode() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->driving_mode()); + } + + // .apollo.control.DrivingAction action = 5; + if (this->action() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->action()); + } + + // double soft_estop_brake = 6; + if (this->soft_estop_brake() != 0) { + total_size += 1 + 8; + } + + // double max_status_interval_sec = 9; + if (this->max_status_interval_sec() != 0) { + total_size += 1 + 8; + } + + // double trajectory_period = 12; + if (this->trajectory_period() != 0) { + total_size += 1 + 8; + } + + // double chassis_period = 13; + if (this->chassis_period() != 0) { + total_size += 1 + 8; + } + + // double localization_period = 14; + if (this->localization_period() != 0) { + total_size += 1 + 8; + } + + // int32 max_steering_percentage_allowed = 8; + if (this->max_steering_percentage_allowed() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->max_steering_percentage_allowed()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ControlConf::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.ControlConf) + GOOGLE_DCHECK_NE(&from, this); + const ControlConf* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.ControlConf) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.ControlConf) + MergeFrom(*source); + } +} + +void ControlConf::MergeFrom(const ControlConf& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.ControlConf) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + active_controllers_.MergeFrom(from.active_controllers_); + if (from.has_lat_controller_conf()) { + mutable_lat_controller_conf()->::apollo::control::LatControllerConf::MergeFrom(from.lat_controller_conf()); + } + if (from.has_lon_controller_conf()) { + mutable_lon_controller_conf()->::apollo::control::LonControllerConf::MergeFrom(from.lon_controller_conf()); + } + if (from.control_period() != 0) { + set_control_period(from.control_period()); + } + if (from.max_planning_interval_sec() != 0) { + set_max_planning_interval_sec(from.max_planning_interval_sec()); + } + if (from.max_planning_delay_threshold() != 0) { + set_max_planning_delay_threshold(from.max_planning_delay_threshold()); + } + if (from.driving_mode() != 0) { + set_driving_mode(from.driving_mode()); + } + if (from.action() != 0) { + set_action(from.action()); + } + if (from.soft_estop_brake() != 0) { + set_soft_estop_brake(from.soft_estop_brake()); + } + if (from.max_status_interval_sec() != 0) { + set_max_status_interval_sec(from.max_status_interval_sec()); + } + if (from.trajectory_period() != 0) { + set_trajectory_period(from.trajectory_period()); + } + if (from.chassis_period() != 0) { + set_chassis_period(from.chassis_period()); + } + if (from.localization_period() != 0) { + set_localization_period(from.localization_period()); + } + if (from.max_steering_percentage_allowed() != 0) { + set_max_steering_percentage_allowed(from.max_steering_percentage_allowed()); + } +} + +void ControlConf::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.ControlConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ControlConf::CopyFrom(const ControlConf& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.ControlConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ControlConf::IsInitialized() const { + return true; +} + +void ControlConf::Swap(ControlConf* other) { + if (other == this) return; + InternalSwap(other); +} +void ControlConf::InternalSwap(ControlConf* other) { + using std::swap; + active_controllers_.InternalSwap(&other->active_controllers_); + swap(lat_controller_conf_, other->lat_controller_conf_); + swap(lon_controller_conf_, other->lon_controller_conf_); + swap(control_period_, other->control_period_); + swap(max_planning_interval_sec_, other->max_planning_interval_sec_); + swap(max_planning_delay_threshold_, other->max_planning_delay_threshold_); + swap(driving_mode_, other->driving_mode_); + swap(action_, other->action_); + swap(soft_estop_brake_, other->soft_estop_brake_); + swap(max_status_interval_sec_, other->max_status_interval_sec_); + swap(trajectory_period_, other->trajectory_period_); + swap(chassis_period_, other->chassis_period_); + swap(localization_period_, other->localization_period_); + swap(max_steering_percentage_allowed_, other->max_steering_percentage_allowed_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ControlConf::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::ControlConf* Arena::CreateMaybeMessage< ::apollo::control::ControlConf >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::ControlConf >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/control/control_conf.pb.h b/apollo_msgs/include/apollo_msgs/proto/control/control_conf.pb.h new file mode 100644 index 0000000..10d0f09 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/control_conf.pb.h @@ -0,0 +1,640 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/control_conf.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/canbus/chassis.pb.h" +#include "apollo_msgs/proto/control/pad_msg.pb.h" +#include "apollo_msgs/proto/control/lat_controller_conf.pb.h" +#include "apollo_msgs/proto/control/lon_controller_conf.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto +namespace apollo { +namespace control { +class ControlConf; +class ControlConfDefaultTypeInternal; +extern ControlConfDefaultTypeInternal _ControlConf_default_instance_; +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::control::ControlConf* Arena::CreateMaybeMessage<::apollo::control::ControlConf>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace control { + +enum ControlConf_ControllerType { + ControlConf_ControllerType_LAT_CONTROLLER = 0, + ControlConf_ControllerType_LON_CONTROLLER = 1, + ControlConf_ControllerType_ControlConf_ControllerType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + ControlConf_ControllerType_ControlConf_ControllerType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool ControlConf_ControllerType_IsValid(int value); +const ControlConf_ControllerType ControlConf_ControllerType_ControllerType_MIN = ControlConf_ControllerType_LAT_CONTROLLER; +const ControlConf_ControllerType ControlConf_ControllerType_ControllerType_MAX = ControlConf_ControllerType_LON_CONTROLLER; +const int ControlConf_ControllerType_ControllerType_ARRAYSIZE = ControlConf_ControllerType_ControllerType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* ControlConf_ControllerType_descriptor(); +inline const ::std::string& ControlConf_ControllerType_Name(ControlConf_ControllerType value) { + return ::google::protobuf::internal::NameOfEnum( + ControlConf_ControllerType_descriptor(), value); +} +inline bool ControlConf_ControllerType_Parse( + const ::std::string& name, ControlConf_ControllerType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + ControlConf_ControllerType_descriptor(), name, value); +} +// =================================================================== + +class ControlConf : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.ControlConf) */ { + public: + ControlConf(); + virtual ~ControlConf(); + + ControlConf(const ControlConf& from); + + inline ControlConf& operator=(const ControlConf& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ControlConf(ControlConf&& from) noexcept + : ControlConf() { + *this = ::std::move(from); + } + + inline ControlConf& operator=(ControlConf&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ControlConf& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ControlConf* internal_default_instance() { + return reinterpret_cast( + &_ControlConf_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(ControlConf* other); + friend void swap(ControlConf& a, ControlConf& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ControlConf* New() const final { + return CreateMaybeMessage(NULL); + } + + ControlConf* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ControlConf& from); + void MergeFrom(const ControlConf& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ControlConf* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef ControlConf_ControllerType ControllerType; + static const ControllerType LAT_CONTROLLER = + ControlConf_ControllerType_LAT_CONTROLLER; + static const ControllerType LON_CONTROLLER = + ControlConf_ControllerType_LON_CONTROLLER; + static inline bool ControllerType_IsValid(int value) { + return ControlConf_ControllerType_IsValid(value); + } + static const ControllerType ControllerType_MIN = + ControlConf_ControllerType_ControllerType_MIN; + static const ControllerType ControllerType_MAX = + ControlConf_ControllerType_ControllerType_MAX; + static const int ControllerType_ARRAYSIZE = + ControlConf_ControllerType_ControllerType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + ControllerType_descriptor() { + return ControlConf_ControllerType_descriptor(); + } + static inline const ::std::string& ControllerType_Name(ControllerType value) { + return ControlConf_ControllerType_Name(value); + } + static inline bool ControllerType_Parse(const ::std::string& name, + ControllerType* value) { + return ControlConf_ControllerType_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // repeated .apollo.control.ControlConf.ControllerType active_controllers = 7; + int active_controllers_size() const; + void clear_active_controllers(); + static const int kActiveControllersFieldNumber = 7; + ::apollo::control::ControlConf_ControllerType active_controllers(int index) const; + void set_active_controllers(int index, ::apollo::control::ControlConf_ControllerType value); + void add_active_controllers(::apollo::control::ControlConf_ControllerType value); + const ::google::protobuf::RepeatedField& active_controllers() const; + ::google::protobuf::RepeatedField* mutable_active_controllers(); + + // .apollo.control.LatControllerConf lat_controller_conf = 10; + bool has_lat_controller_conf() const; + void clear_lat_controller_conf(); + static const int kLatControllerConfFieldNumber = 10; + private: + const ::apollo::control::LatControllerConf& _internal_lat_controller_conf() const; + public: + const ::apollo::control::LatControllerConf& lat_controller_conf() const; + ::apollo::control::LatControllerConf* release_lat_controller_conf(); + ::apollo::control::LatControllerConf* mutable_lat_controller_conf(); + void set_allocated_lat_controller_conf(::apollo::control::LatControllerConf* lat_controller_conf); + + // .apollo.control.LonControllerConf lon_controller_conf = 11; + bool has_lon_controller_conf() const; + void clear_lon_controller_conf(); + static const int kLonControllerConfFieldNumber = 11; + private: + const ::apollo::control::LonControllerConf& _internal_lon_controller_conf() const; + public: + const ::apollo::control::LonControllerConf& lon_controller_conf() const; + ::apollo::control::LonControllerConf* release_lon_controller_conf(); + ::apollo::control::LonControllerConf* mutable_lon_controller_conf(); + void set_allocated_lon_controller_conf(::apollo::control::LonControllerConf* lon_controller_conf); + + // double control_period = 1; + void clear_control_period(); + static const int kControlPeriodFieldNumber = 1; + double control_period() const; + void set_control_period(double value); + + // double max_planning_interval_sec = 2; + void clear_max_planning_interval_sec(); + static const int kMaxPlanningIntervalSecFieldNumber = 2; + double max_planning_interval_sec() const; + void set_max_planning_interval_sec(double value); + + // double max_planning_delay_threshold = 3; + void clear_max_planning_delay_threshold(); + static const int kMaxPlanningDelayThresholdFieldNumber = 3; + double max_planning_delay_threshold() const; + void set_max_planning_delay_threshold(double value); + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 4; + void clear_driving_mode(); + static const int kDrivingModeFieldNumber = 4; + ::apollo::canbus::Chassis_DrivingMode driving_mode() const; + void set_driving_mode(::apollo::canbus::Chassis_DrivingMode value); + + // .apollo.control.DrivingAction action = 5; + void clear_action(); + static const int kActionFieldNumber = 5; + ::apollo::control::DrivingAction action() const; + void set_action(::apollo::control::DrivingAction value); + + // double soft_estop_brake = 6; + void clear_soft_estop_brake(); + static const int kSoftEstopBrakeFieldNumber = 6; + double soft_estop_brake() const; + void set_soft_estop_brake(double value); + + // double max_status_interval_sec = 9; + void clear_max_status_interval_sec(); + static const int kMaxStatusIntervalSecFieldNumber = 9; + double max_status_interval_sec() const; + void set_max_status_interval_sec(double value); + + // double trajectory_period = 12; + void clear_trajectory_period(); + static const int kTrajectoryPeriodFieldNumber = 12; + double trajectory_period() const; + void set_trajectory_period(double value); + + // double chassis_period = 13; + void clear_chassis_period(); + static const int kChassisPeriodFieldNumber = 13; + double chassis_period() const; + void set_chassis_period(double value); + + // double localization_period = 14; + void clear_localization_period(); + static const int kLocalizationPeriodFieldNumber = 14; + double localization_period() const; + void set_localization_period(double value); + + // int32 max_steering_percentage_allowed = 8; + void clear_max_steering_percentage_allowed(); + static const int kMaxSteeringPercentageAllowedFieldNumber = 8; + ::google::protobuf::int32 max_steering_percentage_allowed() const; + void set_max_steering_percentage_allowed(::google::protobuf::int32 value); + + // @@protoc_insertion_point(class_scope:apollo.control.ControlConf) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedField active_controllers_; + mutable int _active_controllers_cached_byte_size_; + ::apollo::control::LatControllerConf* lat_controller_conf_; + ::apollo::control::LonControllerConf* lon_controller_conf_; + double control_period_; + double max_planning_interval_sec_; + double max_planning_delay_threshold_; + int driving_mode_; + int action_; + double soft_estop_brake_; + double max_status_interval_sec_; + double trajectory_period_; + double chassis_period_; + double localization_period_; + ::google::protobuf::int32 max_steering_percentage_allowed_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// ControlConf + +// double control_period = 1; +inline void ControlConf::clear_control_period() { + control_period_ = 0; +} +inline double ControlConf::control_period() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.control_period) + return control_period_; +} +inline void ControlConf::set_control_period(double value) { + + control_period_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.control_period) +} + +// double max_planning_interval_sec = 2; +inline void ControlConf::clear_max_planning_interval_sec() { + max_planning_interval_sec_ = 0; +} +inline double ControlConf::max_planning_interval_sec() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.max_planning_interval_sec) + return max_planning_interval_sec_; +} +inline void ControlConf::set_max_planning_interval_sec(double value) { + + max_planning_interval_sec_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.max_planning_interval_sec) +} + +// double max_planning_delay_threshold = 3; +inline void ControlConf::clear_max_planning_delay_threshold() { + max_planning_delay_threshold_ = 0; +} +inline double ControlConf::max_planning_delay_threshold() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.max_planning_delay_threshold) + return max_planning_delay_threshold_; +} +inline void ControlConf::set_max_planning_delay_threshold(double value) { + + max_planning_delay_threshold_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.max_planning_delay_threshold) +} + +// .apollo.canbus.Chassis.DrivingMode driving_mode = 4; +inline void ControlConf::clear_driving_mode() { + driving_mode_ = 0; +} +inline ::apollo::canbus::Chassis_DrivingMode ControlConf::driving_mode() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.driving_mode) + return static_cast< ::apollo::canbus::Chassis_DrivingMode >(driving_mode_); +} +inline void ControlConf::set_driving_mode(::apollo::canbus::Chassis_DrivingMode value) { + + driving_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.driving_mode) +} + +// .apollo.control.DrivingAction action = 5; +inline void ControlConf::clear_action() { + action_ = 0; +} +inline ::apollo::control::DrivingAction ControlConf::action() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.action) + return static_cast< ::apollo::control::DrivingAction >(action_); +} +inline void ControlConf::set_action(::apollo::control::DrivingAction value) { + + action_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.action) +} + +// double soft_estop_brake = 6; +inline void ControlConf::clear_soft_estop_brake() { + soft_estop_brake_ = 0; +} +inline double ControlConf::soft_estop_brake() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.soft_estop_brake) + return soft_estop_brake_; +} +inline void ControlConf::set_soft_estop_brake(double value) { + + soft_estop_brake_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.soft_estop_brake) +} + +// repeated .apollo.control.ControlConf.ControllerType active_controllers = 7; +inline int ControlConf::active_controllers_size() const { + return active_controllers_.size(); +} +inline void ControlConf::clear_active_controllers() { + active_controllers_.Clear(); +} +inline ::apollo::control::ControlConf_ControllerType ControlConf::active_controllers(int index) const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.active_controllers) + return static_cast< ::apollo::control::ControlConf_ControllerType >(active_controllers_.Get(index)); +} +inline void ControlConf::set_active_controllers(int index, ::apollo::control::ControlConf_ControllerType value) { + active_controllers_.Set(index, value); + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.active_controllers) +} +inline void ControlConf::add_active_controllers(::apollo::control::ControlConf_ControllerType value) { + active_controllers_.Add(value); + // @@protoc_insertion_point(field_add:apollo.control.ControlConf.active_controllers) +} +inline const ::google::protobuf::RepeatedField& +ControlConf::active_controllers() const { + // @@protoc_insertion_point(field_list:apollo.control.ControlConf.active_controllers) + return active_controllers_; +} +inline ::google::protobuf::RepeatedField* +ControlConf::mutable_active_controllers() { + // @@protoc_insertion_point(field_mutable_list:apollo.control.ControlConf.active_controllers) + return &active_controllers_; +} + +// int32 max_steering_percentage_allowed = 8; +inline void ControlConf::clear_max_steering_percentage_allowed() { + max_steering_percentage_allowed_ = 0; +} +inline ::google::protobuf::int32 ControlConf::max_steering_percentage_allowed() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.max_steering_percentage_allowed) + return max_steering_percentage_allowed_; +} +inline void ControlConf::set_max_steering_percentage_allowed(::google::protobuf::int32 value) { + + max_steering_percentage_allowed_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.max_steering_percentage_allowed) +} + +// double max_status_interval_sec = 9; +inline void ControlConf::clear_max_status_interval_sec() { + max_status_interval_sec_ = 0; +} +inline double ControlConf::max_status_interval_sec() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.max_status_interval_sec) + return max_status_interval_sec_; +} +inline void ControlConf::set_max_status_interval_sec(double value) { + + max_status_interval_sec_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.max_status_interval_sec) +} + +// .apollo.control.LatControllerConf lat_controller_conf = 10; +inline bool ControlConf::has_lat_controller_conf() const { + return this != internal_default_instance() && lat_controller_conf_ != NULL; +} +inline const ::apollo::control::LatControllerConf& ControlConf::_internal_lat_controller_conf() const { + return *lat_controller_conf_; +} +inline const ::apollo::control::LatControllerConf& ControlConf::lat_controller_conf() const { + const ::apollo::control::LatControllerConf* p = lat_controller_conf_; + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.lat_controller_conf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_LatControllerConf_default_instance_); +} +inline ::apollo::control::LatControllerConf* ControlConf::release_lat_controller_conf() { + // @@protoc_insertion_point(field_release:apollo.control.ControlConf.lat_controller_conf) + + ::apollo::control::LatControllerConf* temp = lat_controller_conf_; + lat_controller_conf_ = NULL; + return temp; +} +inline ::apollo::control::LatControllerConf* ControlConf::mutable_lat_controller_conf() { + + if (lat_controller_conf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::LatControllerConf>(GetArenaNoVirtual()); + lat_controller_conf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.ControlConf.lat_controller_conf) + return lat_controller_conf_; +} +inline void ControlConf::set_allocated_lat_controller_conf(::apollo::control::LatControllerConf* lat_controller_conf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(lat_controller_conf_); + } + if (lat_controller_conf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + lat_controller_conf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, lat_controller_conf, submessage_arena); + } + + } else { + + } + lat_controller_conf_ = lat_controller_conf; + // @@protoc_insertion_point(field_set_allocated:apollo.control.ControlConf.lat_controller_conf) +} + +// .apollo.control.LonControllerConf lon_controller_conf = 11; +inline bool ControlConf::has_lon_controller_conf() const { + return this != internal_default_instance() && lon_controller_conf_ != NULL; +} +inline const ::apollo::control::LonControllerConf& ControlConf::_internal_lon_controller_conf() const { + return *lon_controller_conf_; +} +inline const ::apollo::control::LonControllerConf& ControlConf::lon_controller_conf() const { + const ::apollo::control::LonControllerConf* p = lon_controller_conf_; + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.lon_controller_conf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_LonControllerConf_default_instance_); +} +inline ::apollo::control::LonControllerConf* ControlConf::release_lon_controller_conf() { + // @@protoc_insertion_point(field_release:apollo.control.ControlConf.lon_controller_conf) + + ::apollo::control::LonControllerConf* temp = lon_controller_conf_; + lon_controller_conf_ = NULL; + return temp; +} +inline ::apollo::control::LonControllerConf* ControlConf::mutable_lon_controller_conf() { + + if (lon_controller_conf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::LonControllerConf>(GetArenaNoVirtual()); + lon_controller_conf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.ControlConf.lon_controller_conf) + return lon_controller_conf_; +} +inline void ControlConf::set_allocated_lon_controller_conf(::apollo::control::LonControllerConf* lon_controller_conf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(lon_controller_conf_); + } + if (lon_controller_conf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + lon_controller_conf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, lon_controller_conf, submessage_arena); + } + + } else { + + } + lon_controller_conf_ = lon_controller_conf; + // @@protoc_insertion_point(field_set_allocated:apollo.control.ControlConf.lon_controller_conf) +} + +// double trajectory_period = 12; +inline void ControlConf::clear_trajectory_period() { + trajectory_period_ = 0; +} +inline double ControlConf::trajectory_period() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.trajectory_period) + return trajectory_period_; +} +inline void ControlConf::set_trajectory_period(double value) { + + trajectory_period_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.trajectory_period) +} + +// double chassis_period = 13; +inline void ControlConf::clear_chassis_period() { + chassis_period_ = 0; +} +inline double ControlConf::chassis_period() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.chassis_period) + return chassis_period_; +} +inline void ControlConf::set_chassis_period(double value) { + + chassis_period_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.chassis_period) +} + +// double localization_period = 14; +inline void ControlConf::clear_localization_period() { + localization_period_ = 0; +} +inline double ControlConf::localization_period() const { + // @@protoc_insertion_point(field_get:apollo.control.ControlConf.localization_period) + return localization_period_; +} +inline void ControlConf::set_localization_period(double value) { + + localization_period_ = value; + // @@protoc_insertion_point(field_set:apollo.control.ControlConf.localization_period) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace control +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::control::ControlConf_ControllerType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::control::ControlConf_ControllerType>() { + return ::apollo::control::ControlConf_ControllerType_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fcontrol_5fconf_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/control/lat_controller_conf.pb.cc b/apollo_msgs/include/apollo_msgs/proto/control/lat_controller_conf.pb.cc new file mode 100644 index 0000000..9c62926 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/lat_controller_conf.pb.cc @@ -0,0 +1,932 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/lat_controller_conf.proto + +#include "apollo_msgs/proto/control/lat_controller_conf.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace apollo { +namespace control { +class LatControllerConfDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _LatControllerConf_default_instance_; +} // namespace control +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto { +static void InitDefaultsLatControllerConf() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_LatControllerConf_default_instance_; + new (ptr) ::apollo::control::LatControllerConf(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::LatControllerConf::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_LatControllerConf = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsLatControllerConf}, {}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_LatControllerConf.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, ts_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, preview_window_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, cf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, cr_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, wheelbase_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, mass_fl_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, mass_fr_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, mass_rl_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, mass_rr_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, eps_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, matrix_q_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, cutoff_freq_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, mean_filter_window_size_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, steer_transmission_ratio_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, steer_single_direction_max_degree_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LatControllerConf, max_iteration_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::control::LatControllerConf)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::control::_LatControllerConf_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/control/lat_controller_conf.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n3apollo_msgs/proto/control/lat_controll" + "er_conf.proto\022\016apollo.control\"\337\002\n\021LatCon" + "trollerConf\022\n\n\002ts\030\001 \001(\001\022\026\n\016preview_windo" + "w\030\002 \001(\005\022\n\n\002cf\030\003 \001(\001\022\n\n\002cr\030\004 \001(\001\022\021\n\twheel" + "base\030\005 \001(\001\022\017\n\007mass_fl\030\006 \001(\005\022\017\n\007mass_fr\030\007" + " \001(\005\022\017\n\007mass_rl\030\010 \001(\005\022\017\n\007mass_rr\030\t \001(\005\022\013" + "\n\003eps\030\n \001(\001\022\020\n\010matrix_q\030\013 \003(\001\022\023\n\013cutoff_" + "freq\030\014 \001(\005\022\037\n\027mean_filter_window_size\030\r " + "\001(\005\022 \n\030steer_transmission_ratio\030\016 \001(\005\022)\n" + "!steer_single_direction_max_degree\030\017 \001(\005" + "\022\025\n\rmax_iteration\030\020 \001(\005b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 431); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/control/lat_controller_conf.proto", &protobuf_RegisterTypes); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto +namespace apollo { +namespace control { + +// =================================================================== + +void LatControllerConf::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int LatControllerConf::kTsFieldNumber; +const int LatControllerConf::kPreviewWindowFieldNumber; +const int LatControllerConf::kCfFieldNumber; +const int LatControllerConf::kCrFieldNumber; +const int LatControllerConf::kWheelbaseFieldNumber; +const int LatControllerConf::kMassFlFieldNumber; +const int LatControllerConf::kMassFrFieldNumber; +const int LatControllerConf::kMassRlFieldNumber; +const int LatControllerConf::kMassRrFieldNumber; +const int LatControllerConf::kEpsFieldNumber; +const int LatControllerConf::kMatrixQFieldNumber; +const int LatControllerConf::kCutoffFreqFieldNumber; +const int LatControllerConf::kMeanFilterWindowSizeFieldNumber; +const int LatControllerConf::kSteerTransmissionRatioFieldNumber; +const int LatControllerConf::kSteerSingleDirectionMaxDegreeFieldNumber; +const int LatControllerConf::kMaxIterationFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +LatControllerConf::LatControllerConf() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto::scc_info_LatControllerConf.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.LatControllerConf) +} +LatControllerConf::LatControllerConf(const LatControllerConf& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + matrix_q_(from.matrix_q_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&ts_, &from.ts_, + static_cast(reinterpret_cast(&max_iteration_) - + reinterpret_cast(&ts_)) + sizeof(max_iteration_)); + // @@protoc_insertion_point(copy_constructor:apollo.control.LatControllerConf) +} + +void LatControllerConf::SharedCtor() { + ::memset(&ts_, 0, static_cast( + reinterpret_cast(&max_iteration_) - + reinterpret_cast(&ts_)) + sizeof(max_iteration_)); +} + +LatControllerConf::~LatControllerConf() { + // @@protoc_insertion_point(destructor:apollo.control.LatControllerConf) + SharedDtor(); +} + +void LatControllerConf::SharedDtor() { +} + +void LatControllerConf::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* LatControllerConf::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const LatControllerConf& LatControllerConf::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto::scc_info_LatControllerConf.base); + return *internal_default_instance(); +} + + +void LatControllerConf::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.LatControllerConf) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + matrix_q_.Clear(); + ::memset(&ts_, 0, static_cast( + reinterpret_cast(&max_iteration_) - + reinterpret_cast(&ts_)) + sizeof(max_iteration_)); + _internal_metadata_.Clear(); +} + +bool LatControllerConf::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.LatControllerConf) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double ts = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ts_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 preview_window = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &preview_window_))); + } else { + goto handle_unusual; + } + break; + } + + // double cf = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &cf_))); + } else { + goto handle_unusual; + } + break; + } + + // double cr = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &cr_))); + } else { + goto handle_unusual; + } + break; + } + + // double wheelbase = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &wheelbase_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 mass_fl = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(48u /* 48 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &mass_fl_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 mass_fr = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(56u /* 56 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &mass_fr_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 mass_rl = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &mass_rl_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 mass_rr = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(72u /* 72 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &mass_rr_))); + } else { + goto handle_unusual; + } + break; + } + + // double eps = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(81u /* 81 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &eps_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated double matrix_q = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(90u /* 90 & 0xFF */)) { + DO_((::google::protobuf::internal::WireFormatLite::ReadPackedPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, this->mutable_matrix_q()))); + } else if ( + static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + DO_((::google::protobuf::internal::WireFormatLite::ReadRepeatedPrimitiveNoInline< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + 1, 90u, input, this->mutable_matrix_q()))); + } else { + goto handle_unusual; + } + break; + } + + // int32 cutoff_freq = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(96u /* 96 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &cutoff_freq_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 mean_filter_window_size = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(104u /* 104 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &mean_filter_window_size_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 steer_transmission_ratio = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(112u /* 112 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &steer_transmission_ratio_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 steer_single_direction_max_degree = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(120u /* 120 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &steer_single_direction_max_degree_))); + } else { + goto handle_unusual; + } + break; + } + + // int32 max_iteration = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(128u /* 128 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &max_iteration_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.LatControllerConf) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.LatControllerConf) + return false; +#undef DO_ +} + +void LatControllerConf::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.LatControllerConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double ts = 1; + if (this->ts() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->ts(), output); + } + + // int32 preview_window = 2; + if (this->preview_window() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->preview_window(), output); + } + + // double cf = 3; + if (this->cf() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->cf(), output); + } + + // double cr = 4; + if (this->cr() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->cr(), output); + } + + // double wheelbase = 5; + if (this->wheelbase() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->wheelbase(), output); + } + + // int32 mass_fl = 6; + if (this->mass_fl() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(6, this->mass_fl(), output); + } + + // int32 mass_fr = 7; + if (this->mass_fr() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(7, this->mass_fr(), output); + } + + // int32 mass_rl = 8; + if (this->mass_rl() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(8, this->mass_rl(), output); + } + + // int32 mass_rr = 9; + if (this->mass_rr() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(9, this->mass_rr(), output); + } + + // double eps = 10; + if (this->eps() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(10, this->eps(), output); + } + + // repeated double matrix_q = 11; + if (this->matrix_q_size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteTag(11, ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, output); + output->WriteVarint32(static_cast< ::google::protobuf::uint32>( + _matrix_q_cached_byte_size_)); + ::google::protobuf::internal::WireFormatLite::WriteDoubleArray( + this->matrix_q().data(), this->matrix_q_size(), output); + } + + // int32 cutoff_freq = 12; + if (this->cutoff_freq() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(12, this->cutoff_freq(), output); + } + + // int32 mean_filter_window_size = 13; + if (this->mean_filter_window_size() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(13, this->mean_filter_window_size(), output); + } + + // int32 steer_transmission_ratio = 14; + if (this->steer_transmission_ratio() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(14, this->steer_transmission_ratio(), output); + } + + // int32 steer_single_direction_max_degree = 15; + if (this->steer_single_direction_max_degree() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(15, this->steer_single_direction_max_degree(), output); + } + + // int32 max_iteration = 16; + if (this->max_iteration() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(16, this->max_iteration(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.LatControllerConf) +} + +::google::protobuf::uint8* LatControllerConf::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.LatControllerConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double ts = 1; + if (this->ts() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->ts(), target); + } + + // int32 preview_window = 2; + if (this->preview_window() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->preview_window(), target); + } + + // double cf = 3; + if (this->cf() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->cf(), target); + } + + // double cr = 4; + if (this->cr() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->cr(), target); + } + + // double wheelbase = 5; + if (this->wheelbase() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->wheelbase(), target); + } + + // int32 mass_fl = 6; + if (this->mass_fl() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(6, this->mass_fl(), target); + } + + // int32 mass_fr = 7; + if (this->mass_fr() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(7, this->mass_fr(), target); + } + + // int32 mass_rl = 8; + if (this->mass_rl() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(8, this->mass_rl(), target); + } + + // int32 mass_rr = 9; + if (this->mass_rr() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(9, this->mass_rr(), target); + } + + // double eps = 10; + if (this->eps() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(10, this->eps(), target); + } + + // repeated double matrix_q = 11; + if (this->matrix_q_size() > 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteTagToArray( + 11, + ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, + target); + target = ::google::protobuf::io::CodedOutputStream::WriteVarint32ToArray( + static_cast< ::google::protobuf::int32>( + _matrix_q_cached_byte_size_), target); + target = ::google::protobuf::internal::WireFormatLite:: + WriteDoubleNoTagToArray(this->matrix_q_, target); + } + + // int32 cutoff_freq = 12; + if (this->cutoff_freq() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(12, this->cutoff_freq(), target); + } + + // int32 mean_filter_window_size = 13; + if (this->mean_filter_window_size() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(13, this->mean_filter_window_size(), target); + } + + // int32 steer_transmission_ratio = 14; + if (this->steer_transmission_ratio() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(14, this->steer_transmission_ratio(), target); + } + + // int32 steer_single_direction_max_degree = 15; + if (this->steer_single_direction_max_degree() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(15, this->steer_single_direction_max_degree(), target); + } + + // int32 max_iteration = 16; + if (this->max_iteration() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(16, this->max_iteration(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.LatControllerConf) + return target; +} + +size_t LatControllerConf::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.LatControllerConf) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated double matrix_q = 11; + { + unsigned int count = static_cast(this->matrix_q_size()); + size_t data_size = 8UL * count; + if (data_size > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + static_cast< ::google::protobuf::int32>(data_size)); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(data_size); + GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); + _matrix_q_cached_byte_size_ = cached_size; + GOOGLE_SAFE_CONCURRENT_WRITES_END(); + total_size += data_size; + } + + // double ts = 1; + if (this->ts() != 0) { + total_size += 1 + 8; + } + + // double cf = 3; + if (this->cf() != 0) { + total_size += 1 + 8; + } + + // double cr = 4; + if (this->cr() != 0) { + total_size += 1 + 8; + } + + // int32 preview_window = 2; + if (this->preview_window() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->preview_window()); + } + + // int32 mass_fl = 6; + if (this->mass_fl() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->mass_fl()); + } + + // double wheelbase = 5; + if (this->wheelbase() != 0) { + total_size += 1 + 8; + } + + // int32 mass_fr = 7; + if (this->mass_fr() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->mass_fr()); + } + + // int32 mass_rl = 8; + if (this->mass_rl() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->mass_rl()); + } + + // double eps = 10; + if (this->eps() != 0) { + total_size += 1 + 8; + } + + // int32 mass_rr = 9; + if (this->mass_rr() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->mass_rr()); + } + + // int32 cutoff_freq = 12; + if (this->cutoff_freq() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->cutoff_freq()); + } + + // int32 mean_filter_window_size = 13; + if (this->mean_filter_window_size() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->mean_filter_window_size()); + } + + // int32 steer_transmission_ratio = 14; + if (this->steer_transmission_ratio() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->steer_transmission_ratio()); + } + + // int32 steer_single_direction_max_degree = 15; + if (this->steer_single_direction_max_degree() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->steer_single_direction_max_degree()); + } + + // int32 max_iteration = 16; + if (this->max_iteration() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->max_iteration()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void LatControllerConf::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.LatControllerConf) + GOOGLE_DCHECK_NE(&from, this); + const LatControllerConf* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.LatControllerConf) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.LatControllerConf) + MergeFrom(*source); + } +} + +void LatControllerConf::MergeFrom(const LatControllerConf& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.LatControllerConf) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + matrix_q_.MergeFrom(from.matrix_q_); + if (from.ts() != 0) { + set_ts(from.ts()); + } + if (from.cf() != 0) { + set_cf(from.cf()); + } + if (from.cr() != 0) { + set_cr(from.cr()); + } + if (from.preview_window() != 0) { + set_preview_window(from.preview_window()); + } + if (from.mass_fl() != 0) { + set_mass_fl(from.mass_fl()); + } + if (from.wheelbase() != 0) { + set_wheelbase(from.wheelbase()); + } + if (from.mass_fr() != 0) { + set_mass_fr(from.mass_fr()); + } + if (from.mass_rl() != 0) { + set_mass_rl(from.mass_rl()); + } + if (from.eps() != 0) { + set_eps(from.eps()); + } + if (from.mass_rr() != 0) { + set_mass_rr(from.mass_rr()); + } + if (from.cutoff_freq() != 0) { + set_cutoff_freq(from.cutoff_freq()); + } + if (from.mean_filter_window_size() != 0) { + set_mean_filter_window_size(from.mean_filter_window_size()); + } + if (from.steer_transmission_ratio() != 0) { + set_steer_transmission_ratio(from.steer_transmission_ratio()); + } + if (from.steer_single_direction_max_degree() != 0) { + set_steer_single_direction_max_degree(from.steer_single_direction_max_degree()); + } + if (from.max_iteration() != 0) { + set_max_iteration(from.max_iteration()); + } +} + +void LatControllerConf::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.LatControllerConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void LatControllerConf::CopyFrom(const LatControllerConf& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.LatControllerConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool LatControllerConf::IsInitialized() const { + return true; +} + +void LatControllerConf::Swap(LatControllerConf* other) { + if (other == this) return; + InternalSwap(other); +} +void LatControllerConf::InternalSwap(LatControllerConf* other) { + using std::swap; + matrix_q_.InternalSwap(&other->matrix_q_); + swap(ts_, other->ts_); + swap(cf_, other->cf_); + swap(cr_, other->cr_); + swap(preview_window_, other->preview_window_); + swap(mass_fl_, other->mass_fl_); + swap(wheelbase_, other->wheelbase_); + swap(mass_fr_, other->mass_fr_); + swap(mass_rl_, other->mass_rl_); + swap(eps_, other->eps_); + swap(mass_rr_, other->mass_rr_); + swap(cutoff_freq_, other->cutoff_freq_); + swap(mean_filter_window_size_, other->mean_filter_window_size_); + swap(steer_transmission_ratio_, other->steer_transmission_ratio_); + swap(steer_single_direction_max_degree_, other->steer_single_direction_max_degree_); + swap(max_iteration_, other->max_iteration_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata LatControllerConf::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::LatControllerConf* Arena::CreateMaybeMessage< ::apollo::control::LatControllerConf >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::LatControllerConf >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/control/lat_controller_conf.pb.h b/apollo_msgs/include/apollo_msgs/proto/control/lat_controller_conf.pb.h new file mode 100644 index 0000000..e3bb907 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/lat_controller_conf.pb.h @@ -0,0 +1,540 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/lat_controller_conf.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto +namespace apollo { +namespace control { +class LatControllerConf; +class LatControllerConfDefaultTypeInternal; +extern LatControllerConfDefaultTypeInternal _LatControllerConf_default_instance_; +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::control::LatControllerConf* Arena::CreateMaybeMessage<::apollo::control::LatControllerConf>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace control { + +// =================================================================== + +class LatControllerConf : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.LatControllerConf) */ { + public: + LatControllerConf(); + virtual ~LatControllerConf(); + + LatControllerConf(const LatControllerConf& from); + + inline LatControllerConf& operator=(const LatControllerConf& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + LatControllerConf(LatControllerConf&& from) noexcept + : LatControllerConf() { + *this = ::std::move(from); + } + + inline LatControllerConf& operator=(LatControllerConf&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const LatControllerConf& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const LatControllerConf* internal_default_instance() { + return reinterpret_cast( + &_LatControllerConf_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(LatControllerConf* other); + friend void swap(LatControllerConf& a, LatControllerConf& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline LatControllerConf* New() const final { + return CreateMaybeMessage(NULL); + } + + LatControllerConf* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const LatControllerConf& from); + void MergeFrom(const LatControllerConf& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(LatControllerConf* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated double matrix_q = 11; + int matrix_q_size() const; + void clear_matrix_q(); + static const int kMatrixQFieldNumber = 11; + double matrix_q(int index) const; + void set_matrix_q(int index, double value); + void add_matrix_q(double value); + const ::google::protobuf::RepeatedField< double >& + matrix_q() const; + ::google::protobuf::RepeatedField< double >* + mutable_matrix_q(); + + // double ts = 1; + void clear_ts(); + static const int kTsFieldNumber = 1; + double ts() const; + void set_ts(double value); + + // double cf = 3; + void clear_cf(); + static const int kCfFieldNumber = 3; + double cf() const; + void set_cf(double value); + + // double cr = 4; + void clear_cr(); + static const int kCrFieldNumber = 4; + double cr() const; + void set_cr(double value); + + // int32 preview_window = 2; + void clear_preview_window(); + static const int kPreviewWindowFieldNumber = 2; + ::google::protobuf::int32 preview_window() const; + void set_preview_window(::google::protobuf::int32 value); + + // int32 mass_fl = 6; + void clear_mass_fl(); + static const int kMassFlFieldNumber = 6; + ::google::protobuf::int32 mass_fl() const; + void set_mass_fl(::google::protobuf::int32 value); + + // double wheelbase = 5; + void clear_wheelbase(); + static const int kWheelbaseFieldNumber = 5; + double wheelbase() const; + void set_wheelbase(double value); + + // int32 mass_fr = 7; + void clear_mass_fr(); + static const int kMassFrFieldNumber = 7; + ::google::protobuf::int32 mass_fr() const; + void set_mass_fr(::google::protobuf::int32 value); + + // int32 mass_rl = 8; + void clear_mass_rl(); + static const int kMassRlFieldNumber = 8; + ::google::protobuf::int32 mass_rl() const; + void set_mass_rl(::google::protobuf::int32 value); + + // double eps = 10; + void clear_eps(); + static const int kEpsFieldNumber = 10; + double eps() const; + void set_eps(double value); + + // int32 mass_rr = 9; + void clear_mass_rr(); + static const int kMassRrFieldNumber = 9; + ::google::protobuf::int32 mass_rr() const; + void set_mass_rr(::google::protobuf::int32 value); + + // int32 cutoff_freq = 12; + void clear_cutoff_freq(); + static const int kCutoffFreqFieldNumber = 12; + ::google::protobuf::int32 cutoff_freq() const; + void set_cutoff_freq(::google::protobuf::int32 value); + + // int32 mean_filter_window_size = 13; + void clear_mean_filter_window_size(); + static const int kMeanFilterWindowSizeFieldNumber = 13; + ::google::protobuf::int32 mean_filter_window_size() const; + void set_mean_filter_window_size(::google::protobuf::int32 value); + + // int32 steer_transmission_ratio = 14; + void clear_steer_transmission_ratio(); + static const int kSteerTransmissionRatioFieldNumber = 14; + ::google::protobuf::int32 steer_transmission_ratio() const; + void set_steer_transmission_ratio(::google::protobuf::int32 value); + + // int32 steer_single_direction_max_degree = 15; + void clear_steer_single_direction_max_degree(); + static const int kSteerSingleDirectionMaxDegreeFieldNumber = 15; + ::google::protobuf::int32 steer_single_direction_max_degree() const; + void set_steer_single_direction_max_degree(::google::protobuf::int32 value); + + // int32 max_iteration = 16; + void clear_max_iteration(); + static const int kMaxIterationFieldNumber = 16; + ::google::protobuf::int32 max_iteration() const; + void set_max_iteration(::google::protobuf::int32 value); + + // @@protoc_insertion_point(class_scope:apollo.control.LatControllerConf) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedField< double > matrix_q_; + mutable int _matrix_q_cached_byte_size_; + double ts_; + double cf_; + double cr_; + ::google::protobuf::int32 preview_window_; + ::google::protobuf::int32 mass_fl_; + double wheelbase_; + ::google::protobuf::int32 mass_fr_; + ::google::protobuf::int32 mass_rl_; + double eps_; + ::google::protobuf::int32 mass_rr_; + ::google::protobuf::int32 cutoff_freq_; + ::google::protobuf::int32 mean_filter_window_size_; + ::google::protobuf::int32 steer_transmission_ratio_; + ::google::protobuf::int32 steer_single_direction_max_degree_; + ::google::protobuf::int32 max_iteration_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// LatControllerConf + +// double ts = 1; +inline void LatControllerConf::clear_ts() { + ts_ = 0; +} +inline double LatControllerConf::ts() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.ts) + return ts_; +} +inline void LatControllerConf::set_ts(double value) { + + ts_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.ts) +} + +// int32 preview_window = 2; +inline void LatControllerConf::clear_preview_window() { + preview_window_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::preview_window() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.preview_window) + return preview_window_; +} +inline void LatControllerConf::set_preview_window(::google::protobuf::int32 value) { + + preview_window_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.preview_window) +} + +// double cf = 3; +inline void LatControllerConf::clear_cf() { + cf_ = 0; +} +inline double LatControllerConf::cf() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.cf) + return cf_; +} +inline void LatControllerConf::set_cf(double value) { + + cf_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.cf) +} + +// double cr = 4; +inline void LatControllerConf::clear_cr() { + cr_ = 0; +} +inline double LatControllerConf::cr() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.cr) + return cr_; +} +inline void LatControllerConf::set_cr(double value) { + + cr_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.cr) +} + +// double wheelbase = 5; +inline void LatControllerConf::clear_wheelbase() { + wheelbase_ = 0; +} +inline double LatControllerConf::wheelbase() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.wheelbase) + return wheelbase_; +} +inline void LatControllerConf::set_wheelbase(double value) { + + wheelbase_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.wheelbase) +} + +// int32 mass_fl = 6; +inline void LatControllerConf::clear_mass_fl() { + mass_fl_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::mass_fl() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.mass_fl) + return mass_fl_; +} +inline void LatControllerConf::set_mass_fl(::google::protobuf::int32 value) { + + mass_fl_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.mass_fl) +} + +// int32 mass_fr = 7; +inline void LatControllerConf::clear_mass_fr() { + mass_fr_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::mass_fr() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.mass_fr) + return mass_fr_; +} +inline void LatControllerConf::set_mass_fr(::google::protobuf::int32 value) { + + mass_fr_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.mass_fr) +} + +// int32 mass_rl = 8; +inline void LatControllerConf::clear_mass_rl() { + mass_rl_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::mass_rl() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.mass_rl) + return mass_rl_; +} +inline void LatControllerConf::set_mass_rl(::google::protobuf::int32 value) { + + mass_rl_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.mass_rl) +} + +// int32 mass_rr = 9; +inline void LatControllerConf::clear_mass_rr() { + mass_rr_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::mass_rr() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.mass_rr) + return mass_rr_; +} +inline void LatControllerConf::set_mass_rr(::google::protobuf::int32 value) { + + mass_rr_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.mass_rr) +} + +// double eps = 10; +inline void LatControllerConf::clear_eps() { + eps_ = 0; +} +inline double LatControllerConf::eps() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.eps) + return eps_; +} +inline void LatControllerConf::set_eps(double value) { + + eps_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.eps) +} + +// repeated double matrix_q = 11; +inline int LatControllerConf::matrix_q_size() const { + return matrix_q_.size(); +} +inline void LatControllerConf::clear_matrix_q() { + matrix_q_.Clear(); +} +inline double LatControllerConf::matrix_q(int index) const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.matrix_q) + return matrix_q_.Get(index); +} +inline void LatControllerConf::set_matrix_q(int index, double value) { + matrix_q_.Set(index, value); + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.matrix_q) +} +inline void LatControllerConf::add_matrix_q(double value) { + matrix_q_.Add(value); + // @@protoc_insertion_point(field_add:apollo.control.LatControllerConf.matrix_q) +} +inline const ::google::protobuf::RepeatedField< double >& +LatControllerConf::matrix_q() const { + // @@protoc_insertion_point(field_list:apollo.control.LatControllerConf.matrix_q) + return matrix_q_; +} +inline ::google::protobuf::RepeatedField< double >* +LatControllerConf::mutable_matrix_q() { + // @@protoc_insertion_point(field_mutable_list:apollo.control.LatControllerConf.matrix_q) + return &matrix_q_; +} + +// int32 cutoff_freq = 12; +inline void LatControllerConf::clear_cutoff_freq() { + cutoff_freq_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::cutoff_freq() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.cutoff_freq) + return cutoff_freq_; +} +inline void LatControllerConf::set_cutoff_freq(::google::protobuf::int32 value) { + + cutoff_freq_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.cutoff_freq) +} + +// int32 mean_filter_window_size = 13; +inline void LatControllerConf::clear_mean_filter_window_size() { + mean_filter_window_size_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::mean_filter_window_size() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.mean_filter_window_size) + return mean_filter_window_size_; +} +inline void LatControllerConf::set_mean_filter_window_size(::google::protobuf::int32 value) { + + mean_filter_window_size_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.mean_filter_window_size) +} + +// int32 steer_transmission_ratio = 14; +inline void LatControllerConf::clear_steer_transmission_ratio() { + steer_transmission_ratio_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::steer_transmission_ratio() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.steer_transmission_ratio) + return steer_transmission_ratio_; +} +inline void LatControllerConf::set_steer_transmission_ratio(::google::protobuf::int32 value) { + + steer_transmission_ratio_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.steer_transmission_ratio) +} + +// int32 steer_single_direction_max_degree = 15; +inline void LatControllerConf::clear_steer_single_direction_max_degree() { + steer_single_direction_max_degree_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::steer_single_direction_max_degree() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.steer_single_direction_max_degree) + return steer_single_direction_max_degree_; +} +inline void LatControllerConf::set_steer_single_direction_max_degree(::google::protobuf::int32 value) { + + steer_single_direction_max_degree_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.steer_single_direction_max_degree) +} + +// int32 max_iteration = 16; +inline void LatControllerConf::clear_max_iteration() { + max_iteration_ = 0; +} +inline ::google::protobuf::int32 LatControllerConf::max_iteration() const { + // @@protoc_insertion_point(field_get:apollo.control.LatControllerConf.max_iteration) + return max_iteration_; +} +inline void LatControllerConf::set_max_iteration(::google::protobuf::int32 value) { + + max_iteration_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LatControllerConf.max_iteration) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace control +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2flat_5fcontroller_5fconf_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/control/lon_controller_conf.pb.cc b/apollo_msgs/include/apollo_msgs/proto/control/lon_controller_conf.pb.cc new file mode 100644 index 0000000..da5a36a --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/lon_controller_conf.pb.cc @@ -0,0 +1,1636 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/lon_controller_conf.proto + +#include "apollo_msgs/proto/control/lon_controller_conf.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_ControlCalibrationTable; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_FilterConf; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_PidConf; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto +namespace apollo { +namespace control { +class PidConfDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PidConf_default_instance_; +class FilterConfDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _FilterConf_default_instance_; +class LonControllerConfDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _LonControllerConf_default_instance_; +} // namespace control +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto { +static void InitDefaultsPidConf() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_PidConf_default_instance_; + new (ptr) ::apollo::control::PidConf(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::PidConf::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_PidConf = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsPidConf}, {}}; + +static void InitDefaultsFilterConf() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_FilterConf_default_instance_; + new (ptr) ::apollo::control::FilterConf(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::FilterConf::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_FilterConf = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsFilterConf}, {}}; + +static void InitDefaultsLonControllerConf() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_LonControllerConf_default_instance_; + new (ptr) ::apollo::control::LonControllerConf(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::LonControllerConf::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<3> scc_info_LonControllerConf = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 3, InitDefaultsLonControllerConf}, { + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::scc_info_PidConf.base, + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::scc_info_FilterConf.base, + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::scc_info_ControlCalibrationTable.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_PidConf.base); + ::google::protobuf::internal::InitSCC(&scc_info_FilterConf.base); + ::google::protobuf::internal::InitSCC(&scc_info_LonControllerConf.base); +} + +::google::protobuf::Metadata file_level_metadata[3]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PidConf, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PidConf, integrator_enable_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PidConf, integrator_saturation_level_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PidConf, kp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PidConf, ki_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PidConf, kd_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::FilterConf, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::FilterConf, cutoff_freq_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, ts_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, brake_deadzone_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, throttle_deadzone_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, speed_controller_input_limit_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, station_error_limit_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, preview_window_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, standstill_acceleration_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, station_pid_conf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, low_speed_pid_conf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, high_speed_pid_conf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, switch_speed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, throttle_filter_conf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, brake_filter_conf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, acceleration_filter_conf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::LonControllerConf, calibration_table_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::control::PidConf)}, + { 10, -1, sizeof(::apollo::control::FilterConf)}, + { 16, -1, sizeof(::apollo::control::LonControllerConf)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::control::_PidConf_default_instance_), + reinterpret_cast(&::apollo::control::_FilterConf_default_instance_), + reinterpret_cast(&::apollo::control::_LonControllerConf_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/control/lon_controller_conf.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 3); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n3apollo_msgs/proto/control/lon_controll" + "er_conf.proto\022\016apollo.control\0321apollo_ms" + "gs/proto/control/calibration_table.proto" + "\"m\n\007PidConf\022\031\n\021integrator_enable\030\001 \001(\010\022#" + "\n\033integrator_saturation_level\030\002 \001(\001\022\n\n\002k" + "p\030\003 \001(\001\022\n\n\002ki\030\004 \001(\001\022\n\n\002kd\030\005 \001(\001\"!\n\nFilte" + "rConf\022\023\n\013cutoff_freq\030\001 \001(\005\"\206\005\n\021LonContro" + "llerConf\022\n\n\002ts\030\001 \001(\001\022\026\n\016brake_deadzone\030\002" + " \001(\001\022\031\n\021throttle_deadzone\030\003 \001(\001\022$\n\034speed" + "_controller_input_limit\030\004 \001(\001\022\033\n\023station" + "_error_limit\030\005 \001(\001\022\026\n\016preview_window\030\006 \001" + "(\001\022\037\n\027standstill_acceleration\030\007 \001(\001\0221\n\020s" + "tation_pid_conf\030\010 \001(\0132\027.apollo.control.P" + "idConf\0223\n\022low_speed_pid_conf\030\t \001(\0132\027.apo" + "llo.control.PidConf\0224\n\023high_speed_pid_co" + "nf\030\n \001(\0132\027.apollo.control.PidConf\022\024\n\014swi" + "tch_speed\030\013 \001(\001\0228\n\024throttle_filter_conf\030" + "\014 \001(\0132\032.apollo.control.FilterConf\0225\n\021bra" + "ke_filter_conf\030\r \001(\0132\032.apollo.control.Fi" + "lterConf\022<\n\030acceleration_filter_conf\030\016 \001" + "(\0132\032.apollo.control.FilterConf\022S\n\021calibr" + "ation_table\030\017 \001(\01328.apollo.control.calib" + "rationtable.ControlCalibrationTableb\006pro" + "to3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 923); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/control/lon_controller_conf.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fcalibration_5ftable_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto +namespace apollo { +namespace control { + +// =================================================================== + +void PidConf::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PidConf::kIntegratorEnableFieldNumber; +const int PidConf::kIntegratorSaturationLevelFieldNumber; +const int PidConf::kKpFieldNumber; +const int PidConf::kKiFieldNumber; +const int PidConf::kKdFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PidConf::PidConf() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::scc_info_PidConf.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.PidConf) +} +PidConf::PidConf(const PidConf& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&integrator_saturation_level_, &from.integrator_saturation_level_, + static_cast(reinterpret_cast(&integrator_enable_) - + reinterpret_cast(&integrator_saturation_level_)) + sizeof(integrator_enable_)); + // @@protoc_insertion_point(copy_constructor:apollo.control.PidConf) +} + +void PidConf::SharedCtor() { + ::memset(&integrator_saturation_level_, 0, static_cast( + reinterpret_cast(&integrator_enable_) - + reinterpret_cast(&integrator_saturation_level_)) + sizeof(integrator_enable_)); +} + +PidConf::~PidConf() { + // @@protoc_insertion_point(destructor:apollo.control.PidConf) + SharedDtor(); +} + +void PidConf::SharedDtor() { +} + +void PidConf::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PidConf::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PidConf& PidConf::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::scc_info_PidConf.base); + return *internal_default_instance(); +} + + +void PidConf::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.PidConf) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&integrator_saturation_level_, 0, static_cast( + reinterpret_cast(&integrator_enable_) - + reinterpret_cast(&integrator_saturation_level_)) + sizeof(integrator_enable_)); + _internal_metadata_.Clear(); +} + +bool PidConf::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.PidConf) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool integrator_enable = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &integrator_enable_))); + } else { + goto handle_unusual; + } + break; + } + + // double integrator_saturation_level = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &integrator_saturation_level_))); + } else { + goto handle_unusual; + } + break; + } + + // double kp = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &kp_))); + } else { + goto handle_unusual; + } + break; + } + + // double ki = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ki_))); + } else { + goto handle_unusual; + } + break; + } + + // double kd = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &kd_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.PidConf) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.PidConf) + return false; +#undef DO_ +} + +void PidConf::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.PidConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool integrator_enable = 1; + if (this->integrator_enable() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->integrator_enable(), output); + } + + // double integrator_saturation_level = 2; + if (this->integrator_saturation_level() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->integrator_saturation_level(), output); + } + + // double kp = 3; + if (this->kp() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->kp(), output); + } + + // double ki = 4; + if (this->ki() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->ki(), output); + } + + // double kd = 5; + if (this->kd() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->kd(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.PidConf) +} + +::google::protobuf::uint8* PidConf::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.PidConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool integrator_enable = 1; + if (this->integrator_enable() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->integrator_enable(), target); + } + + // double integrator_saturation_level = 2; + if (this->integrator_saturation_level() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->integrator_saturation_level(), target); + } + + // double kp = 3; + if (this->kp() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->kp(), target); + } + + // double ki = 4; + if (this->ki() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->ki(), target); + } + + // double kd = 5; + if (this->kd() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->kd(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.PidConf) + return target; +} + +size_t PidConf::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.PidConf) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double integrator_saturation_level = 2; + if (this->integrator_saturation_level() != 0) { + total_size += 1 + 8; + } + + // double kp = 3; + if (this->kp() != 0) { + total_size += 1 + 8; + } + + // double ki = 4; + if (this->ki() != 0) { + total_size += 1 + 8; + } + + // double kd = 5; + if (this->kd() != 0) { + total_size += 1 + 8; + } + + // bool integrator_enable = 1; + if (this->integrator_enable() != 0) { + total_size += 1 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PidConf::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.PidConf) + GOOGLE_DCHECK_NE(&from, this); + const PidConf* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.PidConf) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.PidConf) + MergeFrom(*source); + } +} + +void PidConf::MergeFrom(const PidConf& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.PidConf) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.integrator_saturation_level() != 0) { + set_integrator_saturation_level(from.integrator_saturation_level()); + } + if (from.kp() != 0) { + set_kp(from.kp()); + } + if (from.ki() != 0) { + set_ki(from.ki()); + } + if (from.kd() != 0) { + set_kd(from.kd()); + } + if (from.integrator_enable() != 0) { + set_integrator_enable(from.integrator_enable()); + } +} + +void PidConf::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.PidConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PidConf::CopyFrom(const PidConf& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.PidConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PidConf::IsInitialized() const { + return true; +} + +void PidConf::Swap(PidConf* other) { + if (other == this) return; + InternalSwap(other); +} +void PidConf::InternalSwap(PidConf* other) { + using std::swap; + swap(integrator_saturation_level_, other->integrator_saturation_level_); + swap(kp_, other->kp_); + swap(ki_, other->ki_); + swap(kd_, other->kd_); + swap(integrator_enable_, other->integrator_enable_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PidConf::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void FilterConf::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int FilterConf::kCutoffFreqFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +FilterConf::FilterConf() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::scc_info_FilterConf.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.FilterConf) +} +FilterConf::FilterConf(const FilterConf& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + cutoff_freq_ = from.cutoff_freq_; + // @@protoc_insertion_point(copy_constructor:apollo.control.FilterConf) +} + +void FilterConf::SharedCtor() { + cutoff_freq_ = 0; +} + +FilterConf::~FilterConf() { + // @@protoc_insertion_point(destructor:apollo.control.FilterConf) + SharedDtor(); +} + +void FilterConf::SharedDtor() { +} + +void FilterConf::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* FilterConf::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const FilterConf& FilterConf::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::scc_info_FilterConf.base); + return *internal_default_instance(); +} + + +void FilterConf::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.FilterConf) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + cutoff_freq_ = 0; + _internal_metadata_.Clear(); +} + +bool FilterConf::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.FilterConf) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // int32 cutoff_freq = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &cutoff_freq_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.FilterConf) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.FilterConf) + return false; +#undef DO_ +} + +void FilterConf::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.FilterConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // int32 cutoff_freq = 1; + if (this->cutoff_freq() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(1, this->cutoff_freq(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.FilterConf) +} + +::google::protobuf::uint8* FilterConf::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.FilterConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // int32 cutoff_freq = 1; + if (this->cutoff_freq() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(1, this->cutoff_freq(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.FilterConf) + return target; +} + +size_t FilterConf::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.FilterConf) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // int32 cutoff_freq = 1; + if (this->cutoff_freq() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->cutoff_freq()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void FilterConf::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.FilterConf) + GOOGLE_DCHECK_NE(&from, this); + const FilterConf* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.FilterConf) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.FilterConf) + MergeFrom(*source); + } +} + +void FilterConf::MergeFrom(const FilterConf& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.FilterConf) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.cutoff_freq() != 0) { + set_cutoff_freq(from.cutoff_freq()); + } +} + +void FilterConf::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.FilterConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void FilterConf::CopyFrom(const FilterConf& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.FilterConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool FilterConf::IsInitialized() const { + return true; +} + +void FilterConf::Swap(FilterConf* other) { + if (other == this) return; + InternalSwap(other); +} +void FilterConf::InternalSwap(FilterConf* other) { + using std::swap; + swap(cutoff_freq_, other->cutoff_freq_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata FilterConf::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void LonControllerConf::InitAsDefaultInstance() { + ::apollo::control::_LonControllerConf_default_instance_._instance.get_mutable()->station_pid_conf_ = const_cast< ::apollo::control::PidConf*>( + ::apollo::control::PidConf::internal_default_instance()); + ::apollo::control::_LonControllerConf_default_instance_._instance.get_mutable()->low_speed_pid_conf_ = const_cast< ::apollo::control::PidConf*>( + ::apollo::control::PidConf::internal_default_instance()); + ::apollo::control::_LonControllerConf_default_instance_._instance.get_mutable()->high_speed_pid_conf_ = const_cast< ::apollo::control::PidConf*>( + ::apollo::control::PidConf::internal_default_instance()); + ::apollo::control::_LonControllerConf_default_instance_._instance.get_mutable()->throttle_filter_conf_ = const_cast< ::apollo::control::FilterConf*>( + ::apollo::control::FilterConf::internal_default_instance()); + ::apollo::control::_LonControllerConf_default_instance_._instance.get_mutable()->brake_filter_conf_ = const_cast< ::apollo::control::FilterConf*>( + ::apollo::control::FilterConf::internal_default_instance()); + ::apollo::control::_LonControllerConf_default_instance_._instance.get_mutable()->acceleration_filter_conf_ = const_cast< ::apollo::control::FilterConf*>( + ::apollo::control::FilterConf::internal_default_instance()); + ::apollo::control::_LonControllerConf_default_instance_._instance.get_mutable()->calibration_table_ = const_cast< ::apollo::control::calibrationtable::ControlCalibrationTable*>( + ::apollo::control::calibrationtable::ControlCalibrationTable::internal_default_instance()); +} +void LonControllerConf::clear_calibration_table() { + if (GetArenaNoVirtual() == NULL && calibration_table_ != NULL) { + delete calibration_table_; + } + calibration_table_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int LonControllerConf::kTsFieldNumber; +const int LonControllerConf::kBrakeDeadzoneFieldNumber; +const int LonControllerConf::kThrottleDeadzoneFieldNumber; +const int LonControllerConf::kSpeedControllerInputLimitFieldNumber; +const int LonControllerConf::kStationErrorLimitFieldNumber; +const int LonControllerConf::kPreviewWindowFieldNumber; +const int LonControllerConf::kStandstillAccelerationFieldNumber; +const int LonControllerConf::kStationPidConfFieldNumber; +const int LonControllerConf::kLowSpeedPidConfFieldNumber; +const int LonControllerConf::kHighSpeedPidConfFieldNumber; +const int LonControllerConf::kSwitchSpeedFieldNumber; +const int LonControllerConf::kThrottleFilterConfFieldNumber; +const int LonControllerConf::kBrakeFilterConfFieldNumber; +const int LonControllerConf::kAccelerationFilterConfFieldNumber; +const int LonControllerConf::kCalibrationTableFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +LonControllerConf::LonControllerConf() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::scc_info_LonControllerConf.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.LonControllerConf) +} +LonControllerConf::LonControllerConf(const LonControllerConf& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_station_pid_conf()) { + station_pid_conf_ = new ::apollo::control::PidConf(*from.station_pid_conf_); + } else { + station_pid_conf_ = NULL; + } + if (from.has_low_speed_pid_conf()) { + low_speed_pid_conf_ = new ::apollo::control::PidConf(*from.low_speed_pid_conf_); + } else { + low_speed_pid_conf_ = NULL; + } + if (from.has_high_speed_pid_conf()) { + high_speed_pid_conf_ = new ::apollo::control::PidConf(*from.high_speed_pid_conf_); + } else { + high_speed_pid_conf_ = NULL; + } + if (from.has_throttle_filter_conf()) { + throttle_filter_conf_ = new ::apollo::control::FilterConf(*from.throttle_filter_conf_); + } else { + throttle_filter_conf_ = NULL; + } + if (from.has_brake_filter_conf()) { + brake_filter_conf_ = new ::apollo::control::FilterConf(*from.brake_filter_conf_); + } else { + brake_filter_conf_ = NULL; + } + if (from.has_acceleration_filter_conf()) { + acceleration_filter_conf_ = new ::apollo::control::FilterConf(*from.acceleration_filter_conf_); + } else { + acceleration_filter_conf_ = NULL; + } + if (from.has_calibration_table()) { + calibration_table_ = new ::apollo::control::calibrationtable::ControlCalibrationTable(*from.calibration_table_); + } else { + calibration_table_ = NULL; + } + ::memcpy(&ts_, &from.ts_, + static_cast(reinterpret_cast(&switch_speed_) - + reinterpret_cast(&ts_)) + sizeof(switch_speed_)); + // @@protoc_insertion_point(copy_constructor:apollo.control.LonControllerConf) +} + +void LonControllerConf::SharedCtor() { + ::memset(&station_pid_conf_, 0, static_cast( + reinterpret_cast(&switch_speed_) - + reinterpret_cast(&station_pid_conf_)) + sizeof(switch_speed_)); +} + +LonControllerConf::~LonControllerConf() { + // @@protoc_insertion_point(destructor:apollo.control.LonControllerConf) + SharedDtor(); +} + +void LonControllerConf::SharedDtor() { + if (this != internal_default_instance()) delete station_pid_conf_; + if (this != internal_default_instance()) delete low_speed_pid_conf_; + if (this != internal_default_instance()) delete high_speed_pid_conf_; + if (this != internal_default_instance()) delete throttle_filter_conf_; + if (this != internal_default_instance()) delete brake_filter_conf_; + if (this != internal_default_instance()) delete acceleration_filter_conf_; + if (this != internal_default_instance()) delete calibration_table_; +} + +void LonControllerConf::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* LonControllerConf::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const LonControllerConf& LonControllerConf::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::scc_info_LonControllerConf.base); + return *internal_default_instance(); +} + + +void LonControllerConf::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.LonControllerConf) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && station_pid_conf_ != NULL) { + delete station_pid_conf_; + } + station_pid_conf_ = NULL; + if (GetArenaNoVirtual() == NULL && low_speed_pid_conf_ != NULL) { + delete low_speed_pid_conf_; + } + low_speed_pid_conf_ = NULL; + if (GetArenaNoVirtual() == NULL && high_speed_pid_conf_ != NULL) { + delete high_speed_pid_conf_; + } + high_speed_pid_conf_ = NULL; + if (GetArenaNoVirtual() == NULL && throttle_filter_conf_ != NULL) { + delete throttle_filter_conf_; + } + throttle_filter_conf_ = NULL; + if (GetArenaNoVirtual() == NULL && brake_filter_conf_ != NULL) { + delete brake_filter_conf_; + } + brake_filter_conf_ = NULL; + if (GetArenaNoVirtual() == NULL && acceleration_filter_conf_ != NULL) { + delete acceleration_filter_conf_; + } + acceleration_filter_conf_ = NULL; + if (GetArenaNoVirtual() == NULL && calibration_table_ != NULL) { + delete calibration_table_; + } + calibration_table_ = NULL; + ::memset(&ts_, 0, static_cast( + reinterpret_cast(&switch_speed_) - + reinterpret_cast(&ts_)) + sizeof(switch_speed_)); + _internal_metadata_.Clear(); +} + +bool LonControllerConf::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.LonControllerConf) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double ts = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ts_))); + } else { + goto handle_unusual; + } + break; + } + + // double brake_deadzone = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &brake_deadzone_))); + } else { + goto handle_unusual; + } + break; + } + + // double throttle_deadzone = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &throttle_deadzone_))); + } else { + goto handle_unusual; + } + break; + } + + // double speed_controller_input_limit = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_controller_input_limit_))); + } else { + goto handle_unusual; + } + break; + } + + // double station_error_limit = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &station_error_limit_))); + } else { + goto handle_unusual; + } + break; + } + + // double preview_window = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &preview_window_))); + } else { + goto handle_unusual; + } + break; + } + + // double standstill_acceleration = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &standstill_acceleration_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.PidConf station_pid_conf = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(66u /* 66 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_station_pid_conf())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.PidConf low_speed_pid_conf = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(74u /* 74 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_low_speed_pid_conf())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.PidConf high_speed_pid_conf = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(82u /* 82 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_high_speed_pid_conf())); + } else { + goto handle_unusual; + } + break; + } + + // double switch_speed = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &switch_speed_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.FilterConf throttle_filter_conf = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(98u /* 98 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_throttle_filter_conf())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.FilterConf brake_filter_conf = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(106u /* 106 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_brake_filter_conf())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.FilterConf acceleration_filter_conf = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(114u /* 114 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_acceleration_filter_conf())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.calibrationtable.ControlCalibrationTable calibration_table = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(122u /* 122 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_calibration_table())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.LonControllerConf) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.LonControllerConf) + return false; +#undef DO_ +} + +void LonControllerConf::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.LonControllerConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double ts = 1; + if (this->ts() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->ts(), output); + } + + // double brake_deadzone = 2; + if (this->brake_deadzone() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->brake_deadzone(), output); + } + + // double throttle_deadzone = 3; + if (this->throttle_deadzone() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->throttle_deadzone(), output); + } + + // double speed_controller_input_limit = 4; + if (this->speed_controller_input_limit() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->speed_controller_input_limit(), output); + } + + // double station_error_limit = 5; + if (this->station_error_limit() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->station_error_limit(), output); + } + + // double preview_window = 6; + if (this->preview_window() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->preview_window(), output); + } + + // double standstill_acceleration = 7; + if (this->standstill_acceleration() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->standstill_acceleration(), output); + } + + // .apollo.control.PidConf station_pid_conf = 8; + if (this->has_station_pid_conf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 8, this->_internal_station_pid_conf(), output); + } + + // .apollo.control.PidConf low_speed_pid_conf = 9; + if (this->has_low_speed_pid_conf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 9, this->_internal_low_speed_pid_conf(), output); + } + + // .apollo.control.PidConf high_speed_pid_conf = 10; + if (this->has_high_speed_pid_conf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 10, this->_internal_high_speed_pid_conf(), output); + } + + // double switch_speed = 11; + if (this->switch_speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(11, this->switch_speed(), output); + } + + // .apollo.control.FilterConf throttle_filter_conf = 12; + if (this->has_throttle_filter_conf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 12, this->_internal_throttle_filter_conf(), output); + } + + // .apollo.control.FilterConf brake_filter_conf = 13; + if (this->has_brake_filter_conf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 13, this->_internal_brake_filter_conf(), output); + } + + // .apollo.control.FilterConf acceleration_filter_conf = 14; + if (this->has_acceleration_filter_conf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 14, this->_internal_acceleration_filter_conf(), output); + } + + // .apollo.control.calibrationtable.ControlCalibrationTable calibration_table = 15; + if (this->has_calibration_table()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 15, this->_internal_calibration_table(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.LonControllerConf) +} + +::google::protobuf::uint8* LonControllerConf::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.LonControllerConf) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double ts = 1; + if (this->ts() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->ts(), target); + } + + // double brake_deadzone = 2; + if (this->brake_deadzone() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->brake_deadzone(), target); + } + + // double throttle_deadzone = 3; + if (this->throttle_deadzone() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->throttle_deadzone(), target); + } + + // double speed_controller_input_limit = 4; + if (this->speed_controller_input_limit() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->speed_controller_input_limit(), target); + } + + // double station_error_limit = 5; + if (this->station_error_limit() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->station_error_limit(), target); + } + + // double preview_window = 6; + if (this->preview_window() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->preview_window(), target); + } + + // double standstill_acceleration = 7; + if (this->standstill_acceleration() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->standstill_acceleration(), target); + } + + // .apollo.control.PidConf station_pid_conf = 8; + if (this->has_station_pid_conf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 8, this->_internal_station_pid_conf(), deterministic, target); + } + + // .apollo.control.PidConf low_speed_pid_conf = 9; + if (this->has_low_speed_pid_conf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 9, this->_internal_low_speed_pid_conf(), deterministic, target); + } + + // .apollo.control.PidConf high_speed_pid_conf = 10; + if (this->has_high_speed_pid_conf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 10, this->_internal_high_speed_pid_conf(), deterministic, target); + } + + // double switch_speed = 11; + if (this->switch_speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(11, this->switch_speed(), target); + } + + // .apollo.control.FilterConf throttle_filter_conf = 12; + if (this->has_throttle_filter_conf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 12, this->_internal_throttle_filter_conf(), deterministic, target); + } + + // .apollo.control.FilterConf brake_filter_conf = 13; + if (this->has_brake_filter_conf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 13, this->_internal_brake_filter_conf(), deterministic, target); + } + + // .apollo.control.FilterConf acceleration_filter_conf = 14; + if (this->has_acceleration_filter_conf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 14, this->_internal_acceleration_filter_conf(), deterministic, target); + } + + // .apollo.control.calibrationtable.ControlCalibrationTable calibration_table = 15; + if (this->has_calibration_table()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 15, this->_internal_calibration_table(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.LonControllerConf) + return target; +} + +size_t LonControllerConf::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.LonControllerConf) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.control.PidConf station_pid_conf = 8; + if (this->has_station_pid_conf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *station_pid_conf_); + } + + // .apollo.control.PidConf low_speed_pid_conf = 9; + if (this->has_low_speed_pid_conf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *low_speed_pid_conf_); + } + + // .apollo.control.PidConf high_speed_pid_conf = 10; + if (this->has_high_speed_pid_conf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *high_speed_pid_conf_); + } + + // .apollo.control.FilterConf throttle_filter_conf = 12; + if (this->has_throttle_filter_conf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *throttle_filter_conf_); + } + + // .apollo.control.FilterConf brake_filter_conf = 13; + if (this->has_brake_filter_conf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *brake_filter_conf_); + } + + // .apollo.control.FilterConf acceleration_filter_conf = 14; + if (this->has_acceleration_filter_conf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *acceleration_filter_conf_); + } + + // .apollo.control.calibrationtable.ControlCalibrationTable calibration_table = 15; + if (this->has_calibration_table()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *calibration_table_); + } + + // double ts = 1; + if (this->ts() != 0) { + total_size += 1 + 8; + } + + // double brake_deadzone = 2; + if (this->brake_deadzone() != 0) { + total_size += 1 + 8; + } + + // double throttle_deadzone = 3; + if (this->throttle_deadzone() != 0) { + total_size += 1 + 8; + } + + // double speed_controller_input_limit = 4; + if (this->speed_controller_input_limit() != 0) { + total_size += 1 + 8; + } + + // double station_error_limit = 5; + if (this->station_error_limit() != 0) { + total_size += 1 + 8; + } + + // double preview_window = 6; + if (this->preview_window() != 0) { + total_size += 1 + 8; + } + + // double standstill_acceleration = 7; + if (this->standstill_acceleration() != 0) { + total_size += 1 + 8; + } + + // double switch_speed = 11; + if (this->switch_speed() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void LonControllerConf::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.LonControllerConf) + GOOGLE_DCHECK_NE(&from, this); + const LonControllerConf* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.LonControllerConf) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.LonControllerConf) + MergeFrom(*source); + } +} + +void LonControllerConf::MergeFrom(const LonControllerConf& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.LonControllerConf) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_station_pid_conf()) { + mutable_station_pid_conf()->::apollo::control::PidConf::MergeFrom(from.station_pid_conf()); + } + if (from.has_low_speed_pid_conf()) { + mutable_low_speed_pid_conf()->::apollo::control::PidConf::MergeFrom(from.low_speed_pid_conf()); + } + if (from.has_high_speed_pid_conf()) { + mutable_high_speed_pid_conf()->::apollo::control::PidConf::MergeFrom(from.high_speed_pid_conf()); + } + if (from.has_throttle_filter_conf()) { + mutable_throttle_filter_conf()->::apollo::control::FilterConf::MergeFrom(from.throttle_filter_conf()); + } + if (from.has_brake_filter_conf()) { + mutable_brake_filter_conf()->::apollo::control::FilterConf::MergeFrom(from.brake_filter_conf()); + } + if (from.has_acceleration_filter_conf()) { + mutable_acceleration_filter_conf()->::apollo::control::FilterConf::MergeFrom(from.acceleration_filter_conf()); + } + if (from.has_calibration_table()) { + mutable_calibration_table()->::apollo::control::calibrationtable::ControlCalibrationTable::MergeFrom(from.calibration_table()); + } + if (from.ts() != 0) { + set_ts(from.ts()); + } + if (from.brake_deadzone() != 0) { + set_brake_deadzone(from.brake_deadzone()); + } + if (from.throttle_deadzone() != 0) { + set_throttle_deadzone(from.throttle_deadzone()); + } + if (from.speed_controller_input_limit() != 0) { + set_speed_controller_input_limit(from.speed_controller_input_limit()); + } + if (from.station_error_limit() != 0) { + set_station_error_limit(from.station_error_limit()); + } + if (from.preview_window() != 0) { + set_preview_window(from.preview_window()); + } + if (from.standstill_acceleration() != 0) { + set_standstill_acceleration(from.standstill_acceleration()); + } + if (from.switch_speed() != 0) { + set_switch_speed(from.switch_speed()); + } +} + +void LonControllerConf::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.LonControllerConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void LonControllerConf::CopyFrom(const LonControllerConf& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.LonControllerConf) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool LonControllerConf::IsInitialized() const { + return true; +} + +void LonControllerConf::Swap(LonControllerConf* other) { + if (other == this) return; + InternalSwap(other); +} +void LonControllerConf::InternalSwap(LonControllerConf* other) { + using std::swap; + swap(station_pid_conf_, other->station_pid_conf_); + swap(low_speed_pid_conf_, other->low_speed_pid_conf_); + swap(high_speed_pid_conf_, other->high_speed_pid_conf_); + swap(throttle_filter_conf_, other->throttle_filter_conf_); + swap(brake_filter_conf_, other->brake_filter_conf_); + swap(acceleration_filter_conf_, other->acceleration_filter_conf_); + swap(calibration_table_, other->calibration_table_); + swap(ts_, other->ts_); + swap(brake_deadzone_, other->brake_deadzone_); + swap(throttle_deadzone_, other->throttle_deadzone_); + swap(speed_controller_input_limit_, other->speed_controller_input_limit_); + swap(station_error_limit_, other->station_error_limit_); + swap(preview_window_, other->preview_window_); + swap(standstill_acceleration_, other->standstill_acceleration_); + swap(switch_speed_, other->switch_speed_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata LonControllerConf::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::PidConf* Arena::CreateMaybeMessage< ::apollo::control::PidConf >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::PidConf >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::FilterConf* Arena::CreateMaybeMessage< ::apollo::control::FilterConf >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::FilterConf >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::LonControllerConf* Arena::CreateMaybeMessage< ::apollo::control::LonControllerConf >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::LonControllerConf >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/control/lon_controller_conf.pb.h b/apollo_msgs/include/apollo_msgs/proto/control/lon_controller_conf.pb.h new file mode 100644 index 0000000..b24aef1 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/lon_controller_conf.pb.h @@ -0,0 +1,1151 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/lon_controller_conf.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/control/calibration_table.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[3]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto +namespace apollo { +namespace control { +class FilterConf; +class FilterConfDefaultTypeInternal; +extern FilterConfDefaultTypeInternal _FilterConf_default_instance_; +class LonControllerConf; +class LonControllerConfDefaultTypeInternal; +extern LonControllerConfDefaultTypeInternal _LonControllerConf_default_instance_; +class PidConf; +class PidConfDefaultTypeInternal; +extern PidConfDefaultTypeInternal _PidConf_default_instance_; +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::control::FilterConf* Arena::CreateMaybeMessage<::apollo::control::FilterConf>(Arena*); +template<> ::apollo::control::LonControllerConf* Arena::CreateMaybeMessage<::apollo::control::LonControllerConf>(Arena*); +template<> ::apollo::control::PidConf* Arena::CreateMaybeMessage<::apollo::control::PidConf>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace control { + +// =================================================================== + +class PidConf : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.PidConf) */ { + public: + PidConf(); + virtual ~PidConf(); + + PidConf(const PidConf& from); + + inline PidConf& operator=(const PidConf& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PidConf(PidConf&& from) noexcept + : PidConf() { + *this = ::std::move(from); + } + + inline PidConf& operator=(PidConf&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PidConf& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PidConf* internal_default_instance() { + return reinterpret_cast( + &_PidConf_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(PidConf* other); + friend void swap(PidConf& a, PidConf& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PidConf* New() const final { + return CreateMaybeMessage(NULL); + } + + PidConf* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PidConf& from); + void MergeFrom(const PidConf& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PidConf* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double integrator_saturation_level = 2; + void clear_integrator_saturation_level(); + static const int kIntegratorSaturationLevelFieldNumber = 2; + double integrator_saturation_level() const; + void set_integrator_saturation_level(double value); + + // double kp = 3; + void clear_kp(); + static const int kKpFieldNumber = 3; + double kp() const; + void set_kp(double value); + + // double ki = 4; + void clear_ki(); + static const int kKiFieldNumber = 4; + double ki() const; + void set_ki(double value); + + // double kd = 5; + void clear_kd(); + static const int kKdFieldNumber = 5; + double kd() const; + void set_kd(double value); + + // bool integrator_enable = 1; + void clear_integrator_enable(); + static const int kIntegratorEnableFieldNumber = 1; + bool integrator_enable() const; + void set_integrator_enable(bool value); + + // @@protoc_insertion_point(class_scope:apollo.control.PidConf) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double integrator_saturation_level_; + double kp_; + double ki_; + double kd_; + bool integrator_enable_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class FilterConf : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.FilterConf) */ { + public: + FilterConf(); + virtual ~FilterConf(); + + FilterConf(const FilterConf& from); + + inline FilterConf& operator=(const FilterConf& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + FilterConf(FilterConf&& from) noexcept + : FilterConf() { + *this = ::std::move(from); + } + + inline FilterConf& operator=(FilterConf&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const FilterConf& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const FilterConf* internal_default_instance() { + return reinterpret_cast( + &_FilterConf_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(FilterConf* other); + friend void swap(FilterConf& a, FilterConf& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline FilterConf* New() const final { + return CreateMaybeMessage(NULL); + } + + FilterConf* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const FilterConf& from); + void MergeFrom(const FilterConf& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(FilterConf* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // int32 cutoff_freq = 1; + void clear_cutoff_freq(); + static const int kCutoffFreqFieldNumber = 1; + ::google::protobuf::int32 cutoff_freq() const; + void set_cutoff_freq(::google::protobuf::int32 value); + + // @@protoc_insertion_point(class_scope:apollo.control.FilterConf) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::int32 cutoff_freq_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class LonControllerConf : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.LonControllerConf) */ { + public: + LonControllerConf(); + virtual ~LonControllerConf(); + + LonControllerConf(const LonControllerConf& from); + + inline LonControllerConf& operator=(const LonControllerConf& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + LonControllerConf(LonControllerConf&& from) noexcept + : LonControllerConf() { + *this = ::std::move(from); + } + + inline LonControllerConf& operator=(LonControllerConf&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const LonControllerConf& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const LonControllerConf* internal_default_instance() { + return reinterpret_cast( + &_LonControllerConf_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(LonControllerConf* other); + friend void swap(LonControllerConf& a, LonControllerConf& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline LonControllerConf* New() const final { + return CreateMaybeMessage(NULL); + } + + LonControllerConf* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const LonControllerConf& from); + void MergeFrom(const LonControllerConf& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(LonControllerConf* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.control.PidConf station_pid_conf = 8; + bool has_station_pid_conf() const; + void clear_station_pid_conf(); + static const int kStationPidConfFieldNumber = 8; + private: + const ::apollo::control::PidConf& _internal_station_pid_conf() const; + public: + const ::apollo::control::PidConf& station_pid_conf() const; + ::apollo::control::PidConf* release_station_pid_conf(); + ::apollo::control::PidConf* mutable_station_pid_conf(); + void set_allocated_station_pid_conf(::apollo::control::PidConf* station_pid_conf); + + // .apollo.control.PidConf low_speed_pid_conf = 9; + bool has_low_speed_pid_conf() const; + void clear_low_speed_pid_conf(); + static const int kLowSpeedPidConfFieldNumber = 9; + private: + const ::apollo::control::PidConf& _internal_low_speed_pid_conf() const; + public: + const ::apollo::control::PidConf& low_speed_pid_conf() const; + ::apollo::control::PidConf* release_low_speed_pid_conf(); + ::apollo::control::PidConf* mutable_low_speed_pid_conf(); + void set_allocated_low_speed_pid_conf(::apollo::control::PidConf* low_speed_pid_conf); + + // .apollo.control.PidConf high_speed_pid_conf = 10; + bool has_high_speed_pid_conf() const; + void clear_high_speed_pid_conf(); + static const int kHighSpeedPidConfFieldNumber = 10; + private: + const ::apollo::control::PidConf& _internal_high_speed_pid_conf() const; + public: + const ::apollo::control::PidConf& high_speed_pid_conf() const; + ::apollo::control::PidConf* release_high_speed_pid_conf(); + ::apollo::control::PidConf* mutable_high_speed_pid_conf(); + void set_allocated_high_speed_pid_conf(::apollo::control::PidConf* high_speed_pid_conf); + + // .apollo.control.FilterConf throttle_filter_conf = 12; + bool has_throttle_filter_conf() const; + void clear_throttle_filter_conf(); + static const int kThrottleFilterConfFieldNumber = 12; + private: + const ::apollo::control::FilterConf& _internal_throttle_filter_conf() const; + public: + const ::apollo::control::FilterConf& throttle_filter_conf() const; + ::apollo::control::FilterConf* release_throttle_filter_conf(); + ::apollo::control::FilterConf* mutable_throttle_filter_conf(); + void set_allocated_throttle_filter_conf(::apollo::control::FilterConf* throttle_filter_conf); + + // .apollo.control.FilterConf brake_filter_conf = 13; + bool has_brake_filter_conf() const; + void clear_brake_filter_conf(); + static const int kBrakeFilterConfFieldNumber = 13; + private: + const ::apollo::control::FilterConf& _internal_brake_filter_conf() const; + public: + const ::apollo::control::FilterConf& brake_filter_conf() const; + ::apollo::control::FilterConf* release_brake_filter_conf(); + ::apollo::control::FilterConf* mutable_brake_filter_conf(); + void set_allocated_brake_filter_conf(::apollo::control::FilterConf* brake_filter_conf); + + // .apollo.control.FilterConf acceleration_filter_conf = 14; + bool has_acceleration_filter_conf() const; + void clear_acceleration_filter_conf(); + static const int kAccelerationFilterConfFieldNumber = 14; + private: + const ::apollo::control::FilterConf& _internal_acceleration_filter_conf() const; + public: + const ::apollo::control::FilterConf& acceleration_filter_conf() const; + ::apollo::control::FilterConf* release_acceleration_filter_conf(); + ::apollo::control::FilterConf* mutable_acceleration_filter_conf(); + void set_allocated_acceleration_filter_conf(::apollo::control::FilterConf* acceleration_filter_conf); + + // .apollo.control.calibrationtable.ControlCalibrationTable calibration_table = 15; + bool has_calibration_table() const; + void clear_calibration_table(); + static const int kCalibrationTableFieldNumber = 15; + private: + const ::apollo::control::calibrationtable::ControlCalibrationTable& _internal_calibration_table() const; + public: + const ::apollo::control::calibrationtable::ControlCalibrationTable& calibration_table() const; + ::apollo::control::calibrationtable::ControlCalibrationTable* release_calibration_table(); + ::apollo::control::calibrationtable::ControlCalibrationTable* mutable_calibration_table(); + void set_allocated_calibration_table(::apollo::control::calibrationtable::ControlCalibrationTable* calibration_table); + + // double ts = 1; + void clear_ts(); + static const int kTsFieldNumber = 1; + double ts() const; + void set_ts(double value); + + // double brake_deadzone = 2; + void clear_brake_deadzone(); + static const int kBrakeDeadzoneFieldNumber = 2; + double brake_deadzone() const; + void set_brake_deadzone(double value); + + // double throttle_deadzone = 3; + void clear_throttle_deadzone(); + static const int kThrottleDeadzoneFieldNumber = 3; + double throttle_deadzone() const; + void set_throttle_deadzone(double value); + + // double speed_controller_input_limit = 4; + void clear_speed_controller_input_limit(); + static const int kSpeedControllerInputLimitFieldNumber = 4; + double speed_controller_input_limit() const; + void set_speed_controller_input_limit(double value); + + // double station_error_limit = 5; + void clear_station_error_limit(); + static const int kStationErrorLimitFieldNumber = 5; + double station_error_limit() const; + void set_station_error_limit(double value); + + // double preview_window = 6; + void clear_preview_window(); + static const int kPreviewWindowFieldNumber = 6; + double preview_window() const; + void set_preview_window(double value); + + // double standstill_acceleration = 7; + void clear_standstill_acceleration(); + static const int kStandstillAccelerationFieldNumber = 7; + double standstill_acceleration() const; + void set_standstill_acceleration(double value); + + // double switch_speed = 11; + void clear_switch_speed(); + static const int kSwitchSpeedFieldNumber = 11; + double switch_speed() const; + void set_switch_speed(double value); + + // @@protoc_insertion_point(class_scope:apollo.control.LonControllerConf) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::control::PidConf* station_pid_conf_; + ::apollo::control::PidConf* low_speed_pid_conf_; + ::apollo::control::PidConf* high_speed_pid_conf_; + ::apollo::control::FilterConf* throttle_filter_conf_; + ::apollo::control::FilterConf* brake_filter_conf_; + ::apollo::control::FilterConf* acceleration_filter_conf_; + ::apollo::control::calibrationtable::ControlCalibrationTable* calibration_table_; + double ts_; + double brake_deadzone_; + double throttle_deadzone_; + double speed_controller_input_limit_; + double station_error_limit_; + double preview_window_; + double standstill_acceleration_; + double switch_speed_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// PidConf + +// bool integrator_enable = 1; +inline void PidConf::clear_integrator_enable() { + integrator_enable_ = false; +} +inline bool PidConf::integrator_enable() const { + // @@protoc_insertion_point(field_get:apollo.control.PidConf.integrator_enable) + return integrator_enable_; +} +inline void PidConf::set_integrator_enable(bool value) { + + integrator_enable_ = value; + // @@protoc_insertion_point(field_set:apollo.control.PidConf.integrator_enable) +} + +// double integrator_saturation_level = 2; +inline void PidConf::clear_integrator_saturation_level() { + integrator_saturation_level_ = 0; +} +inline double PidConf::integrator_saturation_level() const { + // @@protoc_insertion_point(field_get:apollo.control.PidConf.integrator_saturation_level) + return integrator_saturation_level_; +} +inline void PidConf::set_integrator_saturation_level(double value) { + + integrator_saturation_level_ = value; + // @@protoc_insertion_point(field_set:apollo.control.PidConf.integrator_saturation_level) +} + +// double kp = 3; +inline void PidConf::clear_kp() { + kp_ = 0; +} +inline double PidConf::kp() const { + // @@protoc_insertion_point(field_get:apollo.control.PidConf.kp) + return kp_; +} +inline void PidConf::set_kp(double value) { + + kp_ = value; + // @@protoc_insertion_point(field_set:apollo.control.PidConf.kp) +} + +// double ki = 4; +inline void PidConf::clear_ki() { + ki_ = 0; +} +inline double PidConf::ki() const { + // @@protoc_insertion_point(field_get:apollo.control.PidConf.ki) + return ki_; +} +inline void PidConf::set_ki(double value) { + + ki_ = value; + // @@protoc_insertion_point(field_set:apollo.control.PidConf.ki) +} + +// double kd = 5; +inline void PidConf::clear_kd() { + kd_ = 0; +} +inline double PidConf::kd() const { + // @@protoc_insertion_point(field_get:apollo.control.PidConf.kd) + return kd_; +} +inline void PidConf::set_kd(double value) { + + kd_ = value; + // @@protoc_insertion_point(field_set:apollo.control.PidConf.kd) +} + +// ------------------------------------------------------------------- + +// FilterConf + +// int32 cutoff_freq = 1; +inline void FilterConf::clear_cutoff_freq() { + cutoff_freq_ = 0; +} +inline ::google::protobuf::int32 FilterConf::cutoff_freq() const { + // @@protoc_insertion_point(field_get:apollo.control.FilterConf.cutoff_freq) + return cutoff_freq_; +} +inline void FilterConf::set_cutoff_freq(::google::protobuf::int32 value) { + + cutoff_freq_ = value; + // @@protoc_insertion_point(field_set:apollo.control.FilterConf.cutoff_freq) +} + +// ------------------------------------------------------------------- + +// LonControllerConf + +// double ts = 1; +inline void LonControllerConf::clear_ts() { + ts_ = 0; +} +inline double LonControllerConf::ts() const { + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.ts) + return ts_; +} +inline void LonControllerConf::set_ts(double value) { + + ts_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LonControllerConf.ts) +} + +// double brake_deadzone = 2; +inline void LonControllerConf::clear_brake_deadzone() { + brake_deadzone_ = 0; +} +inline double LonControllerConf::brake_deadzone() const { + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.brake_deadzone) + return brake_deadzone_; +} +inline void LonControllerConf::set_brake_deadzone(double value) { + + brake_deadzone_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LonControllerConf.brake_deadzone) +} + +// double throttle_deadzone = 3; +inline void LonControllerConf::clear_throttle_deadzone() { + throttle_deadzone_ = 0; +} +inline double LonControllerConf::throttle_deadzone() const { + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.throttle_deadzone) + return throttle_deadzone_; +} +inline void LonControllerConf::set_throttle_deadzone(double value) { + + throttle_deadzone_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LonControllerConf.throttle_deadzone) +} + +// double speed_controller_input_limit = 4; +inline void LonControllerConf::clear_speed_controller_input_limit() { + speed_controller_input_limit_ = 0; +} +inline double LonControllerConf::speed_controller_input_limit() const { + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.speed_controller_input_limit) + return speed_controller_input_limit_; +} +inline void LonControllerConf::set_speed_controller_input_limit(double value) { + + speed_controller_input_limit_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LonControllerConf.speed_controller_input_limit) +} + +// double station_error_limit = 5; +inline void LonControllerConf::clear_station_error_limit() { + station_error_limit_ = 0; +} +inline double LonControllerConf::station_error_limit() const { + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.station_error_limit) + return station_error_limit_; +} +inline void LonControllerConf::set_station_error_limit(double value) { + + station_error_limit_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LonControllerConf.station_error_limit) +} + +// double preview_window = 6; +inline void LonControllerConf::clear_preview_window() { + preview_window_ = 0; +} +inline double LonControllerConf::preview_window() const { + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.preview_window) + return preview_window_; +} +inline void LonControllerConf::set_preview_window(double value) { + + preview_window_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LonControllerConf.preview_window) +} + +// double standstill_acceleration = 7; +inline void LonControllerConf::clear_standstill_acceleration() { + standstill_acceleration_ = 0; +} +inline double LonControllerConf::standstill_acceleration() const { + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.standstill_acceleration) + return standstill_acceleration_; +} +inline void LonControllerConf::set_standstill_acceleration(double value) { + + standstill_acceleration_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LonControllerConf.standstill_acceleration) +} + +// .apollo.control.PidConf station_pid_conf = 8; +inline bool LonControllerConf::has_station_pid_conf() const { + return this != internal_default_instance() && station_pid_conf_ != NULL; +} +inline void LonControllerConf::clear_station_pid_conf() { + if (GetArenaNoVirtual() == NULL && station_pid_conf_ != NULL) { + delete station_pid_conf_; + } + station_pid_conf_ = NULL; +} +inline const ::apollo::control::PidConf& LonControllerConf::_internal_station_pid_conf() const { + return *station_pid_conf_; +} +inline const ::apollo::control::PidConf& LonControllerConf::station_pid_conf() const { + const ::apollo::control::PidConf* p = station_pid_conf_; + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.station_pid_conf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_PidConf_default_instance_); +} +inline ::apollo::control::PidConf* LonControllerConf::release_station_pid_conf() { + // @@protoc_insertion_point(field_release:apollo.control.LonControllerConf.station_pid_conf) + + ::apollo::control::PidConf* temp = station_pid_conf_; + station_pid_conf_ = NULL; + return temp; +} +inline ::apollo::control::PidConf* LonControllerConf::mutable_station_pid_conf() { + + if (station_pid_conf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::PidConf>(GetArenaNoVirtual()); + station_pid_conf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.LonControllerConf.station_pid_conf) + return station_pid_conf_; +} +inline void LonControllerConf::set_allocated_station_pid_conf(::apollo::control::PidConf* station_pid_conf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete station_pid_conf_; + } + if (station_pid_conf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + station_pid_conf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, station_pid_conf, submessage_arena); + } + + } else { + + } + station_pid_conf_ = station_pid_conf; + // @@protoc_insertion_point(field_set_allocated:apollo.control.LonControllerConf.station_pid_conf) +} + +// .apollo.control.PidConf low_speed_pid_conf = 9; +inline bool LonControllerConf::has_low_speed_pid_conf() const { + return this != internal_default_instance() && low_speed_pid_conf_ != NULL; +} +inline void LonControllerConf::clear_low_speed_pid_conf() { + if (GetArenaNoVirtual() == NULL && low_speed_pid_conf_ != NULL) { + delete low_speed_pid_conf_; + } + low_speed_pid_conf_ = NULL; +} +inline const ::apollo::control::PidConf& LonControllerConf::_internal_low_speed_pid_conf() const { + return *low_speed_pid_conf_; +} +inline const ::apollo::control::PidConf& LonControllerConf::low_speed_pid_conf() const { + const ::apollo::control::PidConf* p = low_speed_pid_conf_; + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.low_speed_pid_conf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_PidConf_default_instance_); +} +inline ::apollo::control::PidConf* LonControllerConf::release_low_speed_pid_conf() { + // @@protoc_insertion_point(field_release:apollo.control.LonControllerConf.low_speed_pid_conf) + + ::apollo::control::PidConf* temp = low_speed_pid_conf_; + low_speed_pid_conf_ = NULL; + return temp; +} +inline ::apollo::control::PidConf* LonControllerConf::mutable_low_speed_pid_conf() { + + if (low_speed_pid_conf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::PidConf>(GetArenaNoVirtual()); + low_speed_pid_conf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.LonControllerConf.low_speed_pid_conf) + return low_speed_pid_conf_; +} +inline void LonControllerConf::set_allocated_low_speed_pid_conf(::apollo::control::PidConf* low_speed_pid_conf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete low_speed_pid_conf_; + } + if (low_speed_pid_conf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + low_speed_pid_conf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, low_speed_pid_conf, submessage_arena); + } + + } else { + + } + low_speed_pid_conf_ = low_speed_pid_conf; + // @@protoc_insertion_point(field_set_allocated:apollo.control.LonControllerConf.low_speed_pid_conf) +} + +// .apollo.control.PidConf high_speed_pid_conf = 10; +inline bool LonControllerConf::has_high_speed_pid_conf() const { + return this != internal_default_instance() && high_speed_pid_conf_ != NULL; +} +inline void LonControllerConf::clear_high_speed_pid_conf() { + if (GetArenaNoVirtual() == NULL && high_speed_pid_conf_ != NULL) { + delete high_speed_pid_conf_; + } + high_speed_pid_conf_ = NULL; +} +inline const ::apollo::control::PidConf& LonControllerConf::_internal_high_speed_pid_conf() const { + return *high_speed_pid_conf_; +} +inline const ::apollo::control::PidConf& LonControllerConf::high_speed_pid_conf() const { + const ::apollo::control::PidConf* p = high_speed_pid_conf_; + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.high_speed_pid_conf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_PidConf_default_instance_); +} +inline ::apollo::control::PidConf* LonControllerConf::release_high_speed_pid_conf() { + // @@protoc_insertion_point(field_release:apollo.control.LonControllerConf.high_speed_pid_conf) + + ::apollo::control::PidConf* temp = high_speed_pid_conf_; + high_speed_pid_conf_ = NULL; + return temp; +} +inline ::apollo::control::PidConf* LonControllerConf::mutable_high_speed_pid_conf() { + + if (high_speed_pid_conf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::PidConf>(GetArenaNoVirtual()); + high_speed_pid_conf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.LonControllerConf.high_speed_pid_conf) + return high_speed_pid_conf_; +} +inline void LonControllerConf::set_allocated_high_speed_pid_conf(::apollo::control::PidConf* high_speed_pid_conf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete high_speed_pid_conf_; + } + if (high_speed_pid_conf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + high_speed_pid_conf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, high_speed_pid_conf, submessage_arena); + } + + } else { + + } + high_speed_pid_conf_ = high_speed_pid_conf; + // @@protoc_insertion_point(field_set_allocated:apollo.control.LonControllerConf.high_speed_pid_conf) +} + +// double switch_speed = 11; +inline void LonControllerConf::clear_switch_speed() { + switch_speed_ = 0; +} +inline double LonControllerConf::switch_speed() const { + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.switch_speed) + return switch_speed_; +} +inline void LonControllerConf::set_switch_speed(double value) { + + switch_speed_ = value; + // @@protoc_insertion_point(field_set:apollo.control.LonControllerConf.switch_speed) +} + +// .apollo.control.FilterConf throttle_filter_conf = 12; +inline bool LonControllerConf::has_throttle_filter_conf() const { + return this != internal_default_instance() && throttle_filter_conf_ != NULL; +} +inline void LonControllerConf::clear_throttle_filter_conf() { + if (GetArenaNoVirtual() == NULL && throttle_filter_conf_ != NULL) { + delete throttle_filter_conf_; + } + throttle_filter_conf_ = NULL; +} +inline const ::apollo::control::FilterConf& LonControllerConf::_internal_throttle_filter_conf() const { + return *throttle_filter_conf_; +} +inline const ::apollo::control::FilterConf& LonControllerConf::throttle_filter_conf() const { + const ::apollo::control::FilterConf* p = throttle_filter_conf_; + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.throttle_filter_conf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_FilterConf_default_instance_); +} +inline ::apollo::control::FilterConf* LonControllerConf::release_throttle_filter_conf() { + // @@protoc_insertion_point(field_release:apollo.control.LonControllerConf.throttle_filter_conf) + + ::apollo::control::FilterConf* temp = throttle_filter_conf_; + throttle_filter_conf_ = NULL; + return temp; +} +inline ::apollo::control::FilterConf* LonControllerConf::mutable_throttle_filter_conf() { + + if (throttle_filter_conf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::FilterConf>(GetArenaNoVirtual()); + throttle_filter_conf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.LonControllerConf.throttle_filter_conf) + return throttle_filter_conf_; +} +inline void LonControllerConf::set_allocated_throttle_filter_conf(::apollo::control::FilterConf* throttle_filter_conf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete throttle_filter_conf_; + } + if (throttle_filter_conf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + throttle_filter_conf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, throttle_filter_conf, submessage_arena); + } + + } else { + + } + throttle_filter_conf_ = throttle_filter_conf; + // @@protoc_insertion_point(field_set_allocated:apollo.control.LonControllerConf.throttle_filter_conf) +} + +// .apollo.control.FilterConf brake_filter_conf = 13; +inline bool LonControllerConf::has_brake_filter_conf() const { + return this != internal_default_instance() && brake_filter_conf_ != NULL; +} +inline void LonControllerConf::clear_brake_filter_conf() { + if (GetArenaNoVirtual() == NULL && brake_filter_conf_ != NULL) { + delete brake_filter_conf_; + } + brake_filter_conf_ = NULL; +} +inline const ::apollo::control::FilterConf& LonControllerConf::_internal_brake_filter_conf() const { + return *brake_filter_conf_; +} +inline const ::apollo::control::FilterConf& LonControllerConf::brake_filter_conf() const { + const ::apollo::control::FilterConf* p = brake_filter_conf_; + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.brake_filter_conf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_FilterConf_default_instance_); +} +inline ::apollo::control::FilterConf* LonControllerConf::release_brake_filter_conf() { + // @@protoc_insertion_point(field_release:apollo.control.LonControllerConf.brake_filter_conf) + + ::apollo::control::FilterConf* temp = brake_filter_conf_; + brake_filter_conf_ = NULL; + return temp; +} +inline ::apollo::control::FilterConf* LonControllerConf::mutable_brake_filter_conf() { + + if (brake_filter_conf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::FilterConf>(GetArenaNoVirtual()); + brake_filter_conf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.LonControllerConf.brake_filter_conf) + return brake_filter_conf_; +} +inline void LonControllerConf::set_allocated_brake_filter_conf(::apollo::control::FilterConf* brake_filter_conf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete brake_filter_conf_; + } + if (brake_filter_conf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + brake_filter_conf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, brake_filter_conf, submessage_arena); + } + + } else { + + } + brake_filter_conf_ = brake_filter_conf; + // @@protoc_insertion_point(field_set_allocated:apollo.control.LonControllerConf.brake_filter_conf) +} + +// .apollo.control.FilterConf acceleration_filter_conf = 14; +inline bool LonControllerConf::has_acceleration_filter_conf() const { + return this != internal_default_instance() && acceleration_filter_conf_ != NULL; +} +inline void LonControllerConf::clear_acceleration_filter_conf() { + if (GetArenaNoVirtual() == NULL && acceleration_filter_conf_ != NULL) { + delete acceleration_filter_conf_; + } + acceleration_filter_conf_ = NULL; +} +inline const ::apollo::control::FilterConf& LonControllerConf::_internal_acceleration_filter_conf() const { + return *acceleration_filter_conf_; +} +inline const ::apollo::control::FilterConf& LonControllerConf::acceleration_filter_conf() const { + const ::apollo::control::FilterConf* p = acceleration_filter_conf_; + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.acceleration_filter_conf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::_FilterConf_default_instance_); +} +inline ::apollo::control::FilterConf* LonControllerConf::release_acceleration_filter_conf() { + // @@protoc_insertion_point(field_release:apollo.control.LonControllerConf.acceleration_filter_conf) + + ::apollo::control::FilterConf* temp = acceleration_filter_conf_; + acceleration_filter_conf_ = NULL; + return temp; +} +inline ::apollo::control::FilterConf* LonControllerConf::mutable_acceleration_filter_conf() { + + if (acceleration_filter_conf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::FilterConf>(GetArenaNoVirtual()); + acceleration_filter_conf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.LonControllerConf.acceleration_filter_conf) + return acceleration_filter_conf_; +} +inline void LonControllerConf::set_allocated_acceleration_filter_conf(::apollo::control::FilterConf* acceleration_filter_conf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete acceleration_filter_conf_; + } + if (acceleration_filter_conf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + acceleration_filter_conf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, acceleration_filter_conf, submessage_arena); + } + + } else { + + } + acceleration_filter_conf_ = acceleration_filter_conf; + // @@protoc_insertion_point(field_set_allocated:apollo.control.LonControllerConf.acceleration_filter_conf) +} + +// .apollo.control.calibrationtable.ControlCalibrationTable calibration_table = 15; +inline bool LonControllerConf::has_calibration_table() const { + return this != internal_default_instance() && calibration_table_ != NULL; +} +inline const ::apollo::control::calibrationtable::ControlCalibrationTable& LonControllerConf::_internal_calibration_table() const { + return *calibration_table_; +} +inline const ::apollo::control::calibrationtable::ControlCalibrationTable& LonControllerConf::calibration_table() const { + const ::apollo::control::calibrationtable::ControlCalibrationTable* p = calibration_table_; + // @@protoc_insertion_point(field_get:apollo.control.LonControllerConf.calibration_table) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::control::calibrationtable::_ControlCalibrationTable_default_instance_); +} +inline ::apollo::control::calibrationtable::ControlCalibrationTable* LonControllerConf::release_calibration_table() { + // @@protoc_insertion_point(field_release:apollo.control.LonControllerConf.calibration_table) + + ::apollo::control::calibrationtable::ControlCalibrationTable* temp = calibration_table_; + calibration_table_ = NULL; + return temp; +} +inline ::apollo::control::calibrationtable::ControlCalibrationTable* LonControllerConf::mutable_calibration_table() { + + if (calibration_table_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::control::calibrationtable::ControlCalibrationTable>(GetArenaNoVirtual()); + calibration_table_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.LonControllerConf.calibration_table) + return calibration_table_; +} +inline void LonControllerConf::set_allocated_calibration_table(::apollo::control::calibrationtable::ControlCalibrationTable* calibration_table) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(calibration_table_); + } + if (calibration_table) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + calibration_table = ::google::protobuf::internal::GetOwnedMessage( + message_arena, calibration_table, submessage_arena); + } + + } else { + + } + calibration_table_ = calibration_table; + // @@protoc_insertion_point(field_set_allocated:apollo.control.LonControllerConf.calibration_table) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace control +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2flon_5fcontroller_5fconf_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/control/pad_msg.pb.cc b/apollo_msgs/include/apollo_msgs/proto/control/pad_msg.pb.cc new file mode 100644 index 0000000..f0f360c --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/pad_msg.pb.cc @@ -0,0 +1,478 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/pad_msg.proto + +#include "apollo_msgs/proto/control/pad_msg.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace apollo { +namespace control { +class PadMessageDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PadMessage_default_instance_; +} // namespace control +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto { +static void InitDefaultsPadMessage() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::control::_PadMessage_default_instance_; + new (ptr) ::apollo::control::PadMessage(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::control::PadMessage::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_PadMessage = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsPadMessage}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_PadMessage.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PadMessage, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PadMessage, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PadMessage, driving_mode_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::control::PadMessage, action_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::control::PadMessage)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::control::_PadMessage_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/control/pad_msg.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n\'apollo_msgs/proto/control/pad_msg.prot" + "o\022\016apollo.control\032%apollo_msgs/proto/com" + "mon/header.proto\032&apollo_msgs/proto/canb" + "us/chassis.proto\"\234\001\n\nPadMessage\022%\n\006heade" + "r\030\001 \001(\0132\025.apollo.common.Header\0228\n\014drivin" + "g_mode\030\002 \001(\0162\".apollo.canbus.Chassis.Dri" + "vingMode\022-\n\006action\030\003 \001(\0162\035.apollo.contro" + "l.DrivingAction*/\n\rDrivingAction\022\010\n\004STOP" + "\020\000\022\t\n\005START\020\001\022\t\n\005RESET\020\002b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 352); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/control/pad_msg.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto +namespace apollo { +namespace control { +const ::google::protobuf::EnumDescriptor* DrivingAction_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::file_level_enum_descriptors[0]; +} +bool DrivingAction_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + return true; + default: + return false; + } +} + + +// =================================================================== + +void PadMessage::InitAsDefaultInstance() { + ::apollo::control::_PadMessage_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void PadMessage::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PadMessage::kHeaderFieldNumber; +const int PadMessage::kDrivingModeFieldNumber; +const int PadMessage::kActionFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PadMessage::PadMessage() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::scc_info_PadMessage.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.control.PadMessage) +} +PadMessage::PadMessage(const PadMessage& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + ::memcpy(&driving_mode_, &from.driving_mode_, + static_cast(reinterpret_cast(&action_) - + reinterpret_cast(&driving_mode_)) + sizeof(action_)); + // @@protoc_insertion_point(copy_constructor:apollo.control.PadMessage) +} + +void PadMessage::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&action_) - + reinterpret_cast(&header_)) + sizeof(action_)); +} + +PadMessage::~PadMessage() { + // @@protoc_insertion_point(destructor:apollo.control.PadMessage) + SharedDtor(); +} + +void PadMessage::SharedDtor() { + if (this != internal_default_instance()) delete header_; +} + +void PadMessage::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PadMessage::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PadMessage& PadMessage::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::scc_info_PadMessage.base); + return *internal_default_instance(); +} + + +void PadMessage::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.control.PadMessage) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + ::memset(&driving_mode_, 0, static_cast( + reinterpret_cast(&action_) - + reinterpret_cast(&driving_mode_)) + sizeof(action_)); + _internal_metadata_.Clear(); +} + +bool PadMessage::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.control.PadMessage) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_driving_mode(static_cast< ::apollo::canbus::Chassis_DrivingMode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.control.DrivingAction action = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_action(static_cast< ::apollo::control::DrivingAction >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.control.PadMessage) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.control.PadMessage) + return false; +#undef DO_ +} + +void PadMessage::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.control.PadMessage) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 2; + if (this->driving_mode() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->driving_mode(), output); + } + + // .apollo.control.DrivingAction action = 3; + if (this->action() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 3, this->action(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.control.PadMessage) +} + +::google::protobuf::uint8* PadMessage::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.control.PadMessage) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 2; + if (this->driving_mode() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->driving_mode(), target); + } + + // .apollo.control.DrivingAction action = 3; + if (this->action() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 3, this->action(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.control.PadMessage) + return target; +} + +size_t PadMessage::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.control.PadMessage) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 2; + if (this->driving_mode() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->driving_mode()); + } + + // .apollo.control.DrivingAction action = 3; + if (this->action() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->action()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PadMessage::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.control.PadMessage) + GOOGLE_DCHECK_NE(&from, this); + const PadMessage* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.control.PadMessage) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.control.PadMessage) + MergeFrom(*source); + } +} + +void PadMessage::MergeFrom(const PadMessage& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.control.PadMessage) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.driving_mode() != 0) { + set_driving_mode(from.driving_mode()); + } + if (from.action() != 0) { + set_action(from.action()); + } +} + +void PadMessage::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.control.PadMessage) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PadMessage::CopyFrom(const PadMessage& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.control.PadMessage) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PadMessage::IsInitialized() const { + return true; +} + +void PadMessage::Swap(PadMessage* other) { + if (other == this) return; + InternalSwap(other); +} +void PadMessage::InternalSwap(PadMessage* other) { + using std::swap; + swap(header_, other->header_); + swap(driving_mode_, other->driving_mode_); + swap(action_, other->action_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PadMessage::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::control::PadMessage* Arena::CreateMaybeMessage< ::apollo::control::PadMessage >(Arena* arena) { + return Arena::CreateInternal< ::apollo::control::PadMessage >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/control/pad_msg.pb.h b/apollo_msgs/include/apollo_msgs/proto/control/pad_msg.pb.h new file mode 100644 index 0000000..b1497f5 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/control/pad_msg.pb.h @@ -0,0 +1,321 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/control/pad_msg.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/canbus/chassis.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto +namespace apollo { +namespace control { +class PadMessage; +class PadMessageDefaultTypeInternal; +extern PadMessageDefaultTypeInternal _PadMessage_default_instance_; +} // namespace control +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::control::PadMessage* Arena::CreateMaybeMessage<::apollo::control::PadMessage>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace control { + +enum DrivingAction { + STOP = 0, + START = 1, + RESET = 2, + DrivingAction_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + DrivingAction_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool DrivingAction_IsValid(int value); +const DrivingAction DrivingAction_MIN = STOP; +const DrivingAction DrivingAction_MAX = RESET; +const int DrivingAction_ARRAYSIZE = DrivingAction_MAX + 1; + +const ::google::protobuf::EnumDescriptor* DrivingAction_descriptor(); +inline const ::std::string& DrivingAction_Name(DrivingAction value) { + return ::google::protobuf::internal::NameOfEnum( + DrivingAction_descriptor(), value); +} +inline bool DrivingAction_Parse( + const ::std::string& name, DrivingAction* value) { + return ::google::protobuf::internal::ParseNamedEnum( + DrivingAction_descriptor(), name, value); +} +// =================================================================== + +class PadMessage : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.control.PadMessage) */ { + public: + PadMessage(); + virtual ~PadMessage(); + + PadMessage(const PadMessage& from); + + inline PadMessage& operator=(const PadMessage& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PadMessage(PadMessage&& from) noexcept + : PadMessage() { + *this = ::std::move(from); + } + + inline PadMessage& operator=(PadMessage&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PadMessage& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PadMessage* internal_default_instance() { + return reinterpret_cast( + &_PadMessage_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(PadMessage* other); + friend void swap(PadMessage& a, PadMessage& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PadMessage* New() const final { + return CreateMaybeMessage(NULL); + } + + PadMessage* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PadMessage& from); + void MergeFrom(const PadMessage& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PadMessage* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.canbus.Chassis.DrivingMode driving_mode = 2; + void clear_driving_mode(); + static const int kDrivingModeFieldNumber = 2; + ::apollo::canbus::Chassis_DrivingMode driving_mode() const; + void set_driving_mode(::apollo::canbus::Chassis_DrivingMode value); + + // .apollo.control.DrivingAction action = 3; + void clear_action(); + static const int kActionFieldNumber = 3; + ::apollo::control::DrivingAction action() const; + void set_action(::apollo::control::DrivingAction value); + + // @@protoc_insertion_point(class_scope:apollo.control.PadMessage) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + int driving_mode_; + int action_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// PadMessage + +// .apollo.common.Header header = 1; +inline bool PadMessage::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& PadMessage::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& PadMessage::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.control.PadMessage.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* PadMessage::release_header() { + // @@protoc_insertion_point(field_release:apollo.control.PadMessage.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* PadMessage::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.control.PadMessage.header) + return header_; +} +inline void PadMessage::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.control.PadMessage.header) +} + +// .apollo.canbus.Chassis.DrivingMode driving_mode = 2; +inline void PadMessage::clear_driving_mode() { + driving_mode_ = 0; +} +inline ::apollo::canbus::Chassis_DrivingMode PadMessage::driving_mode() const { + // @@protoc_insertion_point(field_get:apollo.control.PadMessage.driving_mode) + return static_cast< ::apollo::canbus::Chassis_DrivingMode >(driving_mode_); +} +inline void PadMessage::set_driving_mode(::apollo::canbus::Chassis_DrivingMode value) { + + driving_mode_ = value; + // @@protoc_insertion_point(field_set:apollo.control.PadMessage.driving_mode) +} + +// .apollo.control.DrivingAction action = 3; +inline void PadMessage::clear_action() { + action_ = 0; +} +inline ::apollo::control::DrivingAction PadMessage::action() const { + // @@protoc_insertion_point(field_get:apollo.control.PadMessage.action) + return static_cast< ::apollo::control::DrivingAction >(action_); +} +inline void PadMessage::set_action(::apollo::control::DrivingAction value) { + + action_ = value; + // @@protoc_insertion_point(field_set:apollo.control.PadMessage.action) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace control +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::control::DrivingAction> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::control::DrivingAction>() { + return ::apollo::control::DrivingAction_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fcontrol_2fpad_5fmsg_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/decision/decision.pb.cc b/apollo_msgs/include/apollo_msgs/proto/decision/decision.pb.cc new file mode 100644 index 0000000..3cbd9fa --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/decision/decision.pb.cc @@ -0,0 +1,13319 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/decision/decision.proto + +#include "apollo_msgs/proto/decision/decision.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Signal; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Point3D; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_PointENU; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_EmergencyStopCruiseToStop; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_EmergencyStopHardBrake; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_LatencyStats; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_LightSignal; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_MainCruise; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_MainMissionComplete; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_MainNotReady; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_ModuleDebug; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_ObjectAvoid; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_ObjectIgnore; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Range; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_StopLine; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_TargetLane; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_MainParking; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_ObjectDecisions; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_ObjectNudge; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_ObjectSidePass; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Stats; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_MainChangeLane; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_MainEmergencyStop; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_MainStop; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_MasterVehicleDebug; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_ObjectDebug; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_ObjectDecision; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_ObjectFollow; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_ObjectOvertake; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_ObjectStop; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_ObjectYield; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<4> scc_info_Debug; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<8> scc_info_MainDecision; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<8> scc_info_ObjectDecisionType; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_PredictionObstacle; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto +namespace apollo { +namespace decision { +class RangeDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Range_default_instance_; +class TargetLaneDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _TargetLane_default_instance_; +class ObjectIgnoreDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectIgnore_default_instance_; +class ObjectStopDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectStop_default_instance_; +class ObjectNudgeDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectNudge_default_instance_; +class ObjectYieldDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectYield_default_instance_; +class ObjectFollowDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectFollow_default_instance_; +class ObjectOvertakeDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectOvertake_default_instance_; +class ObjectSidePassDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectSidePass_default_instance_; +class ObjectAvoidDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectAvoid_default_instance_; +class ObjectDecisionTypeDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; + const ::apollo::decision::ObjectIgnore* ignore_; + const ::apollo::decision::ObjectStop* stop_; + const ::apollo::decision::ObjectFollow* follow_; + const ::apollo::decision::ObjectYield* yield_; + const ::apollo::decision::ObjectOvertake* overtake_; + const ::apollo::decision::ObjectNudge* nudge_; + const ::apollo::decision::ObjectSidePass* sidepass_; + const ::apollo::decision::ObjectAvoid* avoid_; +} _ObjectDecisionType_default_instance_; +class ObjectDecisionDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectDecision_default_instance_; +class ObjectDecisionsDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectDecisions_default_instance_; +class StopLineDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _StopLine_default_instance_; +class MainStopDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _MainStop_default_instance_; +class EmergencyStopHardBrakeDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _EmergencyStopHardBrake_default_instance_; +class EmergencyStopCruiseToStopDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _EmergencyStopCruiseToStop_default_instance_; +class MainEmergencyStopDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; + const ::apollo::decision::EmergencyStopHardBrake* hard_brake_; + const ::apollo::decision::EmergencyStopCruiseToStop* cruise_to_stop_; +} _MainEmergencyStop_default_instance_; +class MainCruiseDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _MainCruise_default_instance_; +class MainChangeLaneDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _MainChangeLane_default_instance_; +class MainMissionCompleteDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _MainMissionComplete_default_instance_; +class MainNotReadyDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _MainNotReady_default_instance_; +class MainParkingDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _MainParking_default_instance_; +class MainDecisionDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; + const ::apollo::decision::MainCruise* cruise_; + const ::apollo::decision::MainStop* stop_; + const ::apollo::decision::MainEmergencyStop* estop_; + const ::apollo::decision::MainChangeLane* change_lane_; + const ::apollo::decision::MainMissionComplete* mission_complete_; + const ::apollo::decision::MainNotReady* not_ready_; + const ::apollo::decision::MainParking* parking_; +} _MainDecision_default_instance_; +class MasterVehicleDebugDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _MasterVehicleDebug_default_instance_; +class ObjectDebugDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ObjectDebug_default_instance_; +class LatencyStatsDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _LatencyStats_default_instance_; +class StatsDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Stats_default_instance_; +class ModuleDebugDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ModuleDebug_default_instance_; +class DebugDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Debug_default_instance_; +class LightSignalDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _LightSignal_default_instance_; +class DecisionResultDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _DecisionResult_default_instance_; +} // namespace decision +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto { +static void InitDefaultsRange() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_Range_default_instance_; + new (ptr) ::apollo::decision::Range(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::Range::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Range = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsRange}, {}}; + +static void InitDefaultsTargetLane() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_TargetLane_default_instance_; + new (ptr) ::apollo::decision::TargetLane(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::TargetLane::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_TargetLane = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsTargetLane}, {}}; + +static void InitDefaultsObjectIgnore() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectIgnore_default_instance_; + new (ptr) ::apollo::decision::ObjectIgnore(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectIgnore::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_ObjectIgnore = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsObjectIgnore}, {}}; + +static void InitDefaultsObjectStop() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectStop_default_instance_; + new (ptr) ::apollo::decision::ObjectStop(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectStop::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_ObjectStop = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsObjectStop}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base,}}; + +static void InitDefaultsObjectNudge() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectNudge_default_instance_; + new (ptr) ::apollo::decision::ObjectNudge(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectNudge::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_ObjectNudge = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsObjectNudge}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base,}}; + +static void InitDefaultsObjectYield() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectYield_default_instance_; + new (ptr) ::apollo::decision::ObjectYield(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectYield::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_ObjectYield = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsObjectYield}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base,}}; + +static void InitDefaultsObjectFollow() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectFollow_default_instance_; + new (ptr) ::apollo::decision::ObjectFollow(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectFollow::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_ObjectFollow = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsObjectFollow}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base,}}; + +static void InitDefaultsObjectOvertake() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectOvertake_default_instance_; + new (ptr) ::apollo::decision::ObjectOvertake(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectOvertake::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_ObjectOvertake = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsObjectOvertake}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base,}}; + +static void InitDefaultsObjectSidePass() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectSidePass_default_instance_; + new (ptr) ::apollo::decision::ObjectSidePass(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectSidePass::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_ObjectSidePass = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsObjectSidePass}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base,}}; + +static void InitDefaultsObjectAvoid() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectAvoid_default_instance_; + new (ptr) ::apollo::decision::ObjectAvoid(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectAvoid::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_ObjectAvoid = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsObjectAvoid}, {}}; + +static void InitDefaultsObjectDecisionType() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectDecisionType_default_instance_; + new (ptr) ::apollo::decision::ObjectDecisionType(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectDecisionType::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<8> scc_info_ObjectDecisionType = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 8, InitDefaultsObjectDecisionType}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectIgnore.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectStop.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectFollow.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectYield.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectOvertake.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectNudge.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectSidePass.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectAvoid.base,}}; + +static void InitDefaultsObjectDecision() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectDecision_default_instance_; + new (ptr) ::apollo::decision::ObjectDecision(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectDecision::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_ObjectDecision = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsObjectDecision}, { + &protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_PredictionObstacle.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecisionType.base,}}; + +static void InitDefaultsObjectDecisions() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectDecisions_default_instance_; + new (ptr) ::apollo::decision::ObjectDecisions(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectDecisions::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_ObjectDecisions = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsObjectDecisions}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecision.base,}}; + +static void InitDefaultsStopLine() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_StopLine_default_instance_; + new (ptr) ::apollo::decision::StopLine(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::StopLine::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_StopLine = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsStopLine}, {}}; + +static void InitDefaultsMainStop() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_MainStop_default_instance_; + new (ptr) ::apollo::decision::MainStop(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::MainStop::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_MainStop = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsMainStop}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_StopLine.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base,}}; + +static void InitDefaultsEmergencyStopHardBrake() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_EmergencyStopHardBrake_default_instance_; + new (ptr) ::apollo::decision::EmergencyStopHardBrake(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::EmergencyStopHardBrake::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_EmergencyStopHardBrake = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsEmergencyStopHardBrake}, {}}; + +static void InitDefaultsEmergencyStopCruiseToStop() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_EmergencyStopCruiseToStop_default_instance_; + new (ptr) ::apollo::decision::EmergencyStopCruiseToStop(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::EmergencyStopCruiseToStop::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_EmergencyStopCruiseToStop = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsEmergencyStopCruiseToStop}, {}}; + +static void InitDefaultsMainEmergencyStop() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_MainEmergencyStop_default_instance_; + new (ptr) ::apollo::decision::MainEmergencyStop(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::MainEmergencyStop::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_MainEmergencyStop = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsMainEmergencyStop}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_EmergencyStopHardBrake.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_EmergencyStopCruiseToStop.base,}}; + +static void InitDefaultsMainCruise() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_MainCruise_default_instance_; + new (ptr) ::apollo::decision::MainCruise(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::MainCruise::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_MainCruise = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsMainCruise}, {}}; + +static void InitDefaultsMainChangeLane() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_MainChangeLane_default_instance_; + new (ptr) ::apollo::decision::MainChangeLane(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::MainChangeLane::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_MainChangeLane = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsMainChangeLane}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_TargetLane.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainStop.base,}}; + +static void InitDefaultsMainMissionComplete() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_MainMissionComplete_default_instance_; + new (ptr) ::apollo::decision::MainMissionComplete(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::MainMissionComplete::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_MainMissionComplete = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsMainMissionComplete}, {}}; + +static void InitDefaultsMainNotReady() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_MainNotReady_default_instance_; + new (ptr) ::apollo::decision::MainNotReady(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::MainNotReady::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_MainNotReady = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsMainNotReady}, {}}; + +static void InitDefaultsMainParking() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_MainParking_default_instance_; + new (ptr) ::apollo::decision::MainParking(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::MainParking::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_MainParking = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsMainParking}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base,}}; + +static void InitDefaultsMainDecision() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_MainDecision_default_instance_; + new (ptr) ::apollo::decision::MainDecision(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::MainDecision::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<8> scc_info_MainDecision = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 8, InitDefaultsMainDecision}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainCruise.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainStop.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainEmergencyStop.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainChangeLane.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainMissionComplete.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainNotReady.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainParking.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_TargetLane.base,}}; + +static void InitDefaultsMasterVehicleDebug() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_MasterVehicleDebug_default_instance_; + new (ptr) ::apollo::decision::MasterVehicleDebug(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::MasterVehicleDebug::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_MasterVehicleDebug = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsMasterVehicleDebug}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base,}}; + +static void InitDefaultsObjectDebug() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ObjectDebug_default_instance_; + new (ptr) ::apollo::decision::ObjectDebug(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ObjectDebug::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_ObjectDebug = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsObjectDebug}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Point3D.base,}}; + +static void InitDefaultsLatencyStats() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_LatencyStats_default_instance_; + new (ptr) ::apollo::decision::LatencyStats(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::LatencyStats::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_LatencyStats = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsLatencyStats}, {}}; + +static void InitDefaultsStats() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_Stats_default_instance_; + new (ptr) ::apollo::decision::Stats(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::Stats::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_Stats = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsStats}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_LatencyStats.base,}}; + +static void InitDefaultsModuleDebug() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_ModuleDebug_default_instance_; + new (ptr) ::apollo::decision::ModuleDebug(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::ModuleDebug::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_ModuleDebug = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsModuleDebug}, {}}; + +static void InitDefaultsDebug() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_Debug_default_instance_; + new (ptr) ::apollo::decision::Debug(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::Debug::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<4> scc_info_Debug = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 4, InitDefaultsDebug}, { + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MasterVehicleDebug.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainDecision.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDebug.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ModuleDebug.base,}}; + +static void InitDefaultsLightSignal() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_LightSignal_default_instance_; + new (ptr) ::apollo::decision::LightSignal(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::LightSignal::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_LightSignal = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsLightSignal}, {}}; + +static void InitDefaultsDecisionResult() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::decision::_DecisionResult_default_instance_; + new (ptr) ::apollo::decision::DecisionResult(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::decision::DecisionResult::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<7> scc_info_DecisionResult = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 7, InitDefaultsDecisionResult}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecisions.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainDecision.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Debug.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Stats.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::scc_info_Signal.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_LightSignal.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Range.base); + ::google::protobuf::internal::InitSCC(&scc_info_TargetLane.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectIgnore.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectStop.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectNudge.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectYield.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectFollow.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectOvertake.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectSidePass.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectAvoid.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectDecisionType.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectDecision.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectDecisions.base); + ::google::protobuf::internal::InitSCC(&scc_info_StopLine.base); + ::google::protobuf::internal::InitSCC(&scc_info_MainStop.base); + ::google::protobuf::internal::InitSCC(&scc_info_EmergencyStopHardBrake.base); + ::google::protobuf::internal::InitSCC(&scc_info_EmergencyStopCruiseToStop.base); + ::google::protobuf::internal::InitSCC(&scc_info_MainEmergencyStop.base); + ::google::protobuf::internal::InitSCC(&scc_info_MainCruise.base); + ::google::protobuf::internal::InitSCC(&scc_info_MainChangeLane.base); + ::google::protobuf::internal::InitSCC(&scc_info_MainMissionComplete.base); + ::google::protobuf::internal::InitSCC(&scc_info_MainNotReady.base); + ::google::protobuf::internal::InitSCC(&scc_info_MainParking.base); + ::google::protobuf::internal::InitSCC(&scc_info_MainDecision.base); + ::google::protobuf::internal::InitSCC(&scc_info_MasterVehicleDebug.base); + ::google::protobuf::internal::InitSCC(&scc_info_ObjectDebug.base); + ::google::protobuf::internal::InitSCC(&scc_info_LatencyStats.base); + ::google::protobuf::internal::InitSCC(&scc_info_Stats.base); + ::google::protobuf::internal::InitSCC(&scc_info_ModuleDebug.base); + ::google::protobuf::internal::InitSCC(&scc_info_Debug.base); + ::google::protobuf::internal::InitSCC(&scc_info_LightSignal.base); + ::google::protobuf::internal::InitSCC(&scc_info_DecisionResult.base); +} + +::google::protobuf::Metadata file_level_metadata[32]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[8]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Range, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Range, start_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Range, end_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::TargetLane, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::TargetLane, id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::TargetLane, start_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::TargetLane, end_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::TargetLane, speed_limit_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectIgnore, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectStop, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectStop, distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectStop, preferred_distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectStop, reason_code_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectStop, stop_point_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectNudge, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectNudge, distance_l_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectNudge, type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectNudge, preferred_distance_l_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectYield, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectYield, distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectYield, preferred_distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectYield, yield_point_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectFollow, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectFollow, distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectFollow, preferred_distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectFollow, follow_point_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectOvertake, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectOvertake, distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectOvertake, preferred_distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectOvertake, overtake_point_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectSidePass, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectSidePass, distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectSidePass, preferred_distance_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectSidePass, type_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectAvoid, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecisionType, _internal_metadata_), + ~0u, // no _extensions_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecisionType, _oneof_case_[0]), + ~0u, // no _weak_field_map_ + offsetof(::apollo::decision::ObjectDecisionTypeDefaultTypeInternal, ignore_), + offsetof(::apollo::decision::ObjectDecisionTypeDefaultTypeInternal, stop_), + offsetof(::apollo::decision::ObjectDecisionTypeDefaultTypeInternal, follow_), + offsetof(::apollo::decision::ObjectDecisionTypeDefaultTypeInternal, yield_), + offsetof(::apollo::decision::ObjectDecisionTypeDefaultTypeInternal, overtake_), + offsetof(::apollo::decision::ObjectDecisionTypeDefaultTypeInternal, nudge_), + offsetof(::apollo::decision::ObjectDecisionTypeDefaultTypeInternal, sidepass_), + offsetof(::apollo::decision::ObjectDecisionTypeDefaultTypeInternal, avoid_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecisionType, object_tag_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecision, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecision, prediction_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecision, id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecision, type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecision, decision_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecision, object_decision_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecisions, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDecisions, decision_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::StopLine, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::StopLine, lane_id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::StopLine, distance_s_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainStop, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainStop, enforced_line_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainStop, preferred_start_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainStop, preferred_end_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainStop, reason_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainStop, reason_code_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainStop, stop_point_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainStop, stop_heading_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::EmergencyStopHardBrake, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::EmergencyStopCruiseToStop, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainEmergencyStop, _internal_metadata_), + ~0u, // no _extensions_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainEmergencyStop, _oneof_case_[0]), + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainEmergencyStop, reason_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainEmergencyStop, reason_code_), + offsetof(::apollo::decision::MainEmergencyStopDefaultTypeInternal, hard_brake_), + offsetof(::apollo::decision::MainEmergencyStopDefaultTypeInternal, cruise_to_stop_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainEmergencyStop, task_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainCruise, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainChangeLane, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainChangeLane, type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainChangeLane, default_lane_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainChangeLane, default_lane_stop_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainChangeLane, target_lane_stop_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainMissionComplete, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainNotReady, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainNotReady, reason_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainParking, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainParking, type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainParking, heading_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainParking, stop_point_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainParking, parking_polygon_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainDecision, _internal_metadata_), + ~0u, // no _extensions_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainDecision, _oneof_case_[0]), + ~0u, // no _weak_field_map_ + offsetof(::apollo::decision::MainDecisionDefaultTypeInternal, cruise_), + offsetof(::apollo::decision::MainDecisionDefaultTypeInternal, stop_), + offsetof(::apollo::decision::MainDecisionDefaultTypeInternal, estop_), + offsetof(::apollo::decision::MainDecisionDefaultTypeInternal, change_lane_), + offsetof(::apollo::decision::MainDecisionDefaultTypeInternal, mission_complete_), + offsetof(::apollo::decision::MainDecisionDefaultTypeInternal, not_ready_), + offsetof(::apollo::decision::MainDecisionDefaultTypeInternal, parking_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainDecision, target_lane_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MainDecision, task_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, position_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, current_lane_id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, lane_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, lane_l_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, route_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, route_l_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, heading_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, heading_speed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, heading_acceleration_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, route_s_range_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::MasterVehicleDebug, route_l_range_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, path_id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, route_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, route_l_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, on_route_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, lane_id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, lane_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, on_lane_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, path_speed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ObjectDebug, st_region_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, total_time_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, sensor_read_time_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, adc_prepare_time_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, obj_prepare_time_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, world_rule_time_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, st_graph_time_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, gateway_receive_delay_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, perception_receive_delay_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, prediction_receive_delay_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, signal_receive_delay_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, perception_interval_ms_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LatencyStats, prediction_interval_ms_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Stats, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Stats, latency_stats_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ModuleDebug, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ModuleDebug, gateway_sequence_num_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ModuleDebug, perception_sequence_num_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ModuleDebug, prediction_sequence_num_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::ModuleDebug, signal_sequence_num_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Debug, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Debug, master_vehicle_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Debug, original_decision_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Debug, object_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Debug, map_version_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Debug, decision_version_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::Debug, module_debug_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LightSignal, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LightSignal, emergency_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::LightSignal, turn_signal_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::DecisionResult, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::DecisionResult, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::DecisionResult, object_decision_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::DecisionResult, main_decision_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::DecisionResult, debug_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::DecisionResult, stats_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::DecisionResult, signal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::decision::DecisionResult, light_signal_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::decision::Range)}, + { 7, -1, sizeof(::apollo::decision::TargetLane)}, + { 16, -1, sizeof(::apollo::decision::ObjectIgnore)}, + { 21, -1, sizeof(::apollo::decision::ObjectStop)}, + { 30, -1, sizeof(::apollo::decision::ObjectNudge)}, + { 38, -1, sizeof(::apollo::decision::ObjectYield)}, + { 46, -1, sizeof(::apollo::decision::ObjectFollow)}, + { 54, -1, sizeof(::apollo::decision::ObjectOvertake)}, + { 62, -1, sizeof(::apollo::decision::ObjectSidePass)}, + { 70, -1, sizeof(::apollo::decision::ObjectAvoid)}, + { 75, -1, sizeof(::apollo::decision::ObjectDecisionType)}, + { 89, -1, sizeof(::apollo::decision::ObjectDecision)}, + { 99, -1, sizeof(::apollo::decision::ObjectDecisions)}, + { 105, -1, sizeof(::apollo::decision::StopLine)}, + { 112, -1, sizeof(::apollo::decision::MainStop)}, + { 124, -1, sizeof(::apollo::decision::EmergencyStopHardBrake)}, + { 129, -1, sizeof(::apollo::decision::EmergencyStopCruiseToStop)}, + { 134, -1, sizeof(::apollo::decision::MainEmergencyStop)}, + { 144, -1, sizeof(::apollo::decision::MainCruise)}, + { 149, -1, sizeof(::apollo::decision::MainChangeLane)}, + { 158, -1, sizeof(::apollo::decision::MainMissionComplete)}, + { 163, -1, sizeof(::apollo::decision::MainNotReady)}, + { 169, -1, sizeof(::apollo::decision::MainParking)}, + { 178, -1, sizeof(::apollo::decision::MainDecision)}, + { 192, -1, sizeof(::apollo::decision::MasterVehicleDebug)}, + { 208, -1, sizeof(::apollo::decision::ObjectDebug)}, + { 223, -1, sizeof(::apollo::decision::LatencyStats)}, + { 240, -1, sizeof(::apollo::decision::Stats)}, + { 246, -1, sizeof(::apollo::decision::ModuleDebug)}, + { 255, -1, sizeof(::apollo::decision::Debug)}, + { 266, -1, sizeof(::apollo::decision::LightSignal)}, + { 273, -1, sizeof(::apollo::decision::DecisionResult)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::decision::_Range_default_instance_), + reinterpret_cast(&::apollo::decision::_TargetLane_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectIgnore_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectStop_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectNudge_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectYield_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectFollow_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectOvertake_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectSidePass_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectAvoid_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectDecisionType_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectDecision_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectDecisions_default_instance_), + reinterpret_cast(&::apollo::decision::_StopLine_default_instance_), + reinterpret_cast(&::apollo::decision::_MainStop_default_instance_), + reinterpret_cast(&::apollo::decision::_EmergencyStopHardBrake_default_instance_), + reinterpret_cast(&::apollo::decision::_EmergencyStopCruiseToStop_default_instance_), + reinterpret_cast(&::apollo::decision::_MainEmergencyStop_default_instance_), + reinterpret_cast(&::apollo::decision::_MainCruise_default_instance_), + reinterpret_cast(&::apollo::decision::_MainChangeLane_default_instance_), + reinterpret_cast(&::apollo::decision::_MainMissionComplete_default_instance_), + reinterpret_cast(&::apollo::decision::_MainNotReady_default_instance_), + reinterpret_cast(&::apollo::decision::_MainParking_default_instance_), + reinterpret_cast(&::apollo::decision::_MainDecision_default_instance_), + reinterpret_cast(&::apollo::decision::_MasterVehicleDebug_default_instance_), + reinterpret_cast(&::apollo::decision::_ObjectDebug_default_instance_), + reinterpret_cast(&::apollo::decision::_LatencyStats_default_instance_), + reinterpret_cast(&::apollo::decision::_Stats_default_instance_), + reinterpret_cast(&::apollo::decision::_ModuleDebug_default_instance_), + reinterpret_cast(&::apollo::decision::_Debug_default_instance_), + reinterpret_cast(&::apollo::decision::_LightSignal_default_instance_), + reinterpret_cast(&::apollo::decision::_DecisionResult_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/decision/decision.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 32); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n)apollo_msgs/proto/decision/decision.pr" + "oto\022\017apollo.decision\032%apollo_msgs/proto/" + "common/header.proto\032\'apollo_msgs/proto/c" + "ommon/geometry.proto\0326apollo_msgs/proto/" + "prediction/prediction_obstacle.proto\032&ap" + "ollo_msgs/proto/canbus/chassis.proto\"#\n\005" + "Range\022\r\n\005start\030\001 \001(\001\022\013\n\003end\030\002 \001(\001\"M\n\nTar" + "getLane\022\n\n\002id\030\001 \001(\t\022\017\n\007start_s\030\002 \001(\001\022\r\n\005" + "end_s\030\003 \001(\001\022\023\n\013speed_limit\030\004 \001(\001\"\016\n\014Obje" + "ctIgnore\"\271\001\n\nObjectStop\022\022\n\ndistance_s\030\001 " + "\001(\001\0224\n\024preferred_distance_s\030\002 \001(\0132\026.apol" + "lo.decision.Range\0224\n\013reason_code\030\003 \001(\0162\037" + ".apollo.decision.StopReasonCode\022+\n\nstop_" + "point\030\004 \001(\0132\027.apollo.common.PointENU\"\261\001\n" + "\013ObjectNudge\022\022\n\ndistance_l\030\001 \001(\001\022/\n\004type" + "\030\002 \001(\0162!.apollo.decision.ObjectNudge.Typ" + "e\0224\n\024preferred_distance_l\030\003 \001(\0132\026.apollo" + ".decision.Range\"\'\n\004Type\022\016\n\nLEFT_NUDGE\020\000\022" + "\017\n\013RIGHT_NUDGE\020\001\"\205\001\n\013ObjectYield\022\022\n\ndist" + "ance_s\030\001 \001(\001\0224\n\024preferred_distance_s\030\002 \001" + "(\0132\026.apollo.decision.Range\022,\n\013yield_poin" + "t\030\003 \001(\0132\027.apollo.common.PointENU\"\207\001\n\014Obj" + "ectFollow\022\022\n\ndistance_s\030\001 \001(\001\0224\n\024preferr" + "ed_distance_s\030\002 \001(\0132\026.apollo.decision.Ra" + "nge\022-\n\014follow_point\030\003 \001(\0132\027.apollo.commo" + "n.PointENU\"\213\001\n\016ObjectOvertake\022\022\n\ndistanc" + "e_s\030\001 \001(\001\0224\n\024preferred_distance_s\030\002 \001(\0132" + "\026.apollo.decision.Range\022/\n\016overtake_poin" + "t\030\003 \001(\0132\027.apollo.common.PointENU\"\254\001\n\016Obj" + "ectSidePass\022\022\n\ndistance_s\030\001 \001(\001\0224\n\024prefe" + "rred_distance_s\030\002 \001(\0132\026.apollo.decision." + "Range\0222\n\004type\030\003 \001(\0162$.apollo.decision.Ob" + "jectSidePass.Type\"\034\n\004Type\022\n\n\006FOLLOW\020\000\022\010\n" + "\004LEAD\020\001\"\r\n\013ObjectAvoid\"\250\003\n\022ObjectDecisio" + "nType\022/\n\006ignore\030\001 \001(\0132\035.apollo.decision." + "ObjectIgnoreH\000\022+\n\004stop\030\002 \001(\0132\033.apollo.de" + "cision.ObjectStopH\000\022/\n\006follow\030\003 \001(\0132\035.ap" + "ollo.decision.ObjectFollowH\000\022-\n\005yield\030\004 " + "\001(\0132\034.apollo.decision.ObjectYieldH\000\0223\n\010o" + "vertake\030\005 \001(\0132\037.apollo.decision.ObjectOv" + "ertakeH\000\022-\n\005nudge\030\006 \001(\0132\034.apollo.decisio" + "n.ObjectNudgeH\000\0223\n\010sidepass\030\007 \001(\0132\037.apol" + "lo.decision.ObjectSidePassH\000\022-\n\005avoid\030\010 " + "\001(\0132\034.apollo.decision.ObjectAvoidH\000B\014\n\no" + "bject_tag\"\301\002\n\016ObjectDecision\0229\n\npredicti" + "on\030\001 \001(\0132%.apollo.prediction.PredictionO" + "bstacle\022\n\n\002id\030\002 \001(\t\0228\n\004type\030\003 \001(\0162*.apol" + "lo.decision.ObjectDecision.ObjectType\0225\n" + "\010decision\030\004 \001(\0132#.apollo.decision.Object" + "DecisionType\022<\n\017object_decision\030\005 \003(\0132#." + "apollo.decision.ObjectDecisionType\"9\n\nOb" + "jectType\022\016\n\nPREDICTION\020\000\022\016\n\nPERCEPTION\020\001" + "\022\013\n\007VIRTUAL\020\002\"D\n\017ObjectDecisions\0221\n\010deci" + "sion\030\001 \003(\0132\037.apollo.decision.ObjectDecis" + "ion\"/\n\010StopLine\022\017\n\007lane_id\030\001 \001(\t\022\022\n\ndist" + "ance_s\030\002 \001(\001\"\253\002\n\010MainStop\0220\n\renforced_li" + "ne\030\001 \001(\0132\031.apollo.decision.StopLine\0222\n\017p" + "referred_start\030\002 \001(\0132\031.apollo.decision.S" + "topLine\0220\n\rpreferred_end\030\003 \001(\0132\031.apollo." + "decision.StopLine\022\016\n\006reason\030\004 \001(\t\0224\n\013rea" + "son_code\030\005 \001(\0162\037.apollo.decision.StopRea" + "sonCode\022+\n\nstop_point\030\006 \001(\0132\027.apollo.com" + "mon.PointENU\022\024\n\014stop_heading\030\007 \001(\001\"\030\n\026Em" + "ergencyStopHardBrake\"\033\n\031EmergencyStopCru" + "iseToStop\"\237\003\n\021MainEmergencyStop\022\016\n\006reaso" + "n\030\001 \001(\t\022B\n\013reason_code\030\002 \001(\0162-.apollo.de" + "cision.MainEmergencyStop.ReasonCode\022=\n\nh" + "ard_brake\030\003 \001(\0132\'.apollo.decision.Emerge" + "ncyStopHardBrakeH\000\022D\n\016cruise_to_stop\030\004 \001" + "(\0132*.apollo.decision.EmergencyStopCruise" + "ToStopH\000\"\250\001\n\nReasonCode\022\035\n\031ESTOP_REASON_" + "INTERNAL_ERR\020\000\022\032\n\026ESTOP_REASON_COLLISION" + "\020\001\022\035\n\031ESTOP_REASON_ST_FIND_PATH\020\002\022!\n\035EST" + "OP_REASON_ST_MAKE_DECISION\020\003\022\035\n\031ESTOP_RE" + "ASON_SENSOR_ERROR\020\004B\006\n\004task\"\014\n\nMainCruis" + "e\"\377\001\n\016MainChangeLane\0222\n\004type\030\001 \001(\0162$.apo" + "llo.decision.MainChangeLane.Type\0221\n\014defa" + "ult_lane\030\002 \003(\0132\033.apollo.decision.TargetL" + "ane\0224\n\021default_lane_stop\030\003 \001(\0132\031.apollo." + "decision.MainStop\0223\n\020target_lane_stop\030\004 " + "\001(\0132\031.apollo.decision.MainStop\"\033\n\004Type\022\010" + "\n\004LEFT\020\000\022\t\n\005RIGHT\020\001\"\025\n\023MainMissionComple" + "te\"\036\n\014MainNotReady\022\016\n\006reason\030\001 \001(\t\"\340\001\n\013M" + "ainParking\022/\n\004type\030\001 \001(\0162!.apollo.decisi" + "on.MainParking.Type\022\017\n\007heading\030\002 \001(\001\022+\n\n" + "stop_point\030\003 \001(\0132\027.apollo.common.PointEN" + "U\0220\n\017parking_polygon\030\004 \003(\0132\027.apollo.comm" + "on.PointENU\"0\n\004Type\022\023\n\017FORWARD_PARKING\020\000" + "\022\023\n\017REVERSE_PARKING\020\001\"\266\003\n\014MainDecision\022-" + "\n\006cruise\030\001 \001(\0132\033.apollo.decision.MainCru" + "iseH\000\022)\n\004stop\030\002 \001(\0132\031.apollo.decision.Ma" + "inStopH\000\0223\n\005estop\030\003 \001(\0132\".apollo.decisio" + "n.MainEmergencyStopH\000\0226\n\013change_lane\030\004 \001" + "(\0132\037.apollo.decision.MainChangeLaneH\000\022@\n" + "\020mission_complete\030\006 \001(\0132$.apollo.decisio" + "n.MainMissionCompleteH\000\0222\n\tnot_ready\030\007 \001" + "(\0132\035.apollo.decision.MainNotReadyH\000\022/\n\007p" + "arking\030\010 \001(\0132\034.apollo.decision.MainParki" + "ngH\000\0220\n\013target_lane\030\005 \003(\0132\033.apollo.decis" + "ion.TargetLaneB\006\n\004task\"\276\002\n\022MasterVehicle" + "Debug\022)\n\010position\030\001 \001(\0132\027.apollo.common." + "PointENU\022\027\n\017current_lane_id\030\002 \001(\t\022\016\n\006lan" + "e_s\030\003 \001(\001\022\016\n\006lane_l\030\004 \001(\001\022\017\n\007route_s\030\005 \001" + "(\001\022\017\n\007route_l\030\006 \001(\001\022\017\n\007heading\030\007 \001(\001\022\025\n\r" + "heading_speed\030\010 \001(\001\022\034\n\024heading_accelerat" + "ion\030\t \001(\001\022-\n\rroute_s_range\030\n \001(\0132\026.apoll" + "o.decision.Range\022-\n\rroute_l_range\030\013 \001(\0132" + "\026.apollo.decision.Range\"\377\001\n\013ObjectDebug\022" + "\n\n\002id\030\001 \001(\t\022\017\n\007path_id\030\002 \001(\t\022\'\n\007route_s\030" + "\003 \001(\0132\026.apollo.decision.Range\022\'\n\007route_l" + "\030\004 \001(\0132\026.apollo.decision.Range\022\020\n\010on_rou" + "te\030\005 \001(\010\022\017\n\007lane_id\030\006 \001(\t\022\016\n\006lane_s\030\007 \001(" + "\001\022\017\n\007on_lane\030\010 \001(\010\022\022\n\npath_speed\030\t \001(\001\022)" + "\n\tst_region\030\n \003(\0132\026.apollo.common.Point3" + "D\"\377\002\n\014LatencyStats\022\025\n\rtotal_time_ms\030\001 \001(" + "\001\022\033\n\023sensor_read_time_ms\030\002 \001(\001\022\033\n\023adc_pr" + "epare_time_ms\030\003 \001(\001\022\033\n\023obj_prepare_time_" + "ms\030\004 \001(\001\022\032\n\022world_rule_time_ms\030\005 \001(\001\022\030\n\020" + "st_graph_time_ms\030\006 \001(\001\022 \n\030gateway_receiv" + "e_delay_ms\030\010 \001(\001\022#\n\033perception_receive_d" + "elay_ms\030\t \001(\001\022#\n\033prediction_receive_dela" + "y_ms\030\n \001(\001\022\037\n\027signal_receive_delay_ms\030\013 " + "\001(\001\022\036\n\026perception_interval_ms\030\014 \001(\001\022\036\n\026p" + "rediction_interval_ms\030\r \001(\001\"=\n\005Stats\0224\n\r" + "latency_stats\030\001 \001(\0132\035.apollo.decision.La" + "tencyStats\"\212\001\n\013ModuleDebug\022\034\n\024gateway_se" + "quence_num\030\001 \001(\r\022\037\n\027perception_sequence_" + "num\030\002 \001(\r\022\037\n\027prediction_sequence_num\030\003 \001" + "(\r\022\033\n\023signal_sequence_num\030\004 \001(\r\"\217\002\n\005Debu" + "g\022;\n\016master_vehicle\030\001 \001(\0132#.apollo.decis" + "ion.MasterVehicleDebug\0228\n\021original_decis" + "ion\030\002 \001(\0132\035.apollo.decision.MainDecision" + "\022,\n\006object\030\003 \003(\0132\034.apollo.decision.Objec" + "tDebug\022\023\n\013map_version\030\005 \001(\014\022\030\n\020decision_" + "version\030\007 \001(\014\0222\n\014module_debug\030\006 \001(\0132\034.ap" + "ollo.decision.ModuleDebug\"\230\001\n\013LightSigna" + "l\022\021\n\temergency\030\001 \001(\010\022<\n\013turn_signal\030\002 \001(" + "\0162\'.apollo.decision.LightSignal.TurnSign" + "al\"8\n\nTurnSignal\022\013\n\007NO_TURN\020\000\022\r\n\tLEFT_TU" + "RN\020\001\022\016\n\nRIGHT_TURN\020\002\"\321\002\n\016DecisionResult\022" + "%\n\006header\030\001 \001(\0132\025.apollo.common.Header\0229" + "\n\017object_decision\030\002 \001(\0132 .apollo.decisio" + "n.ObjectDecisions\0224\n\rmain_decision\030\003 \001(\013" + "2\035.apollo.decision.MainDecision\022%\n\005debug" + "\030\004 \001(\0132\026.apollo.decision.Debug\022%\n\005stats\030" + "\006 \001(\0132\026.apollo.decision.Stats\022%\n\006signal\030" + "\007 \001(\0132\025.apollo.canbus.Signal\0222\n\014light_si" + "gnal\030\005 \001(\0132\034.apollo.decision.LightSignal" + "*\243\002\n\016StopReasonCode\022\034\n\030STOP_REASON_HEAD_" + "VEHICLE\020\000\022\033\n\027STOP_REASON_DESTINATION\020\001\022\032" + "\n\026STOP_REASON_PEDESTRIAN\020\002\022\030\n\024STOP_REASO" + "N_OBSTACLE\020\003\022\032\n\026STOP_REASON_PREPARKING\020\004" + "\022\026\n\022STOP_REASON_SIGNAL\020d\022\031\n\025STOP_REASON_" + "STOP_SIGN\020e\022\032\n\026STOP_REASON_YIELD_SIGN\020f\022" + "\032\n\026STOP_REASON_CLEAR_ZONE\020g\022\031\n\025STOP_REAS" + "ON_CROSSWALK\020hb\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 6222); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/decision/decision.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto +namespace apollo { +namespace decision { +const ::google::protobuf::EnumDescriptor* ObjectNudge_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_enum_descriptors[0]; +} +bool ObjectNudge_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const ObjectNudge_Type ObjectNudge::LEFT_NUDGE; +const ObjectNudge_Type ObjectNudge::RIGHT_NUDGE; +const ObjectNudge_Type ObjectNudge::Type_MIN; +const ObjectNudge_Type ObjectNudge::Type_MAX; +const int ObjectNudge::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* ObjectSidePass_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_enum_descriptors[1]; +} +bool ObjectSidePass_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const ObjectSidePass_Type ObjectSidePass::FOLLOW; +const ObjectSidePass_Type ObjectSidePass::LEAD; +const ObjectSidePass_Type ObjectSidePass::Type_MIN; +const ObjectSidePass_Type ObjectSidePass::Type_MAX; +const int ObjectSidePass::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* ObjectDecision_ObjectType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_enum_descriptors[2]; +} +bool ObjectDecision_ObjectType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const ObjectDecision_ObjectType ObjectDecision::PREDICTION; +const ObjectDecision_ObjectType ObjectDecision::PERCEPTION; +const ObjectDecision_ObjectType ObjectDecision::VIRTUAL; +const ObjectDecision_ObjectType ObjectDecision::ObjectType_MIN; +const ObjectDecision_ObjectType ObjectDecision::ObjectType_MAX; +const int ObjectDecision::ObjectType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* MainEmergencyStop_ReasonCode_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_enum_descriptors[3]; +} +bool MainEmergencyStop_ReasonCode_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const MainEmergencyStop_ReasonCode MainEmergencyStop::ESTOP_REASON_INTERNAL_ERR; +const MainEmergencyStop_ReasonCode MainEmergencyStop::ESTOP_REASON_COLLISION; +const MainEmergencyStop_ReasonCode MainEmergencyStop::ESTOP_REASON_ST_FIND_PATH; +const MainEmergencyStop_ReasonCode MainEmergencyStop::ESTOP_REASON_ST_MAKE_DECISION; +const MainEmergencyStop_ReasonCode MainEmergencyStop::ESTOP_REASON_SENSOR_ERROR; +const MainEmergencyStop_ReasonCode MainEmergencyStop::ReasonCode_MIN; +const MainEmergencyStop_ReasonCode MainEmergencyStop::ReasonCode_MAX; +const int MainEmergencyStop::ReasonCode_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* MainChangeLane_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_enum_descriptors[4]; +} +bool MainChangeLane_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const MainChangeLane_Type MainChangeLane::LEFT; +const MainChangeLane_Type MainChangeLane::RIGHT; +const MainChangeLane_Type MainChangeLane::Type_MIN; +const MainChangeLane_Type MainChangeLane::Type_MAX; +const int MainChangeLane::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* MainParking_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_enum_descriptors[5]; +} +bool MainParking_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const MainParking_Type MainParking::FORWARD_PARKING; +const MainParking_Type MainParking::REVERSE_PARKING; +const MainParking_Type MainParking::Type_MIN; +const MainParking_Type MainParking::Type_MAX; +const int MainParking::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* LightSignal_TurnSignal_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_enum_descriptors[6]; +} +bool LightSignal_TurnSignal_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const LightSignal_TurnSignal LightSignal::NO_TURN; +const LightSignal_TurnSignal LightSignal::LEFT_TURN; +const LightSignal_TurnSignal LightSignal::RIGHT_TURN; +const LightSignal_TurnSignal LightSignal::TurnSignal_MIN; +const LightSignal_TurnSignal LightSignal::TurnSignal_MAX; +const int LightSignal::TurnSignal_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* StopReasonCode_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_enum_descriptors[7]; +} +bool StopReasonCode_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 100: + case 101: + case 102: + case 103: + case 104: + return true; + default: + return false; + } +} + + +// =================================================================== + +void Range::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Range::kStartFieldNumber; +const int Range::kEndFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Range::Range() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.Range) +} +Range::Range(const Range& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&start_, &from.start_, + static_cast(reinterpret_cast(&end_) - + reinterpret_cast(&start_)) + sizeof(end_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.Range) +} + +void Range::SharedCtor() { + ::memset(&start_, 0, static_cast( + reinterpret_cast(&end_) - + reinterpret_cast(&start_)) + sizeof(end_)); +} + +Range::~Range() { + // @@protoc_insertion_point(destructor:apollo.decision.Range) + SharedDtor(); +} + +void Range::SharedDtor() { +} + +void Range::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Range::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Range& Range::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Range.base); + return *internal_default_instance(); +} + + +void Range::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.Range) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&start_, 0, static_cast( + reinterpret_cast(&end_) - + reinterpret_cast(&start_)) + sizeof(end_)); + _internal_metadata_.Clear(); +} + +bool Range::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.Range) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double start = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &start_))); + } else { + goto handle_unusual; + } + break; + } + + // double end = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &end_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.Range) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.Range) + return false; +#undef DO_ +} + +void Range::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.Range) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double start = 1; + if (this->start() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->start(), output); + } + + // double end = 2; + if (this->end() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->end(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.Range) +} + +::google::protobuf::uint8* Range::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.Range) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double start = 1; + if (this->start() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->start(), target); + } + + // double end = 2; + if (this->end() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->end(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.Range) + return target; +} + +size_t Range::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.Range) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double start = 1; + if (this->start() != 0) { + total_size += 1 + 8; + } + + // double end = 2; + if (this->end() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Range::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.Range) + GOOGLE_DCHECK_NE(&from, this); + const Range* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.Range) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.Range) + MergeFrom(*source); + } +} + +void Range::MergeFrom(const Range& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.Range) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.start() != 0) { + set_start(from.start()); + } + if (from.end() != 0) { + set_end(from.end()); + } +} + +void Range::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.Range) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Range::CopyFrom(const Range& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.Range) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Range::IsInitialized() const { + return true; +} + +void Range::Swap(Range* other) { + if (other == this) return; + InternalSwap(other); +} +void Range::InternalSwap(Range* other) { + using std::swap; + swap(start_, other->start_); + swap(end_, other->end_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Range::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void TargetLane::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int TargetLane::kIdFieldNumber; +const int TargetLane::kStartSFieldNumber; +const int TargetLane::kEndSFieldNumber; +const int TargetLane::kSpeedLimitFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +TargetLane::TargetLane() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_TargetLane.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.TargetLane) +} +TargetLane::TargetLane(const TargetLane& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.id().size() > 0) { + id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.id_); + } + ::memcpy(&start_s_, &from.start_s_, + static_cast(reinterpret_cast(&speed_limit_) - + reinterpret_cast(&start_s_)) + sizeof(speed_limit_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.TargetLane) +} + +void TargetLane::SharedCtor() { + id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&start_s_, 0, static_cast( + reinterpret_cast(&speed_limit_) - + reinterpret_cast(&start_s_)) + sizeof(speed_limit_)); +} + +TargetLane::~TargetLane() { + // @@protoc_insertion_point(destructor:apollo.decision.TargetLane) + SharedDtor(); +} + +void TargetLane::SharedDtor() { + id_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} + +void TargetLane::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* TargetLane::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const TargetLane& TargetLane::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_TargetLane.base); + return *internal_default_instance(); +} + + +void TargetLane::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.TargetLane) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&start_s_, 0, static_cast( + reinterpret_cast(&speed_limit_) - + reinterpret_cast(&start_s_)) + sizeof(speed_limit_)); + _internal_metadata_.Clear(); +} + +bool TargetLane::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.TargetLane) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // string id = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_id())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.TargetLane.id")); + } else { + goto handle_unusual; + } + break; + } + + // double start_s = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &start_s_))); + } else { + goto handle_unusual; + } + break; + } + + // double end_s = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &end_s_))); + } else { + goto handle_unusual; + } + break; + } + + // double speed_limit = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_limit_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.TargetLane) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.TargetLane) + return false; +#undef DO_ +} + +void TargetLane::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.TargetLane) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string id = 1; + if (this->id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.TargetLane.id"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 1, this->id(), output); + } + + // double start_s = 2; + if (this->start_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->start_s(), output); + } + + // double end_s = 3; + if (this->end_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->end_s(), output); + } + + // double speed_limit = 4; + if (this->speed_limit() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->speed_limit(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.TargetLane) +} + +::google::protobuf::uint8* TargetLane::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.TargetLane) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string id = 1; + if (this->id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.TargetLane.id"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 1, this->id(), target); + } + + // double start_s = 2; + if (this->start_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->start_s(), target); + } + + // double end_s = 3; + if (this->end_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->end_s(), target); + } + + // double speed_limit = 4; + if (this->speed_limit() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->speed_limit(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.TargetLane) + return target; +} + +size_t TargetLane::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.TargetLane) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string id = 1; + if (this->id().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->id()); + } + + // double start_s = 2; + if (this->start_s() != 0) { + total_size += 1 + 8; + } + + // double end_s = 3; + if (this->end_s() != 0) { + total_size += 1 + 8; + } + + // double speed_limit = 4; + if (this->speed_limit() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void TargetLane::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.TargetLane) + GOOGLE_DCHECK_NE(&from, this); + const TargetLane* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.TargetLane) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.TargetLane) + MergeFrom(*source); + } +} + +void TargetLane::MergeFrom(const TargetLane& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.TargetLane) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.id().size() > 0) { + + id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.id_); + } + if (from.start_s() != 0) { + set_start_s(from.start_s()); + } + if (from.end_s() != 0) { + set_end_s(from.end_s()); + } + if (from.speed_limit() != 0) { + set_speed_limit(from.speed_limit()); + } +} + +void TargetLane::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.TargetLane) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void TargetLane::CopyFrom(const TargetLane& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.TargetLane) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool TargetLane::IsInitialized() const { + return true; +} + +void TargetLane::Swap(TargetLane* other) { + if (other == this) return; + InternalSwap(other); +} +void TargetLane::InternalSwap(TargetLane* other) { + using std::swap; + id_.Swap(&other->id_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(start_s_, other->start_s_); + swap(end_s_, other->end_s_); + swap(speed_limit_, other->speed_limit_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata TargetLane::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectIgnore::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectIgnore::ObjectIgnore() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectIgnore.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectIgnore) +} +ObjectIgnore::ObjectIgnore(const ObjectIgnore& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectIgnore) +} + +void ObjectIgnore::SharedCtor() { +} + +ObjectIgnore::~ObjectIgnore() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectIgnore) + SharedDtor(); +} + +void ObjectIgnore::SharedDtor() { +} + +void ObjectIgnore::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectIgnore::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectIgnore& ObjectIgnore::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectIgnore.base); + return *internal_default_instance(); +} + + +void ObjectIgnore::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectIgnore) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + _internal_metadata_.Clear(); +} + +bool ObjectIgnore::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectIgnore) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectIgnore) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectIgnore) + return false; +#undef DO_ +} + +void ObjectIgnore::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectIgnore) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectIgnore) +} + +::google::protobuf::uint8* ObjectIgnore::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectIgnore) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectIgnore) + return target; +} + +size_t ObjectIgnore::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectIgnore) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectIgnore::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectIgnore) + GOOGLE_DCHECK_NE(&from, this); + const ObjectIgnore* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectIgnore) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectIgnore) + MergeFrom(*source); + } +} + +void ObjectIgnore::MergeFrom(const ObjectIgnore& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectIgnore) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + +} + +void ObjectIgnore::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectIgnore) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectIgnore::CopyFrom(const ObjectIgnore& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectIgnore) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectIgnore::IsInitialized() const { + return true; +} + +void ObjectIgnore::Swap(ObjectIgnore* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectIgnore::InternalSwap(ObjectIgnore* other) { + using std::swap; + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectIgnore::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectStop::InitAsDefaultInstance() { + ::apollo::decision::_ObjectStop_default_instance_._instance.get_mutable()->preferred_distance_s_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); + ::apollo::decision::_ObjectStop_default_instance_._instance.get_mutable()->stop_point_ = const_cast< ::apollo::common::PointENU*>( + ::apollo::common::PointENU::internal_default_instance()); +} +void ObjectStop::clear_stop_point() { + if (GetArenaNoVirtual() == NULL && stop_point_ != NULL) { + delete stop_point_; + } + stop_point_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectStop::kDistanceSFieldNumber; +const int ObjectStop::kPreferredDistanceSFieldNumber; +const int ObjectStop::kReasonCodeFieldNumber; +const int ObjectStop::kStopPointFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectStop::ObjectStop() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectStop.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectStop) +} +ObjectStop::ObjectStop(const ObjectStop& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_preferred_distance_s()) { + preferred_distance_s_ = new ::apollo::decision::Range(*from.preferred_distance_s_); + } else { + preferred_distance_s_ = NULL; + } + if (from.has_stop_point()) { + stop_point_ = new ::apollo::common::PointENU(*from.stop_point_); + } else { + stop_point_ = NULL; + } + ::memcpy(&distance_s_, &from.distance_s_, + static_cast(reinterpret_cast(&reason_code_) - + reinterpret_cast(&distance_s_)) + sizeof(reason_code_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectStop) +} + +void ObjectStop::SharedCtor() { + ::memset(&preferred_distance_s_, 0, static_cast( + reinterpret_cast(&reason_code_) - + reinterpret_cast(&preferred_distance_s_)) + sizeof(reason_code_)); +} + +ObjectStop::~ObjectStop() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectStop) + SharedDtor(); +} + +void ObjectStop::SharedDtor() { + if (this != internal_default_instance()) delete preferred_distance_s_; + if (this != internal_default_instance()) delete stop_point_; +} + +void ObjectStop::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectStop::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectStop& ObjectStop::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectStop.base); + return *internal_default_instance(); +} + + +void ObjectStop::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectStop) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; + if (GetArenaNoVirtual() == NULL && stop_point_ != NULL) { + delete stop_point_; + } + stop_point_ = NULL; + ::memset(&distance_s_, 0, static_cast( + reinterpret_cast(&reason_code_) - + reinterpret_cast(&distance_s_)) + sizeof(reason_code_)); + _internal_metadata_.Clear(); +} + +bool ObjectStop::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectStop) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double distance_s = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &distance_s_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range preferred_distance_s = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_preferred_distance_s())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.StopReasonCode reason_code = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_reason_code(static_cast< ::apollo::decision::StopReasonCode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.PointENU stop_point = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_stop_point())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectStop) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectStop) + return false; +#undef DO_ +} + +void ObjectStop::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->distance_s(), output); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_preferred_distance_s(), output); + } + + // .apollo.decision.StopReasonCode reason_code = 3; + if (this->reason_code() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 3, this->reason_code(), output); + } + + // .apollo.common.PointENU stop_point = 4; + if (this->has_stop_point()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_stop_point(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectStop) +} + +::google::protobuf::uint8* ObjectStop::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->distance_s(), target); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_preferred_distance_s(), deterministic, target); + } + + // .apollo.decision.StopReasonCode reason_code = 3; + if (this->reason_code() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 3, this->reason_code(), target); + } + + // .apollo.common.PointENU stop_point = 4; + if (this->has_stop_point()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_stop_point(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectStop) + return target; +} + +size_t ObjectStop::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectStop) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *preferred_distance_s_); + } + + // .apollo.common.PointENU stop_point = 4; + if (this->has_stop_point()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *stop_point_); + } + + // double distance_s = 1; + if (this->distance_s() != 0) { + total_size += 1 + 8; + } + + // .apollo.decision.StopReasonCode reason_code = 3; + if (this->reason_code() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->reason_code()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectStop::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectStop) + GOOGLE_DCHECK_NE(&from, this); + const ObjectStop* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectStop) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectStop) + MergeFrom(*source); + } +} + +void ObjectStop::MergeFrom(const ObjectStop& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectStop) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_preferred_distance_s()) { + mutable_preferred_distance_s()->::apollo::decision::Range::MergeFrom(from.preferred_distance_s()); + } + if (from.has_stop_point()) { + mutable_stop_point()->::apollo::common::PointENU::MergeFrom(from.stop_point()); + } + if (from.distance_s() != 0) { + set_distance_s(from.distance_s()); + } + if (from.reason_code() != 0) { + set_reason_code(from.reason_code()); + } +} + +void ObjectStop::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectStop::CopyFrom(const ObjectStop& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectStop::IsInitialized() const { + return true; +} + +void ObjectStop::Swap(ObjectStop* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectStop::InternalSwap(ObjectStop* other) { + using std::swap; + swap(preferred_distance_s_, other->preferred_distance_s_); + swap(stop_point_, other->stop_point_); + swap(distance_s_, other->distance_s_); + swap(reason_code_, other->reason_code_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectStop::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectNudge::InitAsDefaultInstance() { + ::apollo::decision::_ObjectNudge_default_instance_._instance.get_mutable()->preferred_distance_l_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectNudge::kDistanceLFieldNumber; +const int ObjectNudge::kTypeFieldNumber; +const int ObjectNudge::kPreferredDistanceLFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectNudge::ObjectNudge() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectNudge.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectNudge) +} +ObjectNudge::ObjectNudge(const ObjectNudge& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_preferred_distance_l()) { + preferred_distance_l_ = new ::apollo::decision::Range(*from.preferred_distance_l_); + } else { + preferred_distance_l_ = NULL; + } + ::memcpy(&distance_l_, &from.distance_l_, + static_cast(reinterpret_cast(&type_) - + reinterpret_cast(&distance_l_)) + sizeof(type_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectNudge) +} + +void ObjectNudge::SharedCtor() { + ::memset(&preferred_distance_l_, 0, static_cast( + reinterpret_cast(&type_) - + reinterpret_cast(&preferred_distance_l_)) + sizeof(type_)); +} + +ObjectNudge::~ObjectNudge() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectNudge) + SharedDtor(); +} + +void ObjectNudge::SharedDtor() { + if (this != internal_default_instance()) delete preferred_distance_l_; +} + +void ObjectNudge::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectNudge::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectNudge& ObjectNudge::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectNudge.base); + return *internal_default_instance(); +} + + +void ObjectNudge::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectNudge) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && preferred_distance_l_ != NULL) { + delete preferred_distance_l_; + } + preferred_distance_l_ = NULL; + ::memset(&distance_l_, 0, static_cast( + reinterpret_cast(&type_) - + reinterpret_cast(&distance_l_)) + sizeof(type_)); + _internal_metadata_.Clear(); +} + +bool ObjectNudge::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectNudge) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double distance_l = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &distance_l_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectNudge.Type type = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_type(static_cast< ::apollo::decision::ObjectNudge_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range preferred_distance_l = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_preferred_distance_l())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectNudge) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectNudge) + return false; +#undef DO_ +} + +void ObjectNudge::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectNudge) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_l = 1; + if (this->distance_l() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->distance_l(), output); + } + + // .apollo.decision.ObjectNudge.Type type = 2; + if (this->type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->type(), output); + } + + // .apollo.decision.Range preferred_distance_l = 3; + if (this->has_preferred_distance_l()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_preferred_distance_l(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectNudge) +} + +::google::protobuf::uint8* ObjectNudge::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectNudge) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_l = 1; + if (this->distance_l() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->distance_l(), target); + } + + // .apollo.decision.ObjectNudge.Type type = 2; + if (this->type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->type(), target); + } + + // .apollo.decision.Range preferred_distance_l = 3; + if (this->has_preferred_distance_l()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_preferred_distance_l(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectNudge) + return target; +} + +size_t ObjectNudge::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectNudge) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.decision.Range preferred_distance_l = 3; + if (this->has_preferred_distance_l()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *preferred_distance_l_); + } + + // double distance_l = 1; + if (this->distance_l() != 0) { + total_size += 1 + 8; + } + + // .apollo.decision.ObjectNudge.Type type = 2; + if (this->type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectNudge::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectNudge) + GOOGLE_DCHECK_NE(&from, this); + const ObjectNudge* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectNudge) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectNudge) + MergeFrom(*source); + } +} + +void ObjectNudge::MergeFrom(const ObjectNudge& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectNudge) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_preferred_distance_l()) { + mutable_preferred_distance_l()->::apollo::decision::Range::MergeFrom(from.preferred_distance_l()); + } + if (from.distance_l() != 0) { + set_distance_l(from.distance_l()); + } + if (from.type() != 0) { + set_type(from.type()); + } +} + +void ObjectNudge::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectNudge) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectNudge::CopyFrom(const ObjectNudge& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectNudge) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectNudge::IsInitialized() const { + return true; +} + +void ObjectNudge::Swap(ObjectNudge* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectNudge::InternalSwap(ObjectNudge* other) { + using std::swap; + swap(preferred_distance_l_, other->preferred_distance_l_); + swap(distance_l_, other->distance_l_); + swap(type_, other->type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectNudge::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectYield::InitAsDefaultInstance() { + ::apollo::decision::_ObjectYield_default_instance_._instance.get_mutable()->preferred_distance_s_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); + ::apollo::decision::_ObjectYield_default_instance_._instance.get_mutable()->yield_point_ = const_cast< ::apollo::common::PointENU*>( + ::apollo::common::PointENU::internal_default_instance()); +} +void ObjectYield::clear_yield_point() { + if (GetArenaNoVirtual() == NULL && yield_point_ != NULL) { + delete yield_point_; + } + yield_point_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectYield::kDistanceSFieldNumber; +const int ObjectYield::kPreferredDistanceSFieldNumber; +const int ObjectYield::kYieldPointFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectYield::ObjectYield() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectYield.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectYield) +} +ObjectYield::ObjectYield(const ObjectYield& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_preferred_distance_s()) { + preferred_distance_s_ = new ::apollo::decision::Range(*from.preferred_distance_s_); + } else { + preferred_distance_s_ = NULL; + } + if (from.has_yield_point()) { + yield_point_ = new ::apollo::common::PointENU(*from.yield_point_); + } else { + yield_point_ = NULL; + } + distance_s_ = from.distance_s_; + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectYield) +} + +void ObjectYield::SharedCtor() { + ::memset(&preferred_distance_s_, 0, static_cast( + reinterpret_cast(&distance_s_) - + reinterpret_cast(&preferred_distance_s_)) + sizeof(distance_s_)); +} + +ObjectYield::~ObjectYield() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectYield) + SharedDtor(); +} + +void ObjectYield::SharedDtor() { + if (this != internal_default_instance()) delete preferred_distance_s_; + if (this != internal_default_instance()) delete yield_point_; +} + +void ObjectYield::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectYield::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectYield& ObjectYield::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectYield.base); + return *internal_default_instance(); +} + + +void ObjectYield::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectYield) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; + if (GetArenaNoVirtual() == NULL && yield_point_ != NULL) { + delete yield_point_; + } + yield_point_ = NULL; + distance_s_ = 0; + _internal_metadata_.Clear(); +} + +bool ObjectYield::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectYield) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double distance_s = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &distance_s_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range preferred_distance_s = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_preferred_distance_s())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.PointENU yield_point = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_yield_point())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectYield) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectYield) + return false; +#undef DO_ +} + +void ObjectYield::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectYield) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->distance_s(), output); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_preferred_distance_s(), output); + } + + // .apollo.common.PointENU yield_point = 3; + if (this->has_yield_point()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_yield_point(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectYield) +} + +::google::protobuf::uint8* ObjectYield::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectYield) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->distance_s(), target); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_preferred_distance_s(), deterministic, target); + } + + // .apollo.common.PointENU yield_point = 3; + if (this->has_yield_point()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_yield_point(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectYield) + return target; +} + +size_t ObjectYield::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectYield) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *preferred_distance_s_); + } + + // .apollo.common.PointENU yield_point = 3; + if (this->has_yield_point()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *yield_point_); + } + + // double distance_s = 1; + if (this->distance_s() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectYield::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectYield) + GOOGLE_DCHECK_NE(&from, this); + const ObjectYield* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectYield) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectYield) + MergeFrom(*source); + } +} + +void ObjectYield::MergeFrom(const ObjectYield& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectYield) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_preferred_distance_s()) { + mutable_preferred_distance_s()->::apollo::decision::Range::MergeFrom(from.preferred_distance_s()); + } + if (from.has_yield_point()) { + mutable_yield_point()->::apollo::common::PointENU::MergeFrom(from.yield_point()); + } + if (from.distance_s() != 0) { + set_distance_s(from.distance_s()); + } +} + +void ObjectYield::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectYield) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectYield::CopyFrom(const ObjectYield& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectYield) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectYield::IsInitialized() const { + return true; +} + +void ObjectYield::Swap(ObjectYield* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectYield::InternalSwap(ObjectYield* other) { + using std::swap; + swap(preferred_distance_s_, other->preferred_distance_s_); + swap(yield_point_, other->yield_point_); + swap(distance_s_, other->distance_s_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectYield::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectFollow::InitAsDefaultInstance() { + ::apollo::decision::_ObjectFollow_default_instance_._instance.get_mutable()->preferred_distance_s_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); + ::apollo::decision::_ObjectFollow_default_instance_._instance.get_mutable()->follow_point_ = const_cast< ::apollo::common::PointENU*>( + ::apollo::common::PointENU::internal_default_instance()); +} +void ObjectFollow::clear_follow_point() { + if (GetArenaNoVirtual() == NULL && follow_point_ != NULL) { + delete follow_point_; + } + follow_point_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectFollow::kDistanceSFieldNumber; +const int ObjectFollow::kPreferredDistanceSFieldNumber; +const int ObjectFollow::kFollowPointFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectFollow::ObjectFollow() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectFollow.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectFollow) +} +ObjectFollow::ObjectFollow(const ObjectFollow& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_preferred_distance_s()) { + preferred_distance_s_ = new ::apollo::decision::Range(*from.preferred_distance_s_); + } else { + preferred_distance_s_ = NULL; + } + if (from.has_follow_point()) { + follow_point_ = new ::apollo::common::PointENU(*from.follow_point_); + } else { + follow_point_ = NULL; + } + distance_s_ = from.distance_s_; + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectFollow) +} + +void ObjectFollow::SharedCtor() { + ::memset(&preferred_distance_s_, 0, static_cast( + reinterpret_cast(&distance_s_) - + reinterpret_cast(&preferred_distance_s_)) + sizeof(distance_s_)); +} + +ObjectFollow::~ObjectFollow() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectFollow) + SharedDtor(); +} + +void ObjectFollow::SharedDtor() { + if (this != internal_default_instance()) delete preferred_distance_s_; + if (this != internal_default_instance()) delete follow_point_; +} + +void ObjectFollow::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectFollow::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectFollow& ObjectFollow::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectFollow.base); + return *internal_default_instance(); +} + + +void ObjectFollow::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectFollow) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; + if (GetArenaNoVirtual() == NULL && follow_point_ != NULL) { + delete follow_point_; + } + follow_point_ = NULL; + distance_s_ = 0; + _internal_metadata_.Clear(); +} + +bool ObjectFollow::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectFollow) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double distance_s = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &distance_s_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range preferred_distance_s = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_preferred_distance_s())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.PointENU follow_point = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_follow_point())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectFollow) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectFollow) + return false; +#undef DO_ +} + +void ObjectFollow::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectFollow) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->distance_s(), output); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_preferred_distance_s(), output); + } + + // .apollo.common.PointENU follow_point = 3; + if (this->has_follow_point()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_follow_point(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectFollow) +} + +::google::protobuf::uint8* ObjectFollow::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectFollow) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->distance_s(), target); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_preferred_distance_s(), deterministic, target); + } + + // .apollo.common.PointENU follow_point = 3; + if (this->has_follow_point()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_follow_point(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectFollow) + return target; +} + +size_t ObjectFollow::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectFollow) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *preferred_distance_s_); + } + + // .apollo.common.PointENU follow_point = 3; + if (this->has_follow_point()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *follow_point_); + } + + // double distance_s = 1; + if (this->distance_s() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectFollow::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectFollow) + GOOGLE_DCHECK_NE(&from, this); + const ObjectFollow* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectFollow) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectFollow) + MergeFrom(*source); + } +} + +void ObjectFollow::MergeFrom(const ObjectFollow& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectFollow) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_preferred_distance_s()) { + mutable_preferred_distance_s()->::apollo::decision::Range::MergeFrom(from.preferred_distance_s()); + } + if (from.has_follow_point()) { + mutable_follow_point()->::apollo::common::PointENU::MergeFrom(from.follow_point()); + } + if (from.distance_s() != 0) { + set_distance_s(from.distance_s()); + } +} + +void ObjectFollow::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectFollow) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectFollow::CopyFrom(const ObjectFollow& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectFollow) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectFollow::IsInitialized() const { + return true; +} + +void ObjectFollow::Swap(ObjectFollow* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectFollow::InternalSwap(ObjectFollow* other) { + using std::swap; + swap(preferred_distance_s_, other->preferred_distance_s_); + swap(follow_point_, other->follow_point_); + swap(distance_s_, other->distance_s_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectFollow::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectOvertake::InitAsDefaultInstance() { + ::apollo::decision::_ObjectOvertake_default_instance_._instance.get_mutable()->preferred_distance_s_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); + ::apollo::decision::_ObjectOvertake_default_instance_._instance.get_mutable()->overtake_point_ = const_cast< ::apollo::common::PointENU*>( + ::apollo::common::PointENU::internal_default_instance()); +} +void ObjectOvertake::clear_overtake_point() { + if (GetArenaNoVirtual() == NULL && overtake_point_ != NULL) { + delete overtake_point_; + } + overtake_point_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectOvertake::kDistanceSFieldNumber; +const int ObjectOvertake::kPreferredDistanceSFieldNumber; +const int ObjectOvertake::kOvertakePointFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectOvertake::ObjectOvertake() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectOvertake.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectOvertake) +} +ObjectOvertake::ObjectOvertake(const ObjectOvertake& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_preferred_distance_s()) { + preferred_distance_s_ = new ::apollo::decision::Range(*from.preferred_distance_s_); + } else { + preferred_distance_s_ = NULL; + } + if (from.has_overtake_point()) { + overtake_point_ = new ::apollo::common::PointENU(*from.overtake_point_); + } else { + overtake_point_ = NULL; + } + distance_s_ = from.distance_s_; + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectOvertake) +} + +void ObjectOvertake::SharedCtor() { + ::memset(&preferred_distance_s_, 0, static_cast( + reinterpret_cast(&distance_s_) - + reinterpret_cast(&preferred_distance_s_)) + sizeof(distance_s_)); +} + +ObjectOvertake::~ObjectOvertake() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectOvertake) + SharedDtor(); +} + +void ObjectOvertake::SharedDtor() { + if (this != internal_default_instance()) delete preferred_distance_s_; + if (this != internal_default_instance()) delete overtake_point_; +} + +void ObjectOvertake::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectOvertake::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectOvertake& ObjectOvertake::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectOvertake.base); + return *internal_default_instance(); +} + + +void ObjectOvertake::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectOvertake) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; + if (GetArenaNoVirtual() == NULL && overtake_point_ != NULL) { + delete overtake_point_; + } + overtake_point_ = NULL; + distance_s_ = 0; + _internal_metadata_.Clear(); +} + +bool ObjectOvertake::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectOvertake) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double distance_s = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &distance_s_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range preferred_distance_s = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_preferred_distance_s())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.PointENU overtake_point = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_overtake_point())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectOvertake) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectOvertake) + return false; +#undef DO_ +} + +void ObjectOvertake::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectOvertake) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->distance_s(), output); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_preferred_distance_s(), output); + } + + // .apollo.common.PointENU overtake_point = 3; + if (this->has_overtake_point()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_overtake_point(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectOvertake) +} + +::google::protobuf::uint8* ObjectOvertake::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectOvertake) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->distance_s(), target); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_preferred_distance_s(), deterministic, target); + } + + // .apollo.common.PointENU overtake_point = 3; + if (this->has_overtake_point()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_overtake_point(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectOvertake) + return target; +} + +size_t ObjectOvertake::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectOvertake) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *preferred_distance_s_); + } + + // .apollo.common.PointENU overtake_point = 3; + if (this->has_overtake_point()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *overtake_point_); + } + + // double distance_s = 1; + if (this->distance_s() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectOvertake::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectOvertake) + GOOGLE_DCHECK_NE(&from, this); + const ObjectOvertake* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectOvertake) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectOvertake) + MergeFrom(*source); + } +} + +void ObjectOvertake::MergeFrom(const ObjectOvertake& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectOvertake) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_preferred_distance_s()) { + mutable_preferred_distance_s()->::apollo::decision::Range::MergeFrom(from.preferred_distance_s()); + } + if (from.has_overtake_point()) { + mutable_overtake_point()->::apollo::common::PointENU::MergeFrom(from.overtake_point()); + } + if (from.distance_s() != 0) { + set_distance_s(from.distance_s()); + } +} + +void ObjectOvertake::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectOvertake) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectOvertake::CopyFrom(const ObjectOvertake& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectOvertake) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectOvertake::IsInitialized() const { + return true; +} + +void ObjectOvertake::Swap(ObjectOvertake* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectOvertake::InternalSwap(ObjectOvertake* other) { + using std::swap; + swap(preferred_distance_s_, other->preferred_distance_s_); + swap(overtake_point_, other->overtake_point_); + swap(distance_s_, other->distance_s_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectOvertake::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectSidePass::InitAsDefaultInstance() { + ::apollo::decision::_ObjectSidePass_default_instance_._instance.get_mutable()->preferred_distance_s_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectSidePass::kDistanceSFieldNumber; +const int ObjectSidePass::kPreferredDistanceSFieldNumber; +const int ObjectSidePass::kTypeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectSidePass::ObjectSidePass() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectSidePass.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectSidePass) +} +ObjectSidePass::ObjectSidePass(const ObjectSidePass& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_preferred_distance_s()) { + preferred_distance_s_ = new ::apollo::decision::Range(*from.preferred_distance_s_); + } else { + preferred_distance_s_ = NULL; + } + ::memcpy(&distance_s_, &from.distance_s_, + static_cast(reinterpret_cast(&type_) - + reinterpret_cast(&distance_s_)) + sizeof(type_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectSidePass) +} + +void ObjectSidePass::SharedCtor() { + ::memset(&preferred_distance_s_, 0, static_cast( + reinterpret_cast(&type_) - + reinterpret_cast(&preferred_distance_s_)) + sizeof(type_)); +} + +ObjectSidePass::~ObjectSidePass() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectSidePass) + SharedDtor(); +} + +void ObjectSidePass::SharedDtor() { + if (this != internal_default_instance()) delete preferred_distance_s_; +} + +void ObjectSidePass::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectSidePass::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectSidePass& ObjectSidePass::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectSidePass.base); + return *internal_default_instance(); +} + + +void ObjectSidePass::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectSidePass) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; + ::memset(&distance_s_, 0, static_cast( + reinterpret_cast(&type_) - + reinterpret_cast(&distance_s_)) + sizeof(type_)); + _internal_metadata_.Clear(); +} + +bool ObjectSidePass::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectSidePass) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double distance_s = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &distance_s_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range preferred_distance_s = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_preferred_distance_s())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectSidePass.Type type = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_type(static_cast< ::apollo::decision::ObjectSidePass_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectSidePass) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectSidePass) + return false; +#undef DO_ +} + +void ObjectSidePass::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectSidePass) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->distance_s(), output); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_preferred_distance_s(), output); + } + + // .apollo.decision.ObjectSidePass.Type type = 3; + if (this->type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 3, this->type(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectSidePass) +} + +::google::protobuf::uint8* ObjectSidePass::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectSidePass) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double distance_s = 1; + if (this->distance_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->distance_s(), target); + } + + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_preferred_distance_s(), deterministic, target); + } + + // .apollo.decision.ObjectSidePass.Type type = 3; + if (this->type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 3, this->type(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectSidePass) + return target; +} + +size_t ObjectSidePass::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectSidePass) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.decision.Range preferred_distance_s = 2; + if (this->has_preferred_distance_s()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *preferred_distance_s_); + } + + // double distance_s = 1; + if (this->distance_s() != 0) { + total_size += 1 + 8; + } + + // .apollo.decision.ObjectSidePass.Type type = 3; + if (this->type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectSidePass::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectSidePass) + GOOGLE_DCHECK_NE(&from, this); + const ObjectSidePass* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectSidePass) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectSidePass) + MergeFrom(*source); + } +} + +void ObjectSidePass::MergeFrom(const ObjectSidePass& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectSidePass) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_preferred_distance_s()) { + mutable_preferred_distance_s()->::apollo::decision::Range::MergeFrom(from.preferred_distance_s()); + } + if (from.distance_s() != 0) { + set_distance_s(from.distance_s()); + } + if (from.type() != 0) { + set_type(from.type()); + } +} + +void ObjectSidePass::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectSidePass) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectSidePass::CopyFrom(const ObjectSidePass& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectSidePass) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectSidePass::IsInitialized() const { + return true; +} + +void ObjectSidePass::Swap(ObjectSidePass* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectSidePass::InternalSwap(ObjectSidePass* other) { + using std::swap; + swap(preferred_distance_s_, other->preferred_distance_s_); + swap(distance_s_, other->distance_s_); + swap(type_, other->type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectSidePass::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectAvoid::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectAvoid::ObjectAvoid() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectAvoid.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectAvoid) +} +ObjectAvoid::ObjectAvoid(const ObjectAvoid& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectAvoid) +} + +void ObjectAvoid::SharedCtor() { +} + +ObjectAvoid::~ObjectAvoid() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectAvoid) + SharedDtor(); +} + +void ObjectAvoid::SharedDtor() { +} + +void ObjectAvoid::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectAvoid::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectAvoid& ObjectAvoid::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectAvoid.base); + return *internal_default_instance(); +} + + +void ObjectAvoid::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectAvoid) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + _internal_metadata_.Clear(); +} + +bool ObjectAvoid::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectAvoid) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectAvoid) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectAvoid) + return false; +#undef DO_ +} + +void ObjectAvoid::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectAvoid) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectAvoid) +} + +::google::protobuf::uint8* ObjectAvoid::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectAvoid) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectAvoid) + return target; +} + +size_t ObjectAvoid::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectAvoid) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectAvoid::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectAvoid) + GOOGLE_DCHECK_NE(&from, this); + const ObjectAvoid* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectAvoid) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectAvoid) + MergeFrom(*source); + } +} + +void ObjectAvoid::MergeFrom(const ObjectAvoid& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectAvoid) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + +} + +void ObjectAvoid::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectAvoid) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectAvoid::CopyFrom(const ObjectAvoid& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectAvoid) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectAvoid::IsInitialized() const { + return true; +} + +void ObjectAvoid::Swap(ObjectAvoid* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectAvoid::InternalSwap(ObjectAvoid* other) { + using std::swap; + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectAvoid::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectDecisionType::InitAsDefaultInstance() { + ::apollo::decision::_ObjectDecisionType_default_instance_.ignore_ = const_cast< ::apollo::decision::ObjectIgnore*>( + ::apollo::decision::ObjectIgnore::internal_default_instance()); + ::apollo::decision::_ObjectDecisionType_default_instance_.stop_ = const_cast< ::apollo::decision::ObjectStop*>( + ::apollo::decision::ObjectStop::internal_default_instance()); + ::apollo::decision::_ObjectDecisionType_default_instance_.follow_ = const_cast< ::apollo::decision::ObjectFollow*>( + ::apollo::decision::ObjectFollow::internal_default_instance()); + ::apollo::decision::_ObjectDecisionType_default_instance_.yield_ = const_cast< ::apollo::decision::ObjectYield*>( + ::apollo::decision::ObjectYield::internal_default_instance()); + ::apollo::decision::_ObjectDecisionType_default_instance_.overtake_ = const_cast< ::apollo::decision::ObjectOvertake*>( + ::apollo::decision::ObjectOvertake::internal_default_instance()); + ::apollo::decision::_ObjectDecisionType_default_instance_.nudge_ = const_cast< ::apollo::decision::ObjectNudge*>( + ::apollo::decision::ObjectNudge::internal_default_instance()); + ::apollo::decision::_ObjectDecisionType_default_instance_.sidepass_ = const_cast< ::apollo::decision::ObjectSidePass*>( + ::apollo::decision::ObjectSidePass::internal_default_instance()); + ::apollo::decision::_ObjectDecisionType_default_instance_.avoid_ = const_cast< ::apollo::decision::ObjectAvoid*>( + ::apollo::decision::ObjectAvoid::internal_default_instance()); +} +void ObjectDecisionType::set_allocated_ignore(::apollo::decision::ObjectIgnore* ignore) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_object_tag(); + if (ignore) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + ignore = ::google::protobuf::internal::GetOwnedMessage( + message_arena, ignore, submessage_arena); + } + set_has_ignore(); + object_tag_.ignore_ = ignore; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecisionType.ignore) +} +void ObjectDecisionType::set_allocated_stop(::apollo::decision::ObjectStop* stop) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_object_tag(); + if (stop) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + stop = ::google::protobuf::internal::GetOwnedMessage( + message_arena, stop, submessage_arena); + } + set_has_stop(); + object_tag_.stop_ = stop; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecisionType.stop) +} +void ObjectDecisionType::set_allocated_follow(::apollo::decision::ObjectFollow* follow) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_object_tag(); + if (follow) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + follow = ::google::protobuf::internal::GetOwnedMessage( + message_arena, follow, submessage_arena); + } + set_has_follow(); + object_tag_.follow_ = follow; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecisionType.follow) +} +void ObjectDecisionType::set_allocated_yield(::apollo::decision::ObjectYield* yield) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_object_tag(); + if (yield) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + yield = ::google::protobuf::internal::GetOwnedMessage( + message_arena, yield, submessage_arena); + } + set_has_yield(); + object_tag_.yield_ = yield; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecisionType.yield) +} +void ObjectDecisionType::set_allocated_overtake(::apollo::decision::ObjectOvertake* overtake) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_object_tag(); + if (overtake) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + overtake = ::google::protobuf::internal::GetOwnedMessage( + message_arena, overtake, submessage_arena); + } + set_has_overtake(); + object_tag_.overtake_ = overtake; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecisionType.overtake) +} +void ObjectDecisionType::set_allocated_nudge(::apollo::decision::ObjectNudge* nudge) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_object_tag(); + if (nudge) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + nudge = ::google::protobuf::internal::GetOwnedMessage( + message_arena, nudge, submessage_arena); + } + set_has_nudge(); + object_tag_.nudge_ = nudge; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecisionType.nudge) +} +void ObjectDecisionType::set_allocated_sidepass(::apollo::decision::ObjectSidePass* sidepass) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_object_tag(); + if (sidepass) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + sidepass = ::google::protobuf::internal::GetOwnedMessage( + message_arena, sidepass, submessage_arena); + } + set_has_sidepass(); + object_tag_.sidepass_ = sidepass; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecisionType.sidepass) +} +void ObjectDecisionType::set_allocated_avoid(::apollo::decision::ObjectAvoid* avoid) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_object_tag(); + if (avoid) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + avoid = ::google::protobuf::internal::GetOwnedMessage( + message_arena, avoid, submessage_arena); + } + set_has_avoid(); + object_tag_.avoid_ = avoid; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecisionType.avoid) +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectDecisionType::kIgnoreFieldNumber; +const int ObjectDecisionType::kStopFieldNumber; +const int ObjectDecisionType::kFollowFieldNumber; +const int ObjectDecisionType::kYieldFieldNumber; +const int ObjectDecisionType::kOvertakeFieldNumber; +const int ObjectDecisionType::kNudgeFieldNumber; +const int ObjectDecisionType::kSidepassFieldNumber; +const int ObjectDecisionType::kAvoidFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectDecisionType::ObjectDecisionType() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecisionType.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectDecisionType) +} +ObjectDecisionType::ObjectDecisionType(const ObjectDecisionType& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + clear_has_object_tag(); + switch (from.object_tag_case()) { + case kIgnore: { + mutable_ignore()->::apollo::decision::ObjectIgnore::MergeFrom(from.ignore()); + break; + } + case kStop: { + mutable_stop()->::apollo::decision::ObjectStop::MergeFrom(from.stop()); + break; + } + case kFollow: { + mutable_follow()->::apollo::decision::ObjectFollow::MergeFrom(from.follow()); + break; + } + case kYield: { + mutable_yield()->::apollo::decision::ObjectYield::MergeFrom(from.yield()); + break; + } + case kOvertake: { + mutable_overtake()->::apollo::decision::ObjectOvertake::MergeFrom(from.overtake()); + break; + } + case kNudge: { + mutable_nudge()->::apollo::decision::ObjectNudge::MergeFrom(from.nudge()); + break; + } + case kSidepass: { + mutable_sidepass()->::apollo::decision::ObjectSidePass::MergeFrom(from.sidepass()); + break; + } + case kAvoid: { + mutable_avoid()->::apollo::decision::ObjectAvoid::MergeFrom(from.avoid()); + break; + } + case OBJECT_TAG_NOT_SET: { + break; + } + } + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectDecisionType) +} + +void ObjectDecisionType::SharedCtor() { + clear_has_object_tag(); +} + +ObjectDecisionType::~ObjectDecisionType() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectDecisionType) + SharedDtor(); +} + +void ObjectDecisionType::SharedDtor() { + if (has_object_tag()) { + clear_object_tag(); + } +} + +void ObjectDecisionType::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectDecisionType::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectDecisionType& ObjectDecisionType::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecisionType.base); + return *internal_default_instance(); +} + + +void ObjectDecisionType::clear_object_tag() { +// @@protoc_insertion_point(one_of_clear_start:apollo.decision.ObjectDecisionType) + switch (object_tag_case()) { + case kIgnore: { + delete object_tag_.ignore_; + break; + } + case kStop: { + delete object_tag_.stop_; + break; + } + case kFollow: { + delete object_tag_.follow_; + break; + } + case kYield: { + delete object_tag_.yield_; + break; + } + case kOvertake: { + delete object_tag_.overtake_; + break; + } + case kNudge: { + delete object_tag_.nudge_; + break; + } + case kSidepass: { + delete object_tag_.sidepass_; + break; + } + case kAvoid: { + delete object_tag_.avoid_; + break; + } + case OBJECT_TAG_NOT_SET: { + break; + } + } + _oneof_case_[0] = OBJECT_TAG_NOT_SET; +} + + +void ObjectDecisionType::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectDecisionType) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + clear_object_tag(); + _internal_metadata_.Clear(); +} + +bool ObjectDecisionType::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectDecisionType) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.decision.ObjectIgnore ignore = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_ignore())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectStop stop = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_stop())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectFollow follow = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_follow())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectYield yield = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_yield())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectOvertake overtake = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_overtake())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectNudge nudge = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(50u /* 50 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_nudge())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectSidePass sidepass = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(58u /* 58 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_sidepass())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectAvoid avoid = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(66u /* 66 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_avoid())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectDecisionType) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectDecisionType) + return false; +#undef DO_ +} + +void ObjectDecisionType::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectDecisionType) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.ObjectIgnore ignore = 1; + if (has_ignore()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_ignore(), output); + } + + // .apollo.decision.ObjectStop stop = 2; + if (has_stop()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_stop(), output); + } + + // .apollo.decision.ObjectFollow follow = 3; + if (has_follow()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_follow(), output); + } + + // .apollo.decision.ObjectYield yield = 4; + if (has_yield()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_yield(), output); + } + + // .apollo.decision.ObjectOvertake overtake = 5; + if (has_overtake()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, this->_internal_overtake(), output); + } + + // .apollo.decision.ObjectNudge nudge = 6; + if (has_nudge()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 6, this->_internal_nudge(), output); + } + + // .apollo.decision.ObjectSidePass sidepass = 7; + if (has_sidepass()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 7, this->_internal_sidepass(), output); + } + + // .apollo.decision.ObjectAvoid avoid = 8; + if (has_avoid()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 8, this->_internal_avoid(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectDecisionType) +} + +::google::protobuf::uint8* ObjectDecisionType::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectDecisionType) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.ObjectIgnore ignore = 1; + if (has_ignore()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_ignore(), deterministic, target); + } + + // .apollo.decision.ObjectStop stop = 2; + if (has_stop()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_stop(), deterministic, target); + } + + // .apollo.decision.ObjectFollow follow = 3; + if (has_follow()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_follow(), deterministic, target); + } + + // .apollo.decision.ObjectYield yield = 4; + if (has_yield()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_yield(), deterministic, target); + } + + // .apollo.decision.ObjectOvertake overtake = 5; + if (has_overtake()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->_internal_overtake(), deterministic, target); + } + + // .apollo.decision.ObjectNudge nudge = 6; + if (has_nudge()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 6, this->_internal_nudge(), deterministic, target); + } + + // .apollo.decision.ObjectSidePass sidepass = 7; + if (has_sidepass()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 7, this->_internal_sidepass(), deterministic, target); + } + + // .apollo.decision.ObjectAvoid avoid = 8; + if (has_avoid()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 8, this->_internal_avoid(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectDecisionType) + return target; +} + +size_t ObjectDecisionType::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectDecisionType) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + switch (object_tag_case()) { + // .apollo.decision.ObjectIgnore ignore = 1; + case kIgnore: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_tag_.ignore_); + break; + } + // .apollo.decision.ObjectStop stop = 2; + case kStop: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_tag_.stop_); + break; + } + // .apollo.decision.ObjectFollow follow = 3; + case kFollow: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_tag_.follow_); + break; + } + // .apollo.decision.ObjectYield yield = 4; + case kYield: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_tag_.yield_); + break; + } + // .apollo.decision.ObjectOvertake overtake = 5; + case kOvertake: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_tag_.overtake_); + break; + } + // .apollo.decision.ObjectNudge nudge = 6; + case kNudge: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_tag_.nudge_); + break; + } + // .apollo.decision.ObjectSidePass sidepass = 7; + case kSidepass: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_tag_.sidepass_); + break; + } + // .apollo.decision.ObjectAvoid avoid = 8; + case kAvoid: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_tag_.avoid_); + break; + } + case OBJECT_TAG_NOT_SET: { + break; + } + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectDecisionType::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectDecisionType) + GOOGLE_DCHECK_NE(&from, this); + const ObjectDecisionType* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectDecisionType) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectDecisionType) + MergeFrom(*source); + } +} + +void ObjectDecisionType::MergeFrom(const ObjectDecisionType& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectDecisionType) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + switch (from.object_tag_case()) { + case kIgnore: { + mutable_ignore()->::apollo::decision::ObjectIgnore::MergeFrom(from.ignore()); + break; + } + case kStop: { + mutable_stop()->::apollo::decision::ObjectStop::MergeFrom(from.stop()); + break; + } + case kFollow: { + mutable_follow()->::apollo::decision::ObjectFollow::MergeFrom(from.follow()); + break; + } + case kYield: { + mutable_yield()->::apollo::decision::ObjectYield::MergeFrom(from.yield()); + break; + } + case kOvertake: { + mutable_overtake()->::apollo::decision::ObjectOvertake::MergeFrom(from.overtake()); + break; + } + case kNudge: { + mutable_nudge()->::apollo::decision::ObjectNudge::MergeFrom(from.nudge()); + break; + } + case kSidepass: { + mutable_sidepass()->::apollo::decision::ObjectSidePass::MergeFrom(from.sidepass()); + break; + } + case kAvoid: { + mutable_avoid()->::apollo::decision::ObjectAvoid::MergeFrom(from.avoid()); + break; + } + case OBJECT_TAG_NOT_SET: { + break; + } + } +} + +void ObjectDecisionType::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectDecisionType) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectDecisionType::CopyFrom(const ObjectDecisionType& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectDecisionType) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectDecisionType::IsInitialized() const { + return true; +} + +void ObjectDecisionType::Swap(ObjectDecisionType* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectDecisionType::InternalSwap(ObjectDecisionType* other) { + using std::swap; + swap(object_tag_, other->object_tag_); + swap(_oneof_case_[0], other->_oneof_case_[0]); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectDecisionType::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectDecision::InitAsDefaultInstance() { + ::apollo::decision::_ObjectDecision_default_instance_._instance.get_mutable()->prediction_ = const_cast< ::apollo::prediction::PredictionObstacle*>( + ::apollo::prediction::PredictionObstacle::internal_default_instance()); + ::apollo::decision::_ObjectDecision_default_instance_._instance.get_mutable()->decision_ = const_cast< ::apollo::decision::ObjectDecisionType*>( + ::apollo::decision::ObjectDecisionType::internal_default_instance()); +} +void ObjectDecision::clear_prediction() { + if (GetArenaNoVirtual() == NULL && prediction_ != NULL) { + delete prediction_; + } + prediction_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectDecision::kPredictionFieldNumber; +const int ObjectDecision::kIdFieldNumber; +const int ObjectDecision::kTypeFieldNumber; +const int ObjectDecision::kDecisionFieldNumber; +const int ObjectDecision::kObjectDecisionFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectDecision::ObjectDecision() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecision.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectDecision) +} +ObjectDecision::ObjectDecision(const ObjectDecision& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + object_decision_(from.object_decision_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.id().size() > 0) { + id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.id_); + } + if (from.has_prediction()) { + prediction_ = new ::apollo::prediction::PredictionObstacle(*from.prediction_); + } else { + prediction_ = NULL; + } + if (from.has_decision()) { + decision_ = new ::apollo::decision::ObjectDecisionType(*from.decision_); + } else { + decision_ = NULL; + } + type_ = from.type_; + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectDecision) +} + +void ObjectDecision::SharedCtor() { + id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&prediction_, 0, static_cast( + reinterpret_cast(&type_) - + reinterpret_cast(&prediction_)) + sizeof(type_)); +} + +ObjectDecision::~ObjectDecision() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectDecision) + SharedDtor(); +} + +void ObjectDecision::SharedDtor() { + id_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (this != internal_default_instance()) delete prediction_; + if (this != internal_default_instance()) delete decision_; +} + +void ObjectDecision::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectDecision::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectDecision& ObjectDecision::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecision.base); + return *internal_default_instance(); +} + + +void ObjectDecision::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectDecision) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + object_decision_.Clear(); + id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (GetArenaNoVirtual() == NULL && prediction_ != NULL) { + delete prediction_; + } + prediction_ = NULL; + if (GetArenaNoVirtual() == NULL && decision_ != NULL) { + delete decision_; + } + decision_ = NULL; + type_ = 0; + _internal_metadata_.Clear(); +} + +bool ObjectDecision::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectDecision) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.prediction.PredictionObstacle prediction = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_prediction())); + } else { + goto handle_unusual; + } + break; + } + + // string id = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_id())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.ObjectDecision.id")); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectDecision.ObjectType type = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_type(static_cast< ::apollo::decision::ObjectDecision_ObjectType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectDecisionType decision = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_decision())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.decision.ObjectDecisionType object_decision = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_object_decision())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectDecision) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectDecision) + return false; +#undef DO_ +} + +void ObjectDecision::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectDecision) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.prediction.PredictionObstacle prediction = 1; + if (this->has_prediction()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_prediction(), output); + } + + // string id = 2; + if (this->id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.ObjectDecision.id"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 2, this->id(), output); + } + + // .apollo.decision.ObjectDecision.ObjectType type = 3; + if (this->type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 3, this->type(), output); + } + + // .apollo.decision.ObjectDecisionType decision = 4; + if (this->has_decision()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_decision(), output); + } + + // repeated .apollo.decision.ObjectDecisionType object_decision = 5; + for (unsigned int i = 0, + n = static_cast(this->object_decision_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, + this->object_decision(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectDecision) +} + +::google::protobuf::uint8* ObjectDecision::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectDecision) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.prediction.PredictionObstacle prediction = 1; + if (this->has_prediction()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_prediction(), deterministic, target); + } + + // string id = 2; + if (this->id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.ObjectDecision.id"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 2, this->id(), target); + } + + // .apollo.decision.ObjectDecision.ObjectType type = 3; + if (this->type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 3, this->type(), target); + } + + // .apollo.decision.ObjectDecisionType decision = 4; + if (this->has_decision()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_decision(), deterministic, target); + } + + // repeated .apollo.decision.ObjectDecisionType object_decision = 5; + for (unsigned int i = 0, + n = static_cast(this->object_decision_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->object_decision(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectDecision) + return target; +} + +size_t ObjectDecision::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectDecision) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.decision.ObjectDecisionType object_decision = 5; + { + unsigned int count = static_cast(this->object_decision_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->object_decision(static_cast(i))); + } + } + + // string id = 2; + if (this->id().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->id()); + } + + // .apollo.prediction.PredictionObstacle prediction = 1; + if (this->has_prediction()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *prediction_); + } + + // .apollo.decision.ObjectDecisionType decision = 4; + if (this->has_decision()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *decision_); + } + + // .apollo.decision.ObjectDecision.ObjectType type = 3; + if (this->type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectDecision::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectDecision) + GOOGLE_DCHECK_NE(&from, this); + const ObjectDecision* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectDecision) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectDecision) + MergeFrom(*source); + } +} + +void ObjectDecision::MergeFrom(const ObjectDecision& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectDecision) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + object_decision_.MergeFrom(from.object_decision_); + if (from.id().size() > 0) { + + id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.id_); + } + if (from.has_prediction()) { + mutable_prediction()->::apollo::prediction::PredictionObstacle::MergeFrom(from.prediction()); + } + if (from.has_decision()) { + mutable_decision()->::apollo::decision::ObjectDecisionType::MergeFrom(from.decision()); + } + if (from.type() != 0) { + set_type(from.type()); + } +} + +void ObjectDecision::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectDecision) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectDecision::CopyFrom(const ObjectDecision& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectDecision) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectDecision::IsInitialized() const { + return true; +} + +void ObjectDecision::Swap(ObjectDecision* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectDecision::InternalSwap(ObjectDecision* other) { + using std::swap; + CastToBase(&object_decision_)->InternalSwap(CastToBase(&other->object_decision_)); + id_.Swap(&other->id_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(prediction_, other->prediction_); + swap(decision_, other->decision_); + swap(type_, other->type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectDecision::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectDecisions::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectDecisions::kDecisionFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectDecisions::ObjectDecisions() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecisions.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectDecisions) +} +ObjectDecisions::ObjectDecisions(const ObjectDecisions& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + decision_(from.decision_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectDecisions) +} + +void ObjectDecisions::SharedCtor() { +} + +ObjectDecisions::~ObjectDecisions() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectDecisions) + SharedDtor(); +} + +void ObjectDecisions::SharedDtor() { +} + +void ObjectDecisions::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectDecisions::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectDecisions& ObjectDecisions::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecisions.base); + return *internal_default_instance(); +} + + +void ObjectDecisions::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectDecisions) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + decision_.Clear(); + _internal_metadata_.Clear(); +} + +bool ObjectDecisions::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectDecisions) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // repeated .apollo.decision.ObjectDecision decision = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_decision())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectDecisions) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectDecisions) + return false; +#undef DO_ +} + +void ObjectDecisions::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectDecisions) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.decision.ObjectDecision decision = 1; + for (unsigned int i = 0, + n = static_cast(this->decision_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, + this->decision(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectDecisions) +} + +::google::protobuf::uint8* ObjectDecisions::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectDecisions) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.decision.ObjectDecision decision = 1; + for (unsigned int i = 0, + n = static_cast(this->decision_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->decision(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectDecisions) + return target; +} + +size_t ObjectDecisions::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectDecisions) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.decision.ObjectDecision decision = 1; + { + unsigned int count = static_cast(this->decision_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->decision(static_cast(i))); + } + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectDecisions::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectDecisions) + GOOGLE_DCHECK_NE(&from, this); + const ObjectDecisions* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectDecisions) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectDecisions) + MergeFrom(*source); + } +} + +void ObjectDecisions::MergeFrom(const ObjectDecisions& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectDecisions) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + decision_.MergeFrom(from.decision_); +} + +void ObjectDecisions::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectDecisions) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectDecisions::CopyFrom(const ObjectDecisions& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectDecisions) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectDecisions::IsInitialized() const { + return true; +} + +void ObjectDecisions::Swap(ObjectDecisions* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectDecisions::InternalSwap(ObjectDecisions* other) { + using std::swap; + CastToBase(&decision_)->InternalSwap(CastToBase(&other->decision_)); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectDecisions::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void StopLine::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int StopLine::kLaneIdFieldNumber; +const int StopLine::kDistanceSFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +StopLine::StopLine() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_StopLine.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.StopLine) +} +StopLine::StopLine(const StopLine& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + lane_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.lane_id().size() > 0) { + lane_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.lane_id_); + } + distance_s_ = from.distance_s_; + // @@protoc_insertion_point(copy_constructor:apollo.decision.StopLine) +} + +void StopLine::SharedCtor() { + lane_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + distance_s_ = 0; +} + +StopLine::~StopLine() { + // @@protoc_insertion_point(destructor:apollo.decision.StopLine) + SharedDtor(); +} + +void StopLine::SharedDtor() { + lane_id_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} + +void StopLine::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* StopLine::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const StopLine& StopLine::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_StopLine.base); + return *internal_default_instance(); +} + + +void StopLine::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.StopLine) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + lane_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + distance_s_ = 0; + _internal_metadata_.Clear(); +} + +bool StopLine::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.StopLine) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // string lane_id = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_lane_id())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->lane_id().data(), static_cast(this->lane_id().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.StopLine.lane_id")); + } else { + goto handle_unusual; + } + break; + } + + // double distance_s = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &distance_s_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.StopLine) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.StopLine) + return false; +#undef DO_ +} + +void StopLine::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.StopLine) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string lane_id = 1; + if (this->lane_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->lane_id().data(), static_cast(this->lane_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.StopLine.lane_id"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 1, this->lane_id(), output); + } + + // double distance_s = 2; + if (this->distance_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->distance_s(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.StopLine) +} + +::google::protobuf::uint8* StopLine::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.StopLine) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string lane_id = 1; + if (this->lane_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->lane_id().data(), static_cast(this->lane_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.StopLine.lane_id"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 1, this->lane_id(), target); + } + + // double distance_s = 2; + if (this->distance_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->distance_s(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.StopLine) + return target; +} + +size_t StopLine::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.StopLine) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string lane_id = 1; + if (this->lane_id().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->lane_id()); + } + + // double distance_s = 2; + if (this->distance_s() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void StopLine::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.StopLine) + GOOGLE_DCHECK_NE(&from, this); + const StopLine* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.StopLine) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.StopLine) + MergeFrom(*source); + } +} + +void StopLine::MergeFrom(const StopLine& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.StopLine) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.lane_id().size() > 0) { + + lane_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.lane_id_); + } + if (from.distance_s() != 0) { + set_distance_s(from.distance_s()); + } +} + +void StopLine::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.StopLine) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void StopLine::CopyFrom(const StopLine& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.StopLine) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool StopLine::IsInitialized() const { + return true; +} + +void StopLine::Swap(StopLine* other) { + if (other == this) return; + InternalSwap(other); +} +void StopLine::InternalSwap(StopLine* other) { + using std::swap; + lane_id_.Swap(&other->lane_id_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(distance_s_, other->distance_s_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata StopLine::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MainStop::InitAsDefaultInstance() { + ::apollo::decision::_MainStop_default_instance_._instance.get_mutable()->enforced_line_ = const_cast< ::apollo::decision::StopLine*>( + ::apollo::decision::StopLine::internal_default_instance()); + ::apollo::decision::_MainStop_default_instance_._instance.get_mutable()->preferred_start_ = const_cast< ::apollo::decision::StopLine*>( + ::apollo::decision::StopLine::internal_default_instance()); + ::apollo::decision::_MainStop_default_instance_._instance.get_mutable()->preferred_end_ = const_cast< ::apollo::decision::StopLine*>( + ::apollo::decision::StopLine::internal_default_instance()); + ::apollo::decision::_MainStop_default_instance_._instance.get_mutable()->stop_point_ = const_cast< ::apollo::common::PointENU*>( + ::apollo::common::PointENU::internal_default_instance()); +} +void MainStop::clear_stop_point() { + if (GetArenaNoVirtual() == NULL && stop_point_ != NULL) { + delete stop_point_; + } + stop_point_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int MainStop::kEnforcedLineFieldNumber; +const int MainStop::kPreferredStartFieldNumber; +const int MainStop::kPreferredEndFieldNumber; +const int MainStop::kReasonFieldNumber; +const int MainStop::kReasonCodeFieldNumber; +const int MainStop::kStopPointFieldNumber; +const int MainStop::kStopHeadingFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MainStop::MainStop() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainStop.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.MainStop) +} +MainStop::MainStop(const MainStop& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + reason_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.reason().size() > 0) { + reason_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.reason_); + } + if (from.has_enforced_line()) { + enforced_line_ = new ::apollo::decision::StopLine(*from.enforced_line_); + } else { + enforced_line_ = NULL; + } + if (from.has_preferred_start()) { + preferred_start_ = new ::apollo::decision::StopLine(*from.preferred_start_); + } else { + preferred_start_ = NULL; + } + if (from.has_preferred_end()) { + preferred_end_ = new ::apollo::decision::StopLine(*from.preferred_end_); + } else { + preferred_end_ = NULL; + } + if (from.has_stop_point()) { + stop_point_ = new ::apollo::common::PointENU(*from.stop_point_); + } else { + stop_point_ = NULL; + } + ::memcpy(&stop_heading_, &from.stop_heading_, + static_cast(reinterpret_cast(&reason_code_) - + reinterpret_cast(&stop_heading_)) + sizeof(reason_code_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.MainStop) +} + +void MainStop::SharedCtor() { + reason_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&enforced_line_, 0, static_cast( + reinterpret_cast(&reason_code_) - + reinterpret_cast(&enforced_line_)) + sizeof(reason_code_)); +} + +MainStop::~MainStop() { + // @@protoc_insertion_point(destructor:apollo.decision.MainStop) + SharedDtor(); +} + +void MainStop::SharedDtor() { + reason_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (this != internal_default_instance()) delete enforced_line_; + if (this != internal_default_instance()) delete preferred_start_; + if (this != internal_default_instance()) delete preferred_end_; + if (this != internal_default_instance()) delete stop_point_; +} + +void MainStop::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MainStop::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MainStop& MainStop::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainStop.base); + return *internal_default_instance(); +} + + +void MainStop::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.MainStop) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + reason_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (GetArenaNoVirtual() == NULL && enforced_line_ != NULL) { + delete enforced_line_; + } + enforced_line_ = NULL; + if (GetArenaNoVirtual() == NULL && preferred_start_ != NULL) { + delete preferred_start_; + } + preferred_start_ = NULL; + if (GetArenaNoVirtual() == NULL && preferred_end_ != NULL) { + delete preferred_end_; + } + preferred_end_ = NULL; + if (GetArenaNoVirtual() == NULL && stop_point_ != NULL) { + delete stop_point_; + } + stop_point_ = NULL; + ::memset(&stop_heading_, 0, static_cast( + reinterpret_cast(&reason_code_) - + reinterpret_cast(&stop_heading_)) + sizeof(reason_code_)); + _internal_metadata_.Clear(); +} + +bool MainStop::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.MainStop) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.decision.StopLine enforced_line = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_enforced_line())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.StopLine preferred_start = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_preferred_start())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.StopLine preferred_end = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_preferred_end())); + } else { + goto handle_unusual; + } + break; + } + + // string reason = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_reason())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->reason().data(), static_cast(this->reason().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.MainStop.reason")); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.StopReasonCode reason_code = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_reason_code(static_cast< ::apollo::decision::StopReasonCode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.PointENU stop_point = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(50u /* 50 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_stop_point())); + } else { + goto handle_unusual; + } + break; + } + + // double stop_heading = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &stop_heading_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.MainStop) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.MainStop) + return false; +#undef DO_ +} + +void MainStop::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.MainStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.StopLine enforced_line = 1; + if (this->has_enforced_line()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_enforced_line(), output); + } + + // .apollo.decision.StopLine preferred_start = 2; + if (this->has_preferred_start()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_preferred_start(), output); + } + + // .apollo.decision.StopLine preferred_end = 3; + if (this->has_preferred_end()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_preferred_end(), output); + } + + // string reason = 4; + if (this->reason().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->reason().data(), static_cast(this->reason().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.MainStop.reason"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 4, this->reason(), output); + } + + // .apollo.decision.StopReasonCode reason_code = 5; + if (this->reason_code() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 5, this->reason_code(), output); + } + + // .apollo.common.PointENU stop_point = 6; + if (this->has_stop_point()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 6, this->_internal_stop_point(), output); + } + + // double stop_heading = 7; + if (this->stop_heading() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->stop_heading(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.MainStop) +} + +::google::protobuf::uint8* MainStop::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.MainStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.StopLine enforced_line = 1; + if (this->has_enforced_line()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_enforced_line(), deterministic, target); + } + + // .apollo.decision.StopLine preferred_start = 2; + if (this->has_preferred_start()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_preferred_start(), deterministic, target); + } + + // .apollo.decision.StopLine preferred_end = 3; + if (this->has_preferred_end()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_preferred_end(), deterministic, target); + } + + // string reason = 4; + if (this->reason().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->reason().data(), static_cast(this->reason().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.MainStop.reason"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 4, this->reason(), target); + } + + // .apollo.decision.StopReasonCode reason_code = 5; + if (this->reason_code() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 5, this->reason_code(), target); + } + + // .apollo.common.PointENU stop_point = 6; + if (this->has_stop_point()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 6, this->_internal_stop_point(), deterministic, target); + } + + // double stop_heading = 7; + if (this->stop_heading() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->stop_heading(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.MainStop) + return target; +} + +size_t MainStop::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.MainStop) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string reason = 4; + if (this->reason().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->reason()); + } + + // .apollo.decision.StopLine enforced_line = 1; + if (this->has_enforced_line()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *enforced_line_); + } + + // .apollo.decision.StopLine preferred_start = 2; + if (this->has_preferred_start()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *preferred_start_); + } + + // .apollo.decision.StopLine preferred_end = 3; + if (this->has_preferred_end()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *preferred_end_); + } + + // .apollo.common.PointENU stop_point = 6; + if (this->has_stop_point()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *stop_point_); + } + + // double stop_heading = 7; + if (this->stop_heading() != 0) { + total_size += 1 + 8; + } + + // .apollo.decision.StopReasonCode reason_code = 5; + if (this->reason_code() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->reason_code()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MainStop::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.MainStop) + GOOGLE_DCHECK_NE(&from, this); + const MainStop* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.MainStop) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.MainStop) + MergeFrom(*source); + } +} + +void MainStop::MergeFrom(const MainStop& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.MainStop) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.reason().size() > 0) { + + reason_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.reason_); + } + if (from.has_enforced_line()) { + mutable_enforced_line()->::apollo::decision::StopLine::MergeFrom(from.enforced_line()); + } + if (from.has_preferred_start()) { + mutable_preferred_start()->::apollo::decision::StopLine::MergeFrom(from.preferred_start()); + } + if (from.has_preferred_end()) { + mutable_preferred_end()->::apollo::decision::StopLine::MergeFrom(from.preferred_end()); + } + if (from.has_stop_point()) { + mutable_stop_point()->::apollo::common::PointENU::MergeFrom(from.stop_point()); + } + if (from.stop_heading() != 0) { + set_stop_heading(from.stop_heading()); + } + if (from.reason_code() != 0) { + set_reason_code(from.reason_code()); + } +} + +void MainStop::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.MainStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MainStop::CopyFrom(const MainStop& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.MainStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MainStop::IsInitialized() const { + return true; +} + +void MainStop::Swap(MainStop* other) { + if (other == this) return; + InternalSwap(other); +} +void MainStop::InternalSwap(MainStop* other) { + using std::swap; + reason_.Swap(&other->reason_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(enforced_line_, other->enforced_line_); + swap(preferred_start_, other->preferred_start_); + swap(preferred_end_, other->preferred_end_); + swap(stop_point_, other->stop_point_); + swap(stop_heading_, other->stop_heading_); + swap(reason_code_, other->reason_code_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MainStop::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void EmergencyStopHardBrake::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +EmergencyStopHardBrake::EmergencyStopHardBrake() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_EmergencyStopHardBrake.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.EmergencyStopHardBrake) +} +EmergencyStopHardBrake::EmergencyStopHardBrake(const EmergencyStopHardBrake& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.decision.EmergencyStopHardBrake) +} + +void EmergencyStopHardBrake::SharedCtor() { +} + +EmergencyStopHardBrake::~EmergencyStopHardBrake() { + // @@protoc_insertion_point(destructor:apollo.decision.EmergencyStopHardBrake) + SharedDtor(); +} + +void EmergencyStopHardBrake::SharedDtor() { +} + +void EmergencyStopHardBrake::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* EmergencyStopHardBrake::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const EmergencyStopHardBrake& EmergencyStopHardBrake::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_EmergencyStopHardBrake.base); + return *internal_default_instance(); +} + + +void EmergencyStopHardBrake::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.EmergencyStopHardBrake) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + _internal_metadata_.Clear(); +} + +bool EmergencyStopHardBrake::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.EmergencyStopHardBrake) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.EmergencyStopHardBrake) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.EmergencyStopHardBrake) + return false; +#undef DO_ +} + +void EmergencyStopHardBrake::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.EmergencyStopHardBrake) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.EmergencyStopHardBrake) +} + +::google::protobuf::uint8* EmergencyStopHardBrake::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.EmergencyStopHardBrake) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.EmergencyStopHardBrake) + return target; +} + +size_t EmergencyStopHardBrake::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.EmergencyStopHardBrake) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void EmergencyStopHardBrake::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.EmergencyStopHardBrake) + GOOGLE_DCHECK_NE(&from, this); + const EmergencyStopHardBrake* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.EmergencyStopHardBrake) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.EmergencyStopHardBrake) + MergeFrom(*source); + } +} + +void EmergencyStopHardBrake::MergeFrom(const EmergencyStopHardBrake& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.EmergencyStopHardBrake) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + +} + +void EmergencyStopHardBrake::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.EmergencyStopHardBrake) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void EmergencyStopHardBrake::CopyFrom(const EmergencyStopHardBrake& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.EmergencyStopHardBrake) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool EmergencyStopHardBrake::IsInitialized() const { + return true; +} + +void EmergencyStopHardBrake::Swap(EmergencyStopHardBrake* other) { + if (other == this) return; + InternalSwap(other); +} +void EmergencyStopHardBrake::InternalSwap(EmergencyStopHardBrake* other) { + using std::swap; + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata EmergencyStopHardBrake::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void EmergencyStopCruiseToStop::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +EmergencyStopCruiseToStop::EmergencyStopCruiseToStop() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_EmergencyStopCruiseToStop.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.EmergencyStopCruiseToStop) +} +EmergencyStopCruiseToStop::EmergencyStopCruiseToStop(const EmergencyStopCruiseToStop& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.decision.EmergencyStopCruiseToStop) +} + +void EmergencyStopCruiseToStop::SharedCtor() { +} + +EmergencyStopCruiseToStop::~EmergencyStopCruiseToStop() { + // @@protoc_insertion_point(destructor:apollo.decision.EmergencyStopCruiseToStop) + SharedDtor(); +} + +void EmergencyStopCruiseToStop::SharedDtor() { +} + +void EmergencyStopCruiseToStop::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* EmergencyStopCruiseToStop::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const EmergencyStopCruiseToStop& EmergencyStopCruiseToStop::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_EmergencyStopCruiseToStop.base); + return *internal_default_instance(); +} + + +void EmergencyStopCruiseToStop::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.EmergencyStopCruiseToStop) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + _internal_metadata_.Clear(); +} + +bool EmergencyStopCruiseToStop::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.EmergencyStopCruiseToStop) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.EmergencyStopCruiseToStop) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.EmergencyStopCruiseToStop) + return false; +#undef DO_ +} + +void EmergencyStopCruiseToStop::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.EmergencyStopCruiseToStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.EmergencyStopCruiseToStop) +} + +::google::protobuf::uint8* EmergencyStopCruiseToStop::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.EmergencyStopCruiseToStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.EmergencyStopCruiseToStop) + return target; +} + +size_t EmergencyStopCruiseToStop::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.EmergencyStopCruiseToStop) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void EmergencyStopCruiseToStop::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.EmergencyStopCruiseToStop) + GOOGLE_DCHECK_NE(&from, this); + const EmergencyStopCruiseToStop* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.EmergencyStopCruiseToStop) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.EmergencyStopCruiseToStop) + MergeFrom(*source); + } +} + +void EmergencyStopCruiseToStop::MergeFrom(const EmergencyStopCruiseToStop& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.EmergencyStopCruiseToStop) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + +} + +void EmergencyStopCruiseToStop::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.EmergencyStopCruiseToStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void EmergencyStopCruiseToStop::CopyFrom(const EmergencyStopCruiseToStop& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.EmergencyStopCruiseToStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool EmergencyStopCruiseToStop::IsInitialized() const { + return true; +} + +void EmergencyStopCruiseToStop::Swap(EmergencyStopCruiseToStop* other) { + if (other == this) return; + InternalSwap(other); +} +void EmergencyStopCruiseToStop::InternalSwap(EmergencyStopCruiseToStop* other) { + using std::swap; + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata EmergencyStopCruiseToStop::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MainEmergencyStop::InitAsDefaultInstance() { + ::apollo::decision::_MainEmergencyStop_default_instance_.hard_brake_ = const_cast< ::apollo::decision::EmergencyStopHardBrake*>( + ::apollo::decision::EmergencyStopHardBrake::internal_default_instance()); + ::apollo::decision::_MainEmergencyStop_default_instance_.cruise_to_stop_ = const_cast< ::apollo::decision::EmergencyStopCruiseToStop*>( + ::apollo::decision::EmergencyStopCruiseToStop::internal_default_instance()); +} +void MainEmergencyStop::set_allocated_hard_brake(::apollo::decision::EmergencyStopHardBrake* hard_brake) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_task(); + if (hard_brake) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + hard_brake = ::google::protobuf::internal::GetOwnedMessage( + message_arena, hard_brake, submessage_arena); + } + set_has_hard_brake(); + task_.hard_brake_ = hard_brake; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainEmergencyStop.hard_brake) +} +void MainEmergencyStop::set_allocated_cruise_to_stop(::apollo::decision::EmergencyStopCruiseToStop* cruise_to_stop) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_task(); + if (cruise_to_stop) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + cruise_to_stop = ::google::protobuf::internal::GetOwnedMessage( + message_arena, cruise_to_stop, submessage_arena); + } + set_has_cruise_to_stop(); + task_.cruise_to_stop_ = cruise_to_stop; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainEmergencyStop.cruise_to_stop) +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int MainEmergencyStop::kReasonFieldNumber; +const int MainEmergencyStop::kReasonCodeFieldNumber; +const int MainEmergencyStop::kHardBrakeFieldNumber; +const int MainEmergencyStop::kCruiseToStopFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MainEmergencyStop::MainEmergencyStop() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainEmergencyStop.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.MainEmergencyStop) +} +MainEmergencyStop::MainEmergencyStop(const MainEmergencyStop& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + reason_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.reason().size() > 0) { + reason_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.reason_); + } + reason_code_ = from.reason_code_; + clear_has_task(); + switch (from.task_case()) { + case kHardBrake: { + mutable_hard_brake()->::apollo::decision::EmergencyStopHardBrake::MergeFrom(from.hard_brake()); + break; + } + case kCruiseToStop: { + mutable_cruise_to_stop()->::apollo::decision::EmergencyStopCruiseToStop::MergeFrom(from.cruise_to_stop()); + break; + } + case TASK_NOT_SET: { + break; + } + } + // @@protoc_insertion_point(copy_constructor:apollo.decision.MainEmergencyStop) +} + +void MainEmergencyStop::SharedCtor() { + reason_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + reason_code_ = 0; + clear_has_task(); +} + +MainEmergencyStop::~MainEmergencyStop() { + // @@protoc_insertion_point(destructor:apollo.decision.MainEmergencyStop) + SharedDtor(); +} + +void MainEmergencyStop::SharedDtor() { + reason_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (has_task()) { + clear_task(); + } +} + +void MainEmergencyStop::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MainEmergencyStop::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MainEmergencyStop& MainEmergencyStop::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainEmergencyStop.base); + return *internal_default_instance(); +} + + +void MainEmergencyStop::clear_task() { +// @@protoc_insertion_point(one_of_clear_start:apollo.decision.MainEmergencyStop) + switch (task_case()) { + case kHardBrake: { + delete task_.hard_brake_; + break; + } + case kCruiseToStop: { + delete task_.cruise_to_stop_; + break; + } + case TASK_NOT_SET: { + break; + } + } + _oneof_case_[0] = TASK_NOT_SET; +} + + +void MainEmergencyStop::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.MainEmergencyStop) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + reason_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + reason_code_ = 0; + clear_task(); + _internal_metadata_.Clear(); +} + +bool MainEmergencyStop::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.MainEmergencyStop) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // string reason = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_reason())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->reason().data(), static_cast(this->reason().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.MainEmergencyStop.reason")); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainEmergencyStop.ReasonCode reason_code = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_reason_code(static_cast< ::apollo::decision::MainEmergencyStop_ReasonCode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.EmergencyStopHardBrake hard_brake = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_hard_brake())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.EmergencyStopCruiseToStop cruise_to_stop = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_cruise_to_stop())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.MainEmergencyStop) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.MainEmergencyStop) + return false; +#undef DO_ +} + +void MainEmergencyStop::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.MainEmergencyStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string reason = 1; + if (this->reason().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->reason().data(), static_cast(this->reason().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.MainEmergencyStop.reason"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 1, this->reason(), output); + } + + // .apollo.decision.MainEmergencyStop.ReasonCode reason_code = 2; + if (this->reason_code() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->reason_code(), output); + } + + // .apollo.decision.EmergencyStopHardBrake hard_brake = 3; + if (has_hard_brake()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_hard_brake(), output); + } + + // .apollo.decision.EmergencyStopCruiseToStop cruise_to_stop = 4; + if (has_cruise_to_stop()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_cruise_to_stop(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.MainEmergencyStop) +} + +::google::protobuf::uint8* MainEmergencyStop::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.MainEmergencyStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string reason = 1; + if (this->reason().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->reason().data(), static_cast(this->reason().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.MainEmergencyStop.reason"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 1, this->reason(), target); + } + + // .apollo.decision.MainEmergencyStop.ReasonCode reason_code = 2; + if (this->reason_code() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->reason_code(), target); + } + + // .apollo.decision.EmergencyStopHardBrake hard_brake = 3; + if (has_hard_brake()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_hard_brake(), deterministic, target); + } + + // .apollo.decision.EmergencyStopCruiseToStop cruise_to_stop = 4; + if (has_cruise_to_stop()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_cruise_to_stop(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.MainEmergencyStop) + return target; +} + +size_t MainEmergencyStop::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.MainEmergencyStop) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string reason = 1; + if (this->reason().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->reason()); + } + + // .apollo.decision.MainEmergencyStop.ReasonCode reason_code = 2; + if (this->reason_code() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->reason_code()); + } + + switch (task_case()) { + // .apollo.decision.EmergencyStopHardBrake hard_brake = 3; + case kHardBrake: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *task_.hard_brake_); + break; + } + // .apollo.decision.EmergencyStopCruiseToStop cruise_to_stop = 4; + case kCruiseToStop: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *task_.cruise_to_stop_); + break; + } + case TASK_NOT_SET: { + break; + } + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MainEmergencyStop::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.MainEmergencyStop) + GOOGLE_DCHECK_NE(&from, this); + const MainEmergencyStop* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.MainEmergencyStop) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.MainEmergencyStop) + MergeFrom(*source); + } +} + +void MainEmergencyStop::MergeFrom(const MainEmergencyStop& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.MainEmergencyStop) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.reason().size() > 0) { + + reason_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.reason_); + } + if (from.reason_code() != 0) { + set_reason_code(from.reason_code()); + } + switch (from.task_case()) { + case kHardBrake: { + mutable_hard_brake()->::apollo::decision::EmergencyStopHardBrake::MergeFrom(from.hard_brake()); + break; + } + case kCruiseToStop: { + mutable_cruise_to_stop()->::apollo::decision::EmergencyStopCruiseToStop::MergeFrom(from.cruise_to_stop()); + break; + } + case TASK_NOT_SET: { + break; + } + } +} + +void MainEmergencyStop::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.MainEmergencyStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MainEmergencyStop::CopyFrom(const MainEmergencyStop& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.MainEmergencyStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MainEmergencyStop::IsInitialized() const { + return true; +} + +void MainEmergencyStop::Swap(MainEmergencyStop* other) { + if (other == this) return; + InternalSwap(other); +} +void MainEmergencyStop::InternalSwap(MainEmergencyStop* other) { + using std::swap; + reason_.Swap(&other->reason_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(reason_code_, other->reason_code_); + swap(task_, other->task_); + swap(_oneof_case_[0], other->_oneof_case_[0]); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MainEmergencyStop::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MainCruise::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MainCruise::MainCruise() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainCruise.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.MainCruise) +} +MainCruise::MainCruise(const MainCruise& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.decision.MainCruise) +} + +void MainCruise::SharedCtor() { +} + +MainCruise::~MainCruise() { + // @@protoc_insertion_point(destructor:apollo.decision.MainCruise) + SharedDtor(); +} + +void MainCruise::SharedDtor() { +} + +void MainCruise::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MainCruise::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MainCruise& MainCruise::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainCruise.base); + return *internal_default_instance(); +} + + +void MainCruise::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.MainCruise) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + _internal_metadata_.Clear(); +} + +bool MainCruise::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.MainCruise) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.MainCruise) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.MainCruise) + return false; +#undef DO_ +} + +void MainCruise::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.MainCruise) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.MainCruise) +} + +::google::protobuf::uint8* MainCruise::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.MainCruise) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.MainCruise) + return target; +} + +size_t MainCruise::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.MainCruise) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MainCruise::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.MainCruise) + GOOGLE_DCHECK_NE(&from, this); + const MainCruise* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.MainCruise) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.MainCruise) + MergeFrom(*source); + } +} + +void MainCruise::MergeFrom(const MainCruise& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.MainCruise) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + +} + +void MainCruise::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.MainCruise) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MainCruise::CopyFrom(const MainCruise& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.MainCruise) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MainCruise::IsInitialized() const { + return true; +} + +void MainCruise::Swap(MainCruise* other) { + if (other == this) return; + InternalSwap(other); +} +void MainCruise::InternalSwap(MainCruise* other) { + using std::swap; + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MainCruise::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MainChangeLane::InitAsDefaultInstance() { + ::apollo::decision::_MainChangeLane_default_instance_._instance.get_mutable()->default_lane_stop_ = const_cast< ::apollo::decision::MainStop*>( + ::apollo::decision::MainStop::internal_default_instance()); + ::apollo::decision::_MainChangeLane_default_instance_._instance.get_mutable()->target_lane_stop_ = const_cast< ::apollo::decision::MainStop*>( + ::apollo::decision::MainStop::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int MainChangeLane::kTypeFieldNumber; +const int MainChangeLane::kDefaultLaneFieldNumber; +const int MainChangeLane::kDefaultLaneStopFieldNumber; +const int MainChangeLane::kTargetLaneStopFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MainChangeLane::MainChangeLane() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainChangeLane.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.MainChangeLane) +} +MainChangeLane::MainChangeLane(const MainChangeLane& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + default_lane_(from.default_lane_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_default_lane_stop()) { + default_lane_stop_ = new ::apollo::decision::MainStop(*from.default_lane_stop_); + } else { + default_lane_stop_ = NULL; + } + if (from.has_target_lane_stop()) { + target_lane_stop_ = new ::apollo::decision::MainStop(*from.target_lane_stop_); + } else { + target_lane_stop_ = NULL; + } + type_ = from.type_; + // @@protoc_insertion_point(copy_constructor:apollo.decision.MainChangeLane) +} + +void MainChangeLane::SharedCtor() { + ::memset(&default_lane_stop_, 0, static_cast( + reinterpret_cast(&type_) - + reinterpret_cast(&default_lane_stop_)) + sizeof(type_)); +} + +MainChangeLane::~MainChangeLane() { + // @@protoc_insertion_point(destructor:apollo.decision.MainChangeLane) + SharedDtor(); +} + +void MainChangeLane::SharedDtor() { + if (this != internal_default_instance()) delete default_lane_stop_; + if (this != internal_default_instance()) delete target_lane_stop_; +} + +void MainChangeLane::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MainChangeLane::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MainChangeLane& MainChangeLane::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainChangeLane.base); + return *internal_default_instance(); +} + + +void MainChangeLane::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.MainChangeLane) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + default_lane_.Clear(); + if (GetArenaNoVirtual() == NULL && default_lane_stop_ != NULL) { + delete default_lane_stop_; + } + default_lane_stop_ = NULL; + if (GetArenaNoVirtual() == NULL && target_lane_stop_ != NULL) { + delete target_lane_stop_; + } + target_lane_stop_ = NULL; + type_ = 0; + _internal_metadata_.Clear(); +} + +bool MainChangeLane::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.MainChangeLane) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.decision.MainChangeLane.Type type = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_type(static_cast< ::apollo::decision::MainChangeLane_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.decision.TargetLane default_lane = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_default_lane())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainStop default_lane_stop = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_default_lane_stop())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainStop target_lane_stop = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_target_lane_stop())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.MainChangeLane) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.MainChangeLane) + return false; +#undef DO_ +} + +void MainChangeLane::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.MainChangeLane) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.MainChangeLane.Type type = 1; + if (this->type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->type(), output); + } + + // repeated .apollo.decision.TargetLane default_lane = 2; + for (unsigned int i = 0, + n = static_cast(this->default_lane_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, + this->default_lane(static_cast(i)), + output); + } + + // .apollo.decision.MainStop default_lane_stop = 3; + if (this->has_default_lane_stop()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_default_lane_stop(), output); + } + + // .apollo.decision.MainStop target_lane_stop = 4; + if (this->has_target_lane_stop()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_target_lane_stop(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.MainChangeLane) +} + +::google::protobuf::uint8* MainChangeLane::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.MainChangeLane) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.MainChangeLane.Type type = 1; + if (this->type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->type(), target); + } + + // repeated .apollo.decision.TargetLane default_lane = 2; + for (unsigned int i = 0, + n = static_cast(this->default_lane_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->default_lane(static_cast(i)), deterministic, target); + } + + // .apollo.decision.MainStop default_lane_stop = 3; + if (this->has_default_lane_stop()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_default_lane_stop(), deterministic, target); + } + + // .apollo.decision.MainStop target_lane_stop = 4; + if (this->has_target_lane_stop()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_target_lane_stop(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.MainChangeLane) + return target; +} + +size_t MainChangeLane::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.MainChangeLane) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.decision.TargetLane default_lane = 2; + { + unsigned int count = static_cast(this->default_lane_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->default_lane(static_cast(i))); + } + } + + // .apollo.decision.MainStop default_lane_stop = 3; + if (this->has_default_lane_stop()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *default_lane_stop_); + } + + // .apollo.decision.MainStop target_lane_stop = 4; + if (this->has_target_lane_stop()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *target_lane_stop_); + } + + // .apollo.decision.MainChangeLane.Type type = 1; + if (this->type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MainChangeLane::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.MainChangeLane) + GOOGLE_DCHECK_NE(&from, this); + const MainChangeLane* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.MainChangeLane) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.MainChangeLane) + MergeFrom(*source); + } +} + +void MainChangeLane::MergeFrom(const MainChangeLane& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.MainChangeLane) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + default_lane_.MergeFrom(from.default_lane_); + if (from.has_default_lane_stop()) { + mutable_default_lane_stop()->::apollo::decision::MainStop::MergeFrom(from.default_lane_stop()); + } + if (from.has_target_lane_stop()) { + mutable_target_lane_stop()->::apollo::decision::MainStop::MergeFrom(from.target_lane_stop()); + } + if (from.type() != 0) { + set_type(from.type()); + } +} + +void MainChangeLane::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.MainChangeLane) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MainChangeLane::CopyFrom(const MainChangeLane& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.MainChangeLane) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MainChangeLane::IsInitialized() const { + return true; +} + +void MainChangeLane::Swap(MainChangeLane* other) { + if (other == this) return; + InternalSwap(other); +} +void MainChangeLane::InternalSwap(MainChangeLane* other) { + using std::swap; + CastToBase(&default_lane_)->InternalSwap(CastToBase(&other->default_lane_)); + swap(default_lane_stop_, other->default_lane_stop_); + swap(target_lane_stop_, other->target_lane_stop_); + swap(type_, other->type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MainChangeLane::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MainMissionComplete::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MainMissionComplete::MainMissionComplete() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainMissionComplete.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.MainMissionComplete) +} +MainMissionComplete::MainMissionComplete(const MainMissionComplete& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.decision.MainMissionComplete) +} + +void MainMissionComplete::SharedCtor() { +} + +MainMissionComplete::~MainMissionComplete() { + // @@protoc_insertion_point(destructor:apollo.decision.MainMissionComplete) + SharedDtor(); +} + +void MainMissionComplete::SharedDtor() { +} + +void MainMissionComplete::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MainMissionComplete::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MainMissionComplete& MainMissionComplete::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainMissionComplete.base); + return *internal_default_instance(); +} + + +void MainMissionComplete::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.MainMissionComplete) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + _internal_metadata_.Clear(); +} + +bool MainMissionComplete::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.MainMissionComplete) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.MainMissionComplete) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.MainMissionComplete) + return false; +#undef DO_ +} + +void MainMissionComplete::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.MainMissionComplete) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.MainMissionComplete) +} + +::google::protobuf::uint8* MainMissionComplete::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.MainMissionComplete) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.MainMissionComplete) + return target; +} + +size_t MainMissionComplete::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.MainMissionComplete) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MainMissionComplete::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.MainMissionComplete) + GOOGLE_DCHECK_NE(&from, this); + const MainMissionComplete* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.MainMissionComplete) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.MainMissionComplete) + MergeFrom(*source); + } +} + +void MainMissionComplete::MergeFrom(const MainMissionComplete& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.MainMissionComplete) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + +} + +void MainMissionComplete::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.MainMissionComplete) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MainMissionComplete::CopyFrom(const MainMissionComplete& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.MainMissionComplete) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MainMissionComplete::IsInitialized() const { + return true; +} + +void MainMissionComplete::Swap(MainMissionComplete* other) { + if (other == this) return; + InternalSwap(other); +} +void MainMissionComplete::InternalSwap(MainMissionComplete* other) { + using std::swap; + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MainMissionComplete::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MainNotReady::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int MainNotReady::kReasonFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MainNotReady::MainNotReady() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainNotReady.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.MainNotReady) +} +MainNotReady::MainNotReady(const MainNotReady& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + reason_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.reason().size() > 0) { + reason_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.reason_); + } + // @@protoc_insertion_point(copy_constructor:apollo.decision.MainNotReady) +} + +void MainNotReady::SharedCtor() { + reason_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} + +MainNotReady::~MainNotReady() { + // @@protoc_insertion_point(destructor:apollo.decision.MainNotReady) + SharedDtor(); +} + +void MainNotReady::SharedDtor() { + reason_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} + +void MainNotReady::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MainNotReady::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MainNotReady& MainNotReady::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainNotReady.base); + return *internal_default_instance(); +} + + +void MainNotReady::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.MainNotReady) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + reason_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + _internal_metadata_.Clear(); +} + +bool MainNotReady::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.MainNotReady) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // string reason = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_reason())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->reason().data(), static_cast(this->reason().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.MainNotReady.reason")); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.MainNotReady) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.MainNotReady) + return false; +#undef DO_ +} + +void MainNotReady::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.MainNotReady) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string reason = 1; + if (this->reason().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->reason().data(), static_cast(this->reason().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.MainNotReady.reason"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 1, this->reason(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.MainNotReady) +} + +::google::protobuf::uint8* MainNotReady::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.MainNotReady) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string reason = 1; + if (this->reason().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->reason().data(), static_cast(this->reason().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.MainNotReady.reason"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 1, this->reason(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.MainNotReady) + return target; +} + +size_t MainNotReady::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.MainNotReady) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string reason = 1; + if (this->reason().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->reason()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MainNotReady::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.MainNotReady) + GOOGLE_DCHECK_NE(&from, this); + const MainNotReady* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.MainNotReady) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.MainNotReady) + MergeFrom(*source); + } +} + +void MainNotReady::MergeFrom(const MainNotReady& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.MainNotReady) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.reason().size() > 0) { + + reason_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.reason_); + } +} + +void MainNotReady::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.MainNotReady) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MainNotReady::CopyFrom(const MainNotReady& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.MainNotReady) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MainNotReady::IsInitialized() const { + return true; +} + +void MainNotReady::Swap(MainNotReady* other) { + if (other == this) return; + InternalSwap(other); +} +void MainNotReady::InternalSwap(MainNotReady* other) { + using std::swap; + reason_.Swap(&other->reason_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MainNotReady::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MainParking::InitAsDefaultInstance() { + ::apollo::decision::_MainParking_default_instance_._instance.get_mutable()->stop_point_ = const_cast< ::apollo::common::PointENU*>( + ::apollo::common::PointENU::internal_default_instance()); +} +void MainParking::clear_stop_point() { + if (GetArenaNoVirtual() == NULL && stop_point_ != NULL) { + delete stop_point_; + } + stop_point_ = NULL; +} +void MainParking::clear_parking_polygon() { + parking_polygon_.Clear(); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int MainParking::kTypeFieldNumber; +const int MainParking::kHeadingFieldNumber; +const int MainParking::kStopPointFieldNumber; +const int MainParking::kParkingPolygonFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MainParking::MainParking() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainParking.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.MainParking) +} +MainParking::MainParking(const MainParking& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + parking_polygon_(from.parking_polygon_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_stop_point()) { + stop_point_ = new ::apollo::common::PointENU(*from.stop_point_); + } else { + stop_point_ = NULL; + } + ::memcpy(&heading_, &from.heading_, + static_cast(reinterpret_cast(&type_) - + reinterpret_cast(&heading_)) + sizeof(type_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.MainParking) +} + +void MainParking::SharedCtor() { + ::memset(&stop_point_, 0, static_cast( + reinterpret_cast(&type_) - + reinterpret_cast(&stop_point_)) + sizeof(type_)); +} + +MainParking::~MainParking() { + // @@protoc_insertion_point(destructor:apollo.decision.MainParking) + SharedDtor(); +} + +void MainParking::SharedDtor() { + if (this != internal_default_instance()) delete stop_point_; +} + +void MainParking::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MainParking::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MainParking& MainParking::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainParking.base); + return *internal_default_instance(); +} + + +void MainParking::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.MainParking) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + parking_polygon_.Clear(); + if (GetArenaNoVirtual() == NULL && stop_point_ != NULL) { + delete stop_point_; + } + stop_point_ = NULL; + ::memset(&heading_, 0, static_cast( + reinterpret_cast(&type_) - + reinterpret_cast(&heading_)) + sizeof(type_)); + _internal_metadata_.Clear(); +} + +bool MainParking::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.MainParking) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.decision.MainParking.Type type = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_type(static_cast< ::apollo::decision::MainParking_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double heading = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.PointENU stop_point = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_stop_point())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.common.PointENU parking_polygon = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_parking_polygon())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.MainParking) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.MainParking) + return false; +#undef DO_ +} + +void MainParking::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.MainParking) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.MainParking.Type type = 1; + if (this->type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->type(), output); + } + + // double heading = 2; + if (this->heading() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->heading(), output); + } + + // .apollo.common.PointENU stop_point = 3; + if (this->has_stop_point()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_stop_point(), output); + } + + // repeated .apollo.common.PointENU parking_polygon = 4; + for (unsigned int i = 0, + n = static_cast(this->parking_polygon_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, + this->parking_polygon(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.MainParking) +} + +::google::protobuf::uint8* MainParking::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.MainParking) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.MainParking.Type type = 1; + if (this->type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->type(), target); + } + + // double heading = 2; + if (this->heading() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->heading(), target); + } + + // .apollo.common.PointENU stop_point = 3; + if (this->has_stop_point()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_stop_point(), deterministic, target); + } + + // repeated .apollo.common.PointENU parking_polygon = 4; + for (unsigned int i = 0, + n = static_cast(this->parking_polygon_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->parking_polygon(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.MainParking) + return target; +} + +size_t MainParking::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.MainParking) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.common.PointENU parking_polygon = 4; + { + unsigned int count = static_cast(this->parking_polygon_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->parking_polygon(static_cast(i))); + } + } + + // .apollo.common.PointENU stop_point = 3; + if (this->has_stop_point()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *stop_point_); + } + + // double heading = 2; + if (this->heading() != 0) { + total_size += 1 + 8; + } + + // .apollo.decision.MainParking.Type type = 1; + if (this->type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MainParking::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.MainParking) + GOOGLE_DCHECK_NE(&from, this); + const MainParking* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.MainParking) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.MainParking) + MergeFrom(*source); + } +} + +void MainParking::MergeFrom(const MainParking& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.MainParking) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + parking_polygon_.MergeFrom(from.parking_polygon_); + if (from.has_stop_point()) { + mutable_stop_point()->::apollo::common::PointENU::MergeFrom(from.stop_point()); + } + if (from.heading() != 0) { + set_heading(from.heading()); + } + if (from.type() != 0) { + set_type(from.type()); + } +} + +void MainParking::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.MainParking) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MainParking::CopyFrom(const MainParking& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.MainParking) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MainParking::IsInitialized() const { + return true; +} + +void MainParking::Swap(MainParking* other) { + if (other == this) return; + InternalSwap(other); +} +void MainParking::InternalSwap(MainParking* other) { + using std::swap; + CastToBase(&parking_polygon_)->InternalSwap(CastToBase(&other->parking_polygon_)); + swap(stop_point_, other->stop_point_); + swap(heading_, other->heading_); + swap(type_, other->type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MainParking::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MainDecision::InitAsDefaultInstance() { + ::apollo::decision::_MainDecision_default_instance_.cruise_ = const_cast< ::apollo::decision::MainCruise*>( + ::apollo::decision::MainCruise::internal_default_instance()); + ::apollo::decision::_MainDecision_default_instance_.stop_ = const_cast< ::apollo::decision::MainStop*>( + ::apollo::decision::MainStop::internal_default_instance()); + ::apollo::decision::_MainDecision_default_instance_.estop_ = const_cast< ::apollo::decision::MainEmergencyStop*>( + ::apollo::decision::MainEmergencyStop::internal_default_instance()); + ::apollo::decision::_MainDecision_default_instance_.change_lane_ = const_cast< ::apollo::decision::MainChangeLane*>( + ::apollo::decision::MainChangeLane::internal_default_instance()); + ::apollo::decision::_MainDecision_default_instance_.mission_complete_ = const_cast< ::apollo::decision::MainMissionComplete*>( + ::apollo::decision::MainMissionComplete::internal_default_instance()); + ::apollo::decision::_MainDecision_default_instance_.not_ready_ = const_cast< ::apollo::decision::MainNotReady*>( + ::apollo::decision::MainNotReady::internal_default_instance()); + ::apollo::decision::_MainDecision_default_instance_.parking_ = const_cast< ::apollo::decision::MainParking*>( + ::apollo::decision::MainParking::internal_default_instance()); +} +void MainDecision::set_allocated_cruise(::apollo::decision::MainCruise* cruise) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_task(); + if (cruise) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + cruise = ::google::protobuf::internal::GetOwnedMessage( + message_arena, cruise, submessage_arena); + } + set_has_cruise(); + task_.cruise_ = cruise; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainDecision.cruise) +} +void MainDecision::set_allocated_stop(::apollo::decision::MainStop* stop) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_task(); + if (stop) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + stop = ::google::protobuf::internal::GetOwnedMessage( + message_arena, stop, submessage_arena); + } + set_has_stop(); + task_.stop_ = stop; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainDecision.stop) +} +void MainDecision::set_allocated_estop(::apollo::decision::MainEmergencyStop* estop) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_task(); + if (estop) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + estop = ::google::protobuf::internal::GetOwnedMessage( + message_arena, estop, submessage_arena); + } + set_has_estop(); + task_.estop_ = estop; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainDecision.estop) +} +void MainDecision::set_allocated_change_lane(::apollo::decision::MainChangeLane* change_lane) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_task(); + if (change_lane) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + change_lane = ::google::protobuf::internal::GetOwnedMessage( + message_arena, change_lane, submessage_arena); + } + set_has_change_lane(); + task_.change_lane_ = change_lane; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainDecision.change_lane) +} +void MainDecision::set_allocated_mission_complete(::apollo::decision::MainMissionComplete* mission_complete) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_task(); + if (mission_complete) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + mission_complete = ::google::protobuf::internal::GetOwnedMessage( + message_arena, mission_complete, submessage_arena); + } + set_has_mission_complete(); + task_.mission_complete_ = mission_complete; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainDecision.mission_complete) +} +void MainDecision::set_allocated_not_ready(::apollo::decision::MainNotReady* not_ready) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_task(); + if (not_ready) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + not_ready = ::google::protobuf::internal::GetOwnedMessage( + message_arena, not_ready, submessage_arena); + } + set_has_not_ready(); + task_.not_ready_ = not_ready; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainDecision.not_ready) +} +void MainDecision::set_allocated_parking(::apollo::decision::MainParking* parking) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + clear_task(); + if (parking) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + parking = ::google::protobuf::internal::GetOwnedMessage( + message_arena, parking, submessage_arena); + } + set_has_parking(); + task_.parking_ = parking; + } + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainDecision.parking) +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int MainDecision::kCruiseFieldNumber; +const int MainDecision::kStopFieldNumber; +const int MainDecision::kEstopFieldNumber; +const int MainDecision::kChangeLaneFieldNumber; +const int MainDecision::kMissionCompleteFieldNumber; +const int MainDecision::kNotReadyFieldNumber; +const int MainDecision::kParkingFieldNumber; +const int MainDecision::kTargetLaneFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MainDecision::MainDecision() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainDecision.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.MainDecision) +} +MainDecision::MainDecision(const MainDecision& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + target_lane_(from.target_lane_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + clear_has_task(); + switch (from.task_case()) { + case kCruise: { + mutable_cruise()->::apollo::decision::MainCruise::MergeFrom(from.cruise()); + break; + } + case kStop: { + mutable_stop()->::apollo::decision::MainStop::MergeFrom(from.stop()); + break; + } + case kEstop: { + mutable_estop()->::apollo::decision::MainEmergencyStop::MergeFrom(from.estop()); + break; + } + case kChangeLane: { + mutable_change_lane()->::apollo::decision::MainChangeLane::MergeFrom(from.change_lane()); + break; + } + case kMissionComplete: { + mutable_mission_complete()->::apollo::decision::MainMissionComplete::MergeFrom(from.mission_complete()); + break; + } + case kNotReady: { + mutable_not_ready()->::apollo::decision::MainNotReady::MergeFrom(from.not_ready()); + break; + } + case kParking: { + mutable_parking()->::apollo::decision::MainParking::MergeFrom(from.parking()); + break; + } + case TASK_NOT_SET: { + break; + } + } + // @@protoc_insertion_point(copy_constructor:apollo.decision.MainDecision) +} + +void MainDecision::SharedCtor() { + clear_has_task(); +} + +MainDecision::~MainDecision() { + // @@protoc_insertion_point(destructor:apollo.decision.MainDecision) + SharedDtor(); +} + +void MainDecision::SharedDtor() { + if (has_task()) { + clear_task(); + } +} + +void MainDecision::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MainDecision::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MainDecision& MainDecision::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainDecision.base); + return *internal_default_instance(); +} + + +void MainDecision::clear_task() { +// @@protoc_insertion_point(one_of_clear_start:apollo.decision.MainDecision) + switch (task_case()) { + case kCruise: { + delete task_.cruise_; + break; + } + case kStop: { + delete task_.stop_; + break; + } + case kEstop: { + delete task_.estop_; + break; + } + case kChangeLane: { + delete task_.change_lane_; + break; + } + case kMissionComplete: { + delete task_.mission_complete_; + break; + } + case kNotReady: { + delete task_.not_ready_; + break; + } + case kParking: { + delete task_.parking_; + break; + } + case TASK_NOT_SET: { + break; + } + } + _oneof_case_[0] = TASK_NOT_SET; +} + + +void MainDecision::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.MainDecision) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + target_lane_.Clear(); + clear_task(); + _internal_metadata_.Clear(); +} + +bool MainDecision::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.MainDecision) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.decision.MainCruise cruise = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_cruise())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainStop stop = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_stop())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainEmergencyStop estop = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_estop())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainChangeLane change_lane = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_change_lane())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.decision.TargetLane target_lane = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_target_lane())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainMissionComplete mission_complete = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(50u /* 50 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_mission_complete())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainNotReady not_ready = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(58u /* 58 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_not_ready())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainParking parking = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(66u /* 66 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_parking())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.MainDecision) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.MainDecision) + return false; +#undef DO_ +} + +void MainDecision::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.MainDecision) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.MainCruise cruise = 1; + if (has_cruise()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_cruise(), output); + } + + // .apollo.decision.MainStop stop = 2; + if (has_stop()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_stop(), output); + } + + // .apollo.decision.MainEmergencyStop estop = 3; + if (has_estop()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_estop(), output); + } + + // .apollo.decision.MainChangeLane change_lane = 4; + if (has_change_lane()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_change_lane(), output); + } + + // repeated .apollo.decision.TargetLane target_lane = 5; + for (unsigned int i = 0, + n = static_cast(this->target_lane_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, + this->target_lane(static_cast(i)), + output); + } + + // .apollo.decision.MainMissionComplete mission_complete = 6; + if (has_mission_complete()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 6, this->_internal_mission_complete(), output); + } + + // .apollo.decision.MainNotReady not_ready = 7; + if (has_not_ready()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 7, this->_internal_not_ready(), output); + } + + // .apollo.decision.MainParking parking = 8; + if (has_parking()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 8, this->_internal_parking(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.MainDecision) +} + +::google::protobuf::uint8* MainDecision::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.MainDecision) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.MainCruise cruise = 1; + if (has_cruise()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_cruise(), deterministic, target); + } + + // .apollo.decision.MainStop stop = 2; + if (has_stop()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_stop(), deterministic, target); + } + + // .apollo.decision.MainEmergencyStop estop = 3; + if (has_estop()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_estop(), deterministic, target); + } + + // .apollo.decision.MainChangeLane change_lane = 4; + if (has_change_lane()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_change_lane(), deterministic, target); + } + + // repeated .apollo.decision.TargetLane target_lane = 5; + for (unsigned int i = 0, + n = static_cast(this->target_lane_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->target_lane(static_cast(i)), deterministic, target); + } + + // .apollo.decision.MainMissionComplete mission_complete = 6; + if (has_mission_complete()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 6, this->_internal_mission_complete(), deterministic, target); + } + + // .apollo.decision.MainNotReady not_ready = 7; + if (has_not_ready()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 7, this->_internal_not_ready(), deterministic, target); + } + + // .apollo.decision.MainParking parking = 8; + if (has_parking()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 8, this->_internal_parking(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.MainDecision) + return target; +} + +size_t MainDecision::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.MainDecision) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.decision.TargetLane target_lane = 5; + { + unsigned int count = static_cast(this->target_lane_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->target_lane(static_cast(i))); + } + } + + switch (task_case()) { + // .apollo.decision.MainCruise cruise = 1; + case kCruise: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *task_.cruise_); + break; + } + // .apollo.decision.MainStop stop = 2; + case kStop: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *task_.stop_); + break; + } + // .apollo.decision.MainEmergencyStop estop = 3; + case kEstop: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *task_.estop_); + break; + } + // .apollo.decision.MainChangeLane change_lane = 4; + case kChangeLane: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *task_.change_lane_); + break; + } + // .apollo.decision.MainMissionComplete mission_complete = 6; + case kMissionComplete: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *task_.mission_complete_); + break; + } + // .apollo.decision.MainNotReady not_ready = 7; + case kNotReady: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *task_.not_ready_); + break; + } + // .apollo.decision.MainParking parking = 8; + case kParking: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *task_.parking_); + break; + } + case TASK_NOT_SET: { + break; + } + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MainDecision::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.MainDecision) + GOOGLE_DCHECK_NE(&from, this); + const MainDecision* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.MainDecision) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.MainDecision) + MergeFrom(*source); + } +} + +void MainDecision::MergeFrom(const MainDecision& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.MainDecision) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + target_lane_.MergeFrom(from.target_lane_); + switch (from.task_case()) { + case kCruise: { + mutable_cruise()->::apollo::decision::MainCruise::MergeFrom(from.cruise()); + break; + } + case kStop: { + mutable_stop()->::apollo::decision::MainStop::MergeFrom(from.stop()); + break; + } + case kEstop: { + mutable_estop()->::apollo::decision::MainEmergencyStop::MergeFrom(from.estop()); + break; + } + case kChangeLane: { + mutable_change_lane()->::apollo::decision::MainChangeLane::MergeFrom(from.change_lane()); + break; + } + case kMissionComplete: { + mutable_mission_complete()->::apollo::decision::MainMissionComplete::MergeFrom(from.mission_complete()); + break; + } + case kNotReady: { + mutable_not_ready()->::apollo::decision::MainNotReady::MergeFrom(from.not_ready()); + break; + } + case kParking: { + mutable_parking()->::apollo::decision::MainParking::MergeFrom(from.parking()); + break; + } + case TASK_NOT_SET: { + break; + } + } +} + +void MainDecision::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.MainDecision) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MainDecision::CopyFrom(const MainDecision& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.MainDecision) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MainDecision::IsInitialized() const { + return true; +} + +void MainDecision::Swap(MainDecision* other) { + if (other == this) return; + InternalSwap(other); +} +void MainDecision::InternalSwap(MainDecision* other) { + using std::swap; + CastToBase(&target_lane_)->InternalSwap(CastToBase(&other->target_lane_)); + swap(task_, other->task_); + swap(_oneof_case_[0], other->_oneof_case_[0]); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MainDecision::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void MasterVehicleDebug::InitAsDefaultInstance() { + ::apollo::decision::_MasterVehicleDebug_default_instance_._instance.get_mutable()->position_ = const_cast< ::apollo::common::PointENU*>( + ::apollo::common::PointENU::internal_default_instance()); + ::apollo::decision::_MasterVehicleDebug_default_instance_._instance.get_mutable()->route_s_range_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); + ::apollo::decision::_MasterVehicleDebug_default_instance_._instance.get_mutable()->route_l_range_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); +} +void MasterVehicleDebug::clear_position() { + if (GetArenaNoVirtual() == NULL && position_ != NULL) { + delete position_; + } + position_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int MasterVehicleDebug::kPositionFieldNumber; +const int MasterVehicleDebug::kCurrentLaneIdFieldNumber; +const int MasterVehicleDebug::kLaneSFieldNumber; +const int MasterVehicleDebug::kLaneLFieldNumber; +const int MasterVehicleDebug::kRouteSFieldNumber; +const int MasterVehicleDebug::kRouteLFieldNumber; +const int MasterVehicleDebug::kHeadingFieldNumber; +const int MasterVehicleDebug::kHeadingSpeedFieldNumber; +const int MasterVehicleDebug::kHeadingAccelerationFieldNumber; +const int MasterVehicleDebug::kRouteSRangeFieldNumber; +const int MasterVehicleDebug::kRouteLRangeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +MasterVehicleDebug::MasterVehicleDebug() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MasterVehicleDebug.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.MasterVehicleDebug) +} +MasterVehicleDebug::MasterVehicleDebug(const MasterVehicleDebug& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + current_lane_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.current_lane_id().size() > 0) { + current_lane_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.current_lane_id_); + } + if (from.has_position()) { + position_ = new ::apollo::common::PointENU(*from.position_); + } else { + position_ = NULL; + } + if (from.has_route_s_range()) { + route_s_range_ = new ::apollo::decision::Range(*from.route_s_range_); + } else { + route_s_range_ = NULL; + } + if (from.has_route_l_range()) { + route_l_range_ = new ::apollo::decision::Range(*from.route_l_range_); + } else { + route_l_range_ = NULL; + } + ::memcpy(&lane_s_, &from.lane_s_, + static_cast(reinterpret_cast(&heading_acceleration_) - + reinterpret_cast(&lane_s_)) + sizeof(heading_acceleration_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.MasterVehicleDebug) +} + +void MasterVehicleDebug::SharedCtor() { + current_lane_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&position_, 0, static_cast( + reinterpret_cast(&heading_acceleration_) - + reinterpret_cast(&position_)) + sizeof(heading_acceleration_)); +} + +MasterVehicleDebug::~MasterVehicleDebug() { + // @@protoc_insertion_point(destructor:apollo.decision.MasterVehicleDebug) + SharedDtor(); +} + +void MasterVehicleDebug::SharedDtor() { + current_lane_id_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (this != internal_default_instance()) delete position_; + if (this != internal_default_instance()) delete route_s_range_; + if (this != internal_default_instance()) delete route_l_range_; +} + +void MasterVehicleDebug::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* MasterVehicleDebug::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const MasterVehicleDebug& MasterVehicleDebug::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MasterVehicleDebug.base); + return *internal_default_instance(); +} + + +void MasterVehicleDebug::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.MasterVehicleDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + current_lane_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (GetArenaNoVirtual() == NULL && position_ != NULL) { + delete position_; + } + position_ = NULL; + if (GetArenaNoVirtual() == NULL && route_s_range_ != NULL) { + delete route_s_range_; + } + route_s_range_ = NULL; + if (GetArenaNoVirtual() == NULL && route_l_range_ != NULL) { + delete route_l_range_; + } + route_l_range_ = NULL; + ::memset(&lane_s_, 0, static_cast( + reinterpret_cast(&heading_acceleration_) - + reinterpret_cast(&lane_s_)) + sizeof(heading_acceleration_)); + _internal_metadata_.Clear(); +} + +bool MasterVehicleDebug::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.MasterVehicleDebug) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.PointENU position = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_position())); + } else { + goto handle_unusual; + } + break; + } + + // string current_lane_id = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_current_lane_id())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->current_lane_id().data(), static_cast(this->current_lane_id().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.MasterVehicleDebug.current_lane_id")); + } else { + goto handle_unusual; + } + break; + } + + // double lane_s = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &lane_s_))); + } else { + goto handle_unusual; + } + break; + } + + // double lane_l = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &lane_l_))); + } else { + goto handle_unusual; + } + break; + } + + // double route_s = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &route_s_))); + } else { + goto handle_unusual; + } + break; + } + + // double route_l = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &route_l_))); + } else { + goto handle_unusual; + } + break; + } + + // double heading = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_))); + } else { + goto handle_unusual; + } + break; + } + + // double heading_speed = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(65u /* 65 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_speed_))); + } else { + goto handle_unusual; + } + break; + } + + // double heading_acceleration = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_acceleration_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range route_s_range = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(82u /* 82 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_route_s_range())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range route_l_range = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(90u /* 90 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_route_l_range())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.MasterVehicleDebug) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.MasterVehicleDebug) + return false; +#undef DO_ +} + +void MasterVehicleDebug::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.MasterVehicleDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.PointENU position = 1; + if (this->has_position()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_position(), output); + } + + // string current_lane_id = 2; + if (this->current_lane_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->current_lane_id().data(), static_cast(this->current_lane_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.MasterVehicleDebug.current_lane_id"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 2, this->current_lane_id(), output); + } + + // double lane_s = 3; + if (this->lane_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->lane_s(), output); + } + + // double lane_l = 4; + if (this->lane_l() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->lane_l(), output); + } + + // double route_s = 5; + if (this->route_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->route_s(), output); + } + + // double route_l = 6; + if (this->route_l() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->route_l(), output); + } + + // double heading = 7; + if (this->heading() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->heading(), output); + } + + // double heading_speed = 8; + if (this->heading_speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(8, this->heading_speed(), output); + } + + // double heading_acceleration = 9; + if (this->heading_acceleration() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->heading_acceleration(), output); + } + + // .apollo.decision.Range route_s_range = 10; + if (this->has_route_s_range()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 10, this->_internal_route_s_range(), output); + } + + // .apollo.decision.Range route_l_range = 11; + if (this->has_route_l_range()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 11, this->_internal_route_l_range(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.MasterVehicleDebug) +} + +::google::protobuf::uint8* MasterVehicleDebug::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.MasterVehicleDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.PointENU position = 1; + if (this->has_position()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_position(), deterministic, target); + } + + // string current_lane_id = 2; + if (this->current_lane_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->current_lane_id().data(), static_cast(this->current_lane_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.MasterVehicleDebug.current_lane_id"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 2, this->current_lane_id(), target); + } + + // double lane_s = 3; + if (this->lane_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->lane_s(), target); + } + + // double lane_l = 4; + if (this->lane_l() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->lane_l(), target); + } + + // double route_s = 5; + if (this->route_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->route_s(), target); + } + + // double route_l = 6; + if (this->route_l() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->route_l(), target); + } + + // double heading = 7; + if (this->heading() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->heading(), target); + } + + // double heading_speed = 8; + if (this->heading_speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(8, this->heading_speed(), target); + } + + // double heading_acceleration = 9; + if (this->heading_acceleration() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->heading_acceleration(), target); + } + + // .apollo.decision.Range route_s_range = 10; + if (this->has_route_s_range()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 10, this->_internal_route_s_range(), deterministic, target); + } + + // .apollo.decision.Range route_l_range = 11; + if (this->has_route_l_range()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 11, this->_internal_route_l_range(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.MasterVehicleDebug) + return target; +} + +size_t MasterVehicleDebug::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.MasterVehicleDebug) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string current_lane_id = 2; + if (this->current_lane_id().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->current_lane_id()); + } + + // .apollo.common.PointENU position = 1; + if (this->has_position()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *position_); + } + + // .apollo.decision.Range route_s_range = 10; + if (this->has_route_s_range()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *route_s_range_); + } + + // .apollo.decision.Range route_l_range = 11; + if (this->has_route_l_range()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *route_l_range_); + } + + // double lane_s = 3; + if (this->lane_s() != 0) { + total_size += 1 + 8; + } + + // double lane_l = 4; + if (this->lane_l() != 0) { + total_size += 1 + 8; + } + + // double route_s = 5; + if (this->route_s() != 0) { + total_size += 1 + 8; + } + + // double route_l = 6; + if (this->route_l() != 0) { + total_size += 1 + 8; + } + + // double heading = 7; + if (this->heading() != 0) { + total_size += 1 + 8; + } + + // double heading_speed = 8; + if (this->heading_speed() != 0) { + total_size += 1 + 8; + } + + // double heading_acceleration = 9; + if (this->heading_acceleration() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void MasterVehicleDebug::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.MasterVehicleDebug) + GOOGLE_DCHECK_NE(&from, this); + const MasterVehicleDebug* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.MasterVehicleDebug) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.MasterVehicleDebug) + MergeFrom(*source); + } +} + +void MasterVehicleDebug::MergeFrom(const MasterVehicleDebug& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.MasterVehicleDebug) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.current_lane_id().size() > 0) { + + current_lane_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.current_lane_id_); + } + if (from.has_position()) { + mutable_position()->::apollo::common::PointENU::MergeFrom(from.position()); + } + if (from.has_route_s_range()) { + mutable_route_s_range()->::apollo::decision::Range::MergeFrom(from.route_s_range()); + } + if (from.has_route_l_range()) { + mutable_route_l_range()->::apollo::decision::Range::MergeFrom(from.route_l_range()); + } + if (from.lane_s() != 0) { + set_lane_s(from.lane_s()); + } + if (from.lane_l() != 0) { + set_lane_l(from.lane_l()); + } + if (from.route_s() != 0) { + set_route_s(from.route_s()); + } + if (from.route_l() != 0) { + set_route_l(from.route_l()); + } + if (from.heading() != 0) { + set_heading(from.heading()); + } + if (from.heading_speed() != 0) { + set_heading_speed(from.heading_speed()); + } + if (from.heading_acceleration() != 0) { + set_heading_acceleration(from.heading_acceleration()); + } +} + +void MasterVehicleDebug::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.MasterVehicleDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void MasterVehicleDebug::CopyFrom(const MasterVehicleDebug& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.MasterVehicleDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool MasterVehicleDebug::IsInitialized() const { + return true; +} + +void MasterVehicleDebug::Swap(MasterVehicleDebug* other) { + if (other == this) return; + InternalSwap(other); +} +void MasterVehicleDebug::InternalSwap(MasterVehicleDebug* other) { + using std::swap; + current_lane_id_.Swap(&other->current_lane_id_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(position_, other->position_); + swap(route_s_range_, other->route_s_range_); + swap(route_l_range_, other->route_l_range_); + swap(lane_s_, other->lane_s_); + swap(lane_l_, other->lane_l_); + swap(route_s_, other->route_s_); + swap(route_l_, other->route_l_); + swap(heading_, other->heading_); + swap(heading_speed_, other->heading_speed_); + swap(heading_acceleration_, other->heading_acceleration_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata MasterVehicleDebug::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ObjectDebug::InitAsDefaultInstance() { + ::apollo::decision::_ObjectDebug_default_instance_._instance.get_mutable()->route_s_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); + ::apollo::decision::_ObjectDebug_default_instance_._instance.get_mutable()->route_l_ = const_cast< ::apollo::decision::Range*>( + ::apollo::decision::Range::internal_default_instance()); +} +void ObjectDebug::clear_st_region() { + st_region_.Clear(); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ObjectDebug::kIdFieldNumber; +const int ObjectDebug::kPathIdFieldNumber; +const int ObjectDebug::kRouteSFieldNumber; +const int ObjectDebug::kRouteLFieldNumber; +const int ObjectDebug::kOnRouteFieldNumber; +const int ObjectDebug::kLaneIdFieldNumber; +const int ObjectDebug::kLaneSFieldNumber; +const int ObjectDebug::kOnLaneFieldNumber; +const int ObjectDebug::kPathSpeedFieldNumber; +const int ObjectDebug::kStRegionFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ObjectDebug::ObjectDebug() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDebug.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ObjectDebug) +} +ObjectDebug::ObjectDebug(const ObjectDebug& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + st_region_(from.st_region_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.id().size() > 0) { + id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.id_); + } + path_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.path_id().size() > 0) { + path_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.path_id_); + } + lane_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.lane_id().size() > 0) { + lane_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.lane_id_); + } + if (from.has_route_s()) { + route_s_ = new ::apollo::decision::Range(*from.route_s_); + } else { + route_s_ = NULL; + } + if (from.has_route_l()) { + route_l_ = new ::apollo::decision::Range(*from.route_l_); + } else { + route_l_ = NULL; + } + ::memcpy(&lane_s_, &from.lane_s_, + static_cast(reinterpret_cast(&on_lane_) - + reinterpret_cast(&lane_s_)) + sizeof(on_lane_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.ObjectDebug) +} + +void ObjectDebug::SharedCtor() { + id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + path_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + lane_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&route_s_, 0, static_cast( + reinterpret_cast(&on_lane_) - + reinterpret_cast(&route_s_)) + sizeof(on_lane_)); +} + +ObjectDebug::~ObjectDebug() { + // @@protoc_insertion_point(destructor:apollo.decision.ObjectDebug) + SharedDtor(); +} + +void ObjectDebug::SharedDtor() { + id_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + path_id_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + lane_id_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (this != internal_default_instance()) delete route_s_; + if (this != internal_default_instance()) delete route_l_; +} + +void ObjectDebug::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ObjectDebug::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ObjectDebug& ObjectDebug::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDebug.base); + return *internal_default_instance(); +} + + +void ObjectDebug::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ObjectDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + st_region_.Clear(); + id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + path_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + lane_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (GetArenaNoVirtual() == NULL && route_s_ != NULL) { + delete route_s_; + } + route_s_ = NULL; + if (GetArenaNoVirtual() == NULL && route_l_ != NULL) { + delete route_l_; + } + route_l_ = NULL; + ::memset(&lane_s_, 0, static_cast( + reinterpret_cast(&on_lane_) - + reinterpret_cast(&lane_s_)) + sizeof(on_lane_)); + _internal_metadata_.Clear(); +} + +bool ObjectDebug::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ObjectDebug) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // string id = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_id())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.ObjectDebug.id")); + } else { + goto handle_unusual; + } + break; + } + + // string path_id = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_path_id())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->path_id().data(), static_cast(this->path_id().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.ObjectDebug.path_id")); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range route_s = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_route_s())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Range route_l = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_route_l())); + } else { + goto handle_unusual; + } + break; + } + + // bool on_route = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(40u /* 40 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &on_route_))); + } else { + goto handle_unusual; + } + break; + } + + // string lane_id = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(50u /* 50 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_lane_id())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->lane_id().data(), static_cast(this->lane_id().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.decision.ObjectDebug.lane_id")); + } else { + goto handle_unusual; + } + break; + } + + // double lane_s = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &lane_s_))); + } else { + goto handle_unusual; + } + break; + } + + // bool on_lane = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(64u /* 64 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &on_lane_))); + } else { + goto handle_unusual; + } + break; + } + + // double path_speed = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &path_speed_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.common.Point3D st_region = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(82u /* 82 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_st_region())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ObjectDebug) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ObjectDebug) + return false; +#undef DO_ +} + +void ObjectDebug::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ObjectDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string id = 1; + if (this->id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.ObjectDebug.id"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 1, this->id(), output); + } + + // string path_id = 2; + if (this->path_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->path_id().data(), static_cast(this->path_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.ObjectDebug.path_id"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 2, this->path_id(), output); + } + + // .apollo.decision.Range route_s = 3; + if (this->has_route_s()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_route_s(), output); + } + + // .apollo.decision.Range route_l = 4; + if (this->has_route_l()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_route_l(), output); + } + + // bool on_route = 5; + if (this->on_route() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(5, this->on_route(), output); + } + + // string lane_id = 6; + if (this->lane_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->lane_id().data(), static_cast(this->lane_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.ObjectDebug.lane_id"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 6, this->lane_id(), output); + } + + // double lane_s = 7; + if (this->lane_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->lane_s(), output); + } + + // bool on_lane = 8; + if (this->on_lane() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(8, this->on_lane(), output); + } + + // double path_speed = 9; + if (this->path_speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->path_speed(), output); + } + + // repeated .apollo.common.Point3D st_region = 10; + for (unsigned int i = 0, + n = static_cast(this->st_region_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 10, + this->st_region(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ObjectDebug) +} + +::google::protobuf::uint8* ObjectDebug::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ObjectDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // string id = 1; + if (this->id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.ObjectDebug.id"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 1, this->id(), target); + } + + // string path_id = 2; + if (this->path_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->path_id().data(), static_cast(this->path_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.ObjectDebug.path_id"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 2, this->path_id(), target); + } + + // .apollo.decision.Range route_s = 3; + if (this->has_route_s()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_route_s(), deterministic, target); + } + + // .apollo.decision.Range route_l = 4; + if (this->has_route_l()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_route_l(), deterministic, target); + } + + // bool on_route = 5; + if (this->on_route() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(5, this->on_route(), target); + } + + // string lane_id = 6; + if (this->lane_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->lane_id().data(), static_cast(this->lane_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.decision.ObjectDebug.lane_id"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 6, this->lane_id(), target); + } + + // double lane_s = 7; + if (this->lane_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->lane_s(), target); + } + + // bool on_lane = 8; + if (this->on_lane() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(8, this->on_lane(), target); + } + + // double path_speed = 9; + if (this->path_speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->path_speed(), target); + } + + // repeated .apollo.common.Point3D st_region = 10; + for (unsigned int i = 0, + n = static_cast(this->st_region_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 10, this->st_region(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ObjectDebug) + return target; +} + +size_t ObjectDebug::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ObjectDebug) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.common.Point3D st_region = 10; + { + unsigned int count = static_cast(this->st_region_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->st_region(static_cast(i))); + } + } + + // string id = 1; + if (this->id().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->id()); + } + + // string path_id = 2; + if (this->path_id().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->path_id()); + } + + // string lane_id = 6; + if (this->lane_id().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->lane_id()); + } + + // .apollo.decision.Range route_s = 3; + if (this->has_route_s()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *route_s_); + } + + // .apollo.decision.Range route_l = 4; + if (this->has_route_l()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *route_l_); + } + + // double lane_s = 7; + if (this->lane_s() != 0) { + total_size += 1 + 8; + } + + // double path_speed = 9; + if (this->path_speed() != 0) { + total_size += 1 + 8; + } + + // bool on_route = 5; + if (this->on_route() != 0) { + total_size += 1 + 1; + } + + // bool on_lane = 8; + if (this->on_lane() != 0) { + total_size += 1 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ObjectDebug::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ObjectDebug) + GOOGLE_DCHECK_NE(&from, this); + const ObjectDebug* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ObjectDebug) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ObjectDebug) + MergeFrom(*source); + } +} + +void ObjectDebug::MergeFrom(const ObjectDebug& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ObjectDebug) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + st_region_.MergeFrom(from.st_region_); + if (from.id().size() > 0) { + + id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.id_); + } + if (from.path_id().size() > 0) { + + path_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.path_id_); + } + if (from.lane_id().size() > 0) { + + lane_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.lane_id_); + } + if (from.has_route_s()) { + mutable_route_s()->::apollo::decision::Range::MergeFrom(from.route_s()); + } + if (from.has_route_l()) { + mutable_route_l()->::apollo::decision::Range::MergeFrom(from.route_l()); + } + if (from.lane_s() != 0) { + set_lane_s(from.lane_s()); + } + if (from.path_speed() != 0) { + set_path_speed(from.path_speed()); + } + if (from.on_route() != 0) { + set_on_route(from.on_route()); + } + if (from.on_lane() != 0) { + set_on_lane(from.on_lane()); + } +} + +void ObjectDebug::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ObjectDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ObjectDebug::CopyFrom(const ObjectDebug& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ObjectDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ObjectDebug::IsInitialized() const { + return true; +} + +void ObjectDebug::Swap(ObjectDebug* other) { + if (other == this) return; + InternalSwap(other); +} +void ObjectDebug::InternalSwap(ObjectDebug* other) { + using std::swap; + CastToBase(&st_region_)->InternalSwap(CastToBase(&other->st_region_)); + id_.Swap(&other->id_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + path_id_.Swap(&other->path_id_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + lane_id_.Swap(&other->lane_id_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(route_s_, other->route_s_); + swap(route_l_, other->route_l_); + swap(lane_s_, other->lane_s_); + swap(path_speed_, other->path_speed_); + swap(on_route_, other->on_route_); + swap(on_lane_, other->on_lane_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ObjectDebug::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void LatencyStats::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int LatencyStats::kTotalTimeMsFieldNumber; +const int LatencyStats::kSensorReadTimeMsFieldNumber; +const int LatencyStats::kAdcPrepareTimeMsFieldNumber; +const int LatencyStats::kObjPrepareTimeMsFieldNumber; +const int LatencyStats::kWorldRuleTimeMsFieldNumber; +const int LatencyStats::kStGraphTimeMsFieldNumber; +const int LatencyStats::kGatewayReceiveDelayMsFieldNumber; +const int LatencyStats::kPerceptionReceiveDelayMsFieldNumber; +const int LatencyStats::kPredictionReceiveDelayMsFieldNumber; +const int LatencyStats::kSignalReceiveDelayMsFieldNumber; +const int LatencyStats::kPerceptionIntervalMsFieldNumber; +const int LatencyStats::kPredictionIntervalMsFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +LatencyStats::LatencyStats() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_LatencyStats.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.LatencyStats) +} +LatencyStats::LatencyStats(const LatencyStats& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&total_time_ms_, &from.total_time_ms_, + static_cast(reinterpret_cast(&prediction_interval_ms_) - + reinterpret_cast(&total_time_ms_)) + sizeof(prediction_interval_ms_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.LatencyStats) +} + +void LatencyStats::SharedCtor() { + ::memset(&total_time_ms_, 0, static_cast( + reinterpret_cast(&prediction_interval_ms_) - + reinterpret_cast(&total_time_ms_)) + sizeof(prediction_interval_ms_)); +} + +LatencyStats::~LatencyStats() { + // @@protoc_insertion_point(destructor:apollo.decision.LatencyStats) + SharedDtor(); +} + +void LatencyStats::SharedDtor() { +} + +void LatencyStats::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* LatencyStats::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const LatencyStats& LatencyStats::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_LatencyStats.base); + return *internal_default_instance(); +} + + +void LatencyStats::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.LatencyStats) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&total_time_ms_, 0, static_cast( + reinterpret_cast(&prediction_interval_ms_) - + reinterpret_cast(&total_time_ms_)) + sizeof(prediction_interval_ms_)); + _internal_metadata_.Clear(); +} + +bool LatencyStats::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.LatencyStats) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double total_time_ms = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &total_time_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double sensor_read_time_ms = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &sensor_read_time_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double adc_prepare_time_ms = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &adc_prepare_time_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double obj_prepare_time_ms = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &obj_prepare_time_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double world_rule_time_ms = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &world_rule_time_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double st_graph_time_ms = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &st_graph_time_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double gateway_receive_delay_ms = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(65u /* 65 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &gateway_receive_delay_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double perception_receive_delay_ms = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &perception_receive_delay_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double prediction_receive_delay_ms = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(81u /* 81 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &prediction_receive_delay_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double signal_receive_delay_ms = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &signal_receive_delay_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double perception_interval_ms = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &perception_interval_ms_))); + } else { + goto handle_unusual; + } + break; + } + + // double prediction_interval_ms = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(105u /* 105 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &prediction_interval_ms_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.LatencyStats) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.LatencyStats) + return false; +#undef DO_ +} + +void LatencyStats::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.LatencyStats) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double total_time_ms = 1; + if (this->total_time_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->total_time_ms(), output); + } + + // double sensor_read_time_ms = 2; + if (this->sensor_read_time_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->sensor_read_time_ms(), output); + } + + // double adc_prepare_time_ms = 3; + if (this->adc_prepare_time_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->adc_prepare_time_ms(), output); + } + + // double obj_prepare_time_ms = 4; + if (this->obj_prepare_time_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->obj_prepare_time_ms(), output); + } + + // double world_rule_time_ms = 5; + if (this->world_rule_time_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->world_rule_time_ms(), output); + } + + // double st_graph_time_ms = 6; + if (this->st_graph_time_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->st_graph_time_ms(), output); + } + + // double gateway_receive_delay_ms = 8; + if (this->gateway_receive_delay_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(8, this->gateway_receive_delay_ms(), output); + } + + // double perception_receive_delay_ms = 9; + if (this->perception_receive_delay_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->perception_receive_delay_ms(), output); + } + + // double prediction_receive_delay_ms = 10; + if (this->prediction_receive_delay_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(10, this->prediction_receive_delay_ms(), output); + } + + // double signal_receive_delay_ms = 11; + if (this->signal_receive_delay_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(11, this->signal_receive_delay_ms(), output); + } + + // double perception_interval_ms = 12; + if (this->perception_interval_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(12, this->perception_interval_ms(), output); + } + + // double prediction_interval_ms = 13; + if (this->prediction_interval_ms() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(13, this->prediction_interval_ms(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.LatencyStats) +} + +::google::protobuf::uint8* LatencyStats::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.LatencyStats) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double total_time_ms = 1; + if (this->total_time_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->total_time_ms(), target); + } + + // double sensor_read_time_ms = 2; + if (this->sensor_read_time_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->sensor_read_time_ms(), target); + } + + // double adc_prepare_time_ms = 3; + if (this->adc_prepare_time_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->adc_prepare_time_ms(), target); + } + + // double obj_prepare_time_ms = 4; + if (this->obj_prepare_time_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->obj_prepare_time_ms(), target); + } + + // double world_rule_time_ms = 5; + if (this->world_rule_time_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->world_rule_time_ms(), target); + } + + // double st_graph_time_ms = 6; + if (this->st_graph_time_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->st_graph_time_ms(), target); + } + + // double gateway_receive_delay_ms = 8; + if (this->gateway_receive_delay_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(8, this->gateway_receive_delay_ms(), target); + } + + // double perception_receive_delay_ms = 9; + if (this->perception_receive_delay_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->perception_receive_delay_ms(), target); + } + + // double prediction_receive_delay_ms = 10; + if (this->prediction_receive_delay_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(10, this->prediction_receive_delay_ms(), target); + } + + // double signal_receive_delay_ms = 11; + if (this->signal_receive_delay_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(11, this->signal_receive_delay_ms(), target); + } + + // double perception_interval_ms = 12; + if (this->perception_interval_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(12, this->perception_interval_ms(), target); + } + + // double prediction_interval_ms = 13; + if (this->prediction_interval_ms() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(13, this->prediction_interval_ms(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.LatencyStats) + return target; +} + +size_t LatencyStats::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.LatencyStats) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double total_time_ms = 1; + if (this->total_time_ms() != 0) { + total_size += 1 + 8; + } + + // double sensor_read_time_ms = 2; + if (this->sensor_read_time_ms() != 0) { + total_size += 1 + 8; + } + + // double adc_prepare_time_ms = 3; + if (this->adc_prepare_time_ms() != 0) { + total_size += 1 + 8; + } + + // double obj_prepare_time_ms = 4; + if (this->obj_prepare_time_ms() != 0) { + total_size += 1 + 8; + } + + // double world_rule_time_ms = 5; + if (this->world_rule_time_ms() != 0) { + total_size += 1 + 8; + } + + // double st_graph_time_ms = 6; + if (this->st_graph_time_ms() != 0) { + total_size += 1 + 8; + } + + // double gateway_receive_delay_ms = 8; + if (this->gateway_receive_delay_ms() != 0) { + total_size += 1 + 8; + } + + // double perception_receive_delay_ms = 9; + if (this->perception_receive_delay_ms() != 0) { + total_size += 1 + 8; + } + + // double prediction_receive_delay_ms = 10; + if (this->prediction_receive_delay_ms() != 0) { + total_size += 1 + 8; + } + + // double signal_receive_delay_ms = 11; + if (this->signal_receive_delay_ms() != 0) { + total_size += 1 + 8; + } + + // double perception_interval_ms = 12; + if (this->perception_interval_ms() != 0) { + total_size += 1 + 8; + } + + // double prediction_interval_ms = 13; + if (this->prediction_interval_ms() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void LatencyStats::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.LatencyStats) + GOOGLE_DCHECK_NE(&from, this); + const LatencyStats* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.LatencyStats) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.LatencyStats) + MergeFrom(*source); + } +} + +void LatencyStats::MergeFrom(const LatencyStats& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.LatencyStats) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.total_time_ms() != 0) { + set_total_time_ms(from.total_time_ms()); + } + if (from.sensor_read_time_ms() != 0) { + set_sensor_read_time_ms(from.sensor_read_time_ms()); + } + if (from.adc_prepare_time_ms() != 0) { + set_adc_prepare_time_ms(from.adc_prepare_time_ms()); + } + if (from.obj_prepare_time_ms() != 0) { + set_obj_prepare_time_ms(from.obj_prepare_time_ms()); + } + if (from.world_rule_time_ms() != 0) { + set_world_rule_time_ms(from.world_rule_time_ms()); + } + if (from.st_graph_time_ms() != 0) { + set_st_graph_time_ms(from.st_graph_time_ms()); + } + if (from.gateway_receive_delay_ms() != 0) { + set_gateway_receive_delay_ms(from.gateway_receive_delay_ms()); + } + if (from.perception_receive_delay_ms() != 0) { + set_perception_receive_delay_ms(from.perception_receive_delay_ms()); + } + if (from.prediction_receive_delay_ms() != 0) { + set_prediction_receive_delay_ms(from.prediction_receive_delay_ms()); + } + if (from.signal_receive_delay_ms() != 0) { + set_signal_receive_delay_ms(from.signal_receive_delay_ms()); + } + if (from.perception_interval_ms() != 0) { + set_perception_interval_ms(from.perception_interval_ms()); + } + if (from.prediction_interval_ms() != 0) { + set_prediction_interval_ms(from.prediction_interval_ms()); + } +} + +void LatencyStats::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.LatencyStats) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void LatencyStats::CopyFrom(const LatencyStats& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.LatencyStats) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool LatencyStats::IsInitialized() const { + return true; +} + +void LatencyStats::Swap(LatencyStats* other) { + if (other == this) return; + InternalSwap(other); +} +void LatencyStats::InternalSwap(LatencyStats* other) { + using std::swap; + swap(total_time_ms_, other->total_time_ms_); + swap(sensor_read_time_ms_, other->sensor_read_time_ms_); + swap(adc_prepare_time_ms_, other->adc_prepare_time_ms_); + swap(obj_prepare_time_ms_, other->obj_prepare_time_ms_); + swap(world_rule_time_ms_, other->world_rule_time_ms_); + swap(st_graph_time_ms_, other->st_graph_time_ms_); + swap(gateway_receive_delay_ms_, other->gateway_receive_delay_ms_); + swap(perception_receive_delay_ms_, other->perception_receive_delay_ms_); + swap(prediction_receive_delay_ms_, other->prediction_receive_delay_ms_); + swap(signal_receive_delay_ms_, other->signal_receive_delay_ms_); + swap(perception_interval_ms_, other->perception_interval_ms_); + swap(prediction_interval_ms_, other->prediction_interval_ms_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata LatencyStats::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Stats::InitAsDefaultInstance() { + ::apollo::decision::_Stats_default_instance_._instance.get_mutable()->latency_stats_ = const_cast< ::apollo::decision::LatencyStats*>( + ::apollo::decision::LatencyStats::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Stats::kLatencyStatsFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Stats::Stats() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Stats.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.Stats) +} +Stats::Stats(const Stats& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_latency_stats()) { + latency_stats_ = new ::apollo::decision::LatencyStats(*from.latency_stats_); + } else { + latency_stats_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.decision.Stats) +} + +void Stats::SharedCtor() { + latency_stats_ = NULL; +} + +Stats::~Stats() { + // @@protoc_insertion_point(destructor:apollo.decision.Stats) + SharedDtor(); +} + +void Stats::SharedDtor() { + if (this != internal_default_instance()) delete latency_stats_; +} + +void Stats::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Stats::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Stats& Stats::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Stats.base); + return *internal_default_instance(); +} + + +void Stats::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.Stats) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && latency_stats_ != NULL) { + delete latency_stats_; + } + latency_stats_ = NULL; + _internal_metadata_.Clear(); +} + +bool Stats::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.Stats) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.decision.LatencyStats latency_stats = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_latency_stats())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.Stats) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.Stats) + return false; +#undef DO_ +} + +void Stats::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.Stats) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.LatencyStats latency_stats = 1; + if (this->has_latency_stats()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_latency_stats(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.Stats) +} + +::google::protobuf::uint8* Stats::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.Stats) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.LatencyStats latency_stats = 1; + if (this->has_latency_stats()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_latency_stats(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.Stats) + return target; +} + +size_t Stats::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.Stats) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.decision.LatencyStats latency_stats = 1; + if (this->has_latency_stats()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *latency_stats_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Stats::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.Stats) + GOOGLE_DCHECK_NE(&from, this); + const Stats* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.Stats) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.Stats) + MergeFrom(*source); + } +} + +void Stats::MergeFrom(const Stats& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.Stats) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_latency_stats()) { + mutable_latency_stats()->::apollo::decision::LatencyStats::MergeFrom(from.latency_stats()); + } +} + +void Stats::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.Stats) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Stats::CopyFrom(const Stats& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.Stats) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Stats::IsInitialized() const { + return true; +} + +void Stats::Swap(Stats* other) { + if (other == this) return; + InternalSwap(other); +} +void Stats::InternalSwap(Stats* other) { + using std::swap; + swap(latency_stats_, other->latency_stats_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Stats::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ModuleDebug::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ModuleDebug::kGatewaySequenceNumFieldNumber; +const int ModuleDebug::kPerceptionSequenceNumFieldNumber; +const int ModuleDebug::kPredictionSequenceNumFieldNumber; +const int ModuleDebug::kSignalSequenceNumFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ModuleDebug::ModuleDebug() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ModuleDebug.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.ModuleDebug) +} +ModuleDebug::ModuleDebug(const ModuleDebug& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&gateway_sequence_num_, &from.gateway_sequence_num_, + static_cast(reinterpret_cast(&signal_sequence_num_) - + reinterpret_cast(&gateway_sequence_num_)) + sizeof(signal_sequence_num_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.ModuleDebug) +} + +void ModuleDebug::SharedCtor() { + ::memset(&gateway_sequence_num_, 0, static_cast( + reinterpret_cast(&signal_sequence_num_) - + reinterpret_cast(&gateway_sequence_num_)) + sizeof(signal_sequence_num_)); +} + +ModuleDebug::~ModuleDebug() { + // @@protoc_insertion_point(destructor:apollo.decision.ModuleDebug) + SharedDtor(); +} + +void ModuleDebug::SharedDtor() { +} + +void ModuleDebug::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ModuleDebug::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ModuleDebug& ModuleDebug::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ModuleDebug.base); + return *internal_default_instance(); +} + + +void ModuleDebug::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.ModuleDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&gateway_sequence_num_, 0, static_cast( + reinterpret_cast(&signal_sequence_num_) - + reinterpret_cast(&gateway_sequence_num_)) + sizeof(signal_sequence_num_)); + _internal_metadata_.Clear(); +} + +bool ModuleDebug::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.ModuleDebug) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // uint32 gateway_sequence_num = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &gateway_sequence_num_))); + } else { + goto handle_unusual; + } + break; + } + + // uint32 perception_sequence_num = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &perception_sequence_num_))); + } else { + goto handle_unusual; + } + break; + } + + // uint32 prediction_sequence_num = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &prediction_sequence_num_))); + } else { + goto handle_unusual; + } + break; + } + + // uint32 signal_sequence_num = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &signal_sequence_num_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.ModuleDebug) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.ModuleDebug) + return false; +#undef DO_ +} + +void ModuleDebug::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.ModuleDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // uint32 gateway_sequence_num = 1; + if (this->gateway_sequence_num() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(1, this->gateway_sequence_num(), output); + } + + // uint32 perception_sequence_num = 2; + if (this->perception_sequence_num() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(2, this->perception_sequence_num(), output); + } + + // uint32 prediction_sequence_num = 3; + if (this->prediction_sequence_num() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(3, this->prediction_sequence_num(), output); + } + + // uint32 signal_sequence_num = 4; + if (this->signal_sequence_num() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(4, this->signal_sequence_num(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.ModuleDebug) +} + +::google::protobuf::uint8* ModuleDebug::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.ModuleDebug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // uint32 gateway_sequence_num = 1; + if (this->gateway_sequence_num() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(1, this->gateway_sequence_num(), target); + } + + // uint32 perception_sequence_num = 2; + if (this->perception_sequence_num() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(2, this->perception_sequence_num(), target); + } + + // uint32 prediction_sequence_num = 3; + if (this->prediction_sequence_num() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(3, this->prediction_sequence_num(), target); + } + + // uint32 signal_sequence_num = 4; + if (this->signal_sequence_num() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(4, this->signal_sequence_num(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.ModuleDebug) + return target; +} + +size_t ModuleDebug::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.ModuleDebug) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // uint32 gateway_sequence_num = 1; + if (this->gateway_sequence_num() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->gateway_sequence_num()); + } + + // uint32 perception_sequence_num = 2; + if (this->perception_sequence_num() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->perception_sequence_num()); + } + + // uint32 prediction_sequence_num = 3; + if (this->prediction_sequence_num() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->prediction_sequence_num()); + } + + // uint32 signal_sequence_num = 4; + if (this->signal_sequence_num() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->signal_sequence_num()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ModuleDebug::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.ModuleDebug) + GOOGLE_DCHECK_NE(&from, this); + const ModuleDebug* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.ModuleDebug) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.ModuleDebug) + MergeFrom(*source); + } +} + +void ModuleDebug::MergeFrom(const ModuleDebug& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.ModuleDebug) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.gateway_sequence_num() != 0) { + set_gateway_sequence_num(from.gateway_sequence_num()); + } + if (from.perception_sequence_num() != 0) { + set_perception_sequence_num(from.perception_sequence_num()); + } + if (from.prediction_sequence_num() != 0) { + set_prediction_sequence_num(from.prediction_sequence_num()); + } + if (from.signal_sequence_num() != 0) { + set_signal_sequence_num(from.signal_sequence_num()); + } +} + +void ModuleDebug::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.ModuleDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ModuleDebug::CopyFrom(const ModuleDebug& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.ModuleDebug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ModuleDebug::IsInitialized() const { + return true; +} + +void ModuleDebug::Swap(ModuleDebug* other) { + if (other == this) return; + InternalSwap(other); +} +void ModuleDebug::InternalSwap(ModuleDebug* other) { + using std::swap; + swap(gateway_sequence_num_, other->gateway_sequence_num_); + swap(perception_sequence_num_, other->perception_sequence_num_); + swap(prediction_sequence_num_, other->prediction_sequence_num_); + swap(signal_sequence_num_, other->signal_sequence_num_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ModuleDebug::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Debug::InitAsDefaultInstance() { + ::apollo::decision::_Debug_default_instance_._instance.get_mutable()->master_vehicle_ = const_cast< ::apollo::decision::MasterVehicleDebug*>( + ::apollo::decision::MasterVehicleDebug::internal_default_instance()); + ::apollo::decision::_Debug_default_instance_._instance.get_mutable()->original_decision_ = const_cast< ::apollo::decision::MainDecision*>( + ::apollo::decision::MainDecision::internal_default_instance()); + ::apollo::decision::_Debug_default_instance_._instance.get_mutable()->module_debug_ = const_cast< ::apollo::decision::ModuleDebug*>( + ::apollo::decision::ModuleDebug::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Debug::kMasterVehicleFieldNumber; +const int Debug::kOriginalDecisionFieldNumber; +const int Debug::kObjectFieldNumber; +const int Debug::kMapVersionFieldNumber; +const int Debug::kDecisionVersionFieldNumber; +const int Debug::kModuleDebugFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Debug::Debug() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Debug.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.Debug) +} +Debug::Debug(const Debug& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + object_(from.object_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + map_version_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.map_version().size() > 0) { + map_version_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.map_version_); + } + decision_version_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.decision_version().size() > 0) { + decision_version_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.decision_version_); + } + if (from.has_master_vehicle()) { + master_vehicle_ = new ::apollo::decision::MasterVehicleDebug(*from.master_vehicle_); + } else { + master_vehicle_ = NULL; + } + if (from.has_original_decision()) { + original_decision_ = new ::apollo::decision::MainDecision(*from.original_decision_); + } else { + original_decision_ = NULL; + } + if (from.has_module_debug()) { + module_debug_ = new ::apollo::decision::ModuleDebug(*from.module_debug_); + } else { + module_debug_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.decision.Debug) +} + +void Debug::SharedCtor() { + map_version_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + decision_version_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&master_vehicle_, 0, static_cast( + reinterpret_cast(&module_debug_) - + reinterpret_cast(&master_vehicle_)) + sizeof(module_debug_)); +} + +Debug::~Debug() { + // @@protoc_insertion_point(destructor:apollo.decision.Debug) + SharedDtor(); +} + +void Debug::SharedDtor() { + map_version_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + decision_version_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (this != internal_default_instance()) delete master_vehicle_; + if (this != internal_default_instance()) delete original_decision_; + if (this != internal_default_instance()) delete module_debug_; +} + +void Debug::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Debug::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Debug& Debug::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_Debug.base); + return *internal_default_instance(); +} + + +void Debug::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.Debug) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + object_.Clear(); + map_version_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + decision_version_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (GetArenaNoVirtual() == NULL && master_vehicle_ != NULL) { + delete master_vehicle_; + } + master_vehicle_ = NULL; + if (GetArenaNoVirtual() == NULL && original_decision_ != NULL) { + delete original_decision_; + } + original_decision_ = NULL; + if (GetArenaNoVirtual() == NULL && module_debug_ != NULL) { + delete module_debug_; + } + module_debug_ = NULL; + _internal_metadata_.Clear(); +} + +bool Debug::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.Debug) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.decision.MasterVehicleDebug master_vehicle = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_master_vehicle())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainDecision original_decision = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_original_decision())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.decision.ObjectDebug object = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_object())); + } else { + goto handle_unusual; + } + break; + } + + // bytes map_version = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadBytes( + input, this->mutable_map_version())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ModuleDebug module_debug = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(50u /* 50 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_module_debug())); + } else { + goto handle_unusual; + } + break; + } + + // bytes decision_version = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(58u /* 58 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadBytes( + input, this->mutable_decision_version())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.Debug) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.Debug) + return false; +#undef DO_ +} + +void Debug::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.Debug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.MasterVehicleDebug master_vehicle = 1; + if (this->has_master_vehicle()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_master_vehicle(), output); + } + + // .apollo.decision.MainDecision original_decision = 2; + if (this->has_original_decision()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_original_decision(), output); + } + + // repeated .apollo.decision.ObjectDebug object = 3; + for (unsigned int i = 0, + n = static_cast(this->object_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, + this->object(static_cast(i)), + output); + } + + // bytes map_version = 5; + if (this->map_version().size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteBytesMaybeAliased( + 5, this->map_version(), output); + } + + // .apollo.decision.ModuleDebug module_debug = 6; + if (this->has_module_debug()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 6, this->_internal_module_debug(), output); + } + + // bytes decision_version = 7; + if (this->decision_version().size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteBytesMaybeAliased( + 7, this->decision_version(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.Debug) +} + +::google::protobuf::uint8* Debug::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.Debug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.decision.MasterVehicleDebug master_vehicle = 1; + if (this->has_master_vehicle()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_master_vehicle(), deterministic, target); + } + + // .apollo.decision.MainDecision original_decision = 2; + if (this->has_original_decision()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_original_decision(), deterministic, target); + } + + // repeated .apollo.decision.ObjectDebug object = 3; + for (unsigned int i = 0, + n = static_cast(this->object_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->object(static_cast(i)), deterministic, target); + } + + // bytes map_version = 5; + if (this->map_version().size() > 0) { + target = + ::google::protobuf::internal::WireFormatLite::WriteBytesToArray( + 5, this->map_version(), target); + } + + // .apollo.decision.ModuleDebug module_debug = 6; + if (this->has_module_debug()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 6, this->_internal_module_debug(), deterministic, target); + } + + // bytes decision_version = 7; + if (this->decision_version().size() > 0) { + target = + ::google::protobuf::internal::WireFormatLite::WriteBytesToArray( + 7, this->decision_version(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.Debug) + return target; +} + +size_t Debug::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.Debug) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.decision.ObjectDebug object = 3; + { + unsigned int count = static_cast(this->object_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->object(static_cast(i))); + } + } + + // bytes map_version = 5; + if (this->map_version().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::BytesSize( + this->map_version()); + } + + // bytes decision_version = 7; + if (this->decision_version().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::BytesSize( + this->decision_version()); + } + + // .apollo.decision.MasterVehicleDebug master_vehicle = 1; + if (this->has_master_vehicle()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *master_vehicle_); + } + + // .apollo.decision.MainDecision original_decision = 2; + if (this->has_original_decision()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *original_decision_); + } + + // .apollo.decision.ModuleDebug module_debug = 6; + if (this->has_module_debug()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *module_debug_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Debug::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.Debug) + GOOGLE_DCHECK_NE(&from, this); + const Debug* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.Debug) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.Debug) + MergeFrom(*source); + } +} + +void Debug::MergeFrom(const Debug& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.Debug) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + object_.MergeFrom(from.object_); + if (from.map_version().size() > 0) { + + map_version_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.map_version_); + } + if (from.decision_version().size() > 0) { + + decision_version_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.decision_version_); + } + if (from.has_master_vehicle()) { + mutable_master_vehicle()->::apollo::decision::MasterVehicleDebug::MergeFrom(from.master_vehicle()); + } + if (from.has_original_decision()) { + mutable_original_decision()->::apollo::decision::MainDecision::MergeFrom(from.original_decision()); + } + if (from.has_module_debug()) { + mutable_module_debug()->::apollo::decision::ModuleDebug::MergeFrom(from.module_debug()); + } +} + +void Debug::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.Debug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Debug::CopyFrom(const Debug& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.Debug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Debug::IsInitialized() const { + return true; +} + +void Debug::Swap(Debug* other) { + if (other == this) return; + InternalSwap(other); +} +void Debug::InternalSwap(Debug* other) { + using std::swap; + CastToBase(&object_)->InternalSwap(CastToBase(&other->object_)); + map_version_.Swap(&other->map_version_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + decision_version_.Swap(&other->decision_version_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(master_vehicle_, other->master_vehicle_); + swap(original_decision_, other->original_decision_); + swap(module_debug_, other->module_debug_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Debug::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void LightSignal::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int LightSignal::kEmergencyFieldNumber; +const int LightSignal::kTurnSignalFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +LightSignal::LightSignal() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_LightSignal.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.LightSignal) +} +LightSignal::LightSignal(const LightSignal& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&emergency_, &from.emergency_, + static_cast(reinterpret_cast(&turn_signal_) - + reinterpret_cast(&emergency_)) + sizeof(turn_signal_)); + // @@protoc_insertion_point(copy_constructor:apollo.decision.LightSignal) +} + +void LightSignal::SharedCtor() { + ::memset(&emergency_, 0, static_cast( + reinterpret_cast(&turn_signal_) - + reinterpret_cast(&emergency_)) + sizeof(turn_signal_)); +} + +LightSignal::~LightSignal() { + // @@protoc_insertion_point(destructor:apollo.decision.LightSignal) + SharedDtor(); +} + +void LightSignal::SharedDtor() { +} + +void LightSignal::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* LightSignal::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const LightSignal& LightSignal::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_LightSignal.base); + return *internal_default_instance(); +} + + +void LightSignal::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.LightSignal) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&emergency_, 0, static_cast( + reinterpret_cast(&turn_signal_) - + reinterpret_cast(&emergency_)) + sizeof(turn_signal_)); + _internal_metadata_.Clear(); +} + +bool LightSignal::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.LightSignal) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool emergency = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &emergency_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.LightSignal.TurnSignal turn_signal = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_turn_signal(static_cast< ::apollo::decision::LightSignal_TurnSignal >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.LightSignal) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.LightSignal) + return false; +#undef DO_ +} + +void LightSignal::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.LightSignal) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool emergency = 1; + if (this->emergency() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->emergency(), output); + } + + // .apollo.decision.LightSignal.TurnSignal turn_signal = 2; + if (this->turn_signal() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 2, this->turn_signal(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.LightSignal) +} + +::google::protobuf::uint8* LightSignal::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.LightSignal) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool emergency = 1; + if (this->emergency() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->emergency(), target); + } + + // .apollo.decision.LightSignal.TurnSignal turn_signal = 2; + if (this->turn_signal() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 2, this->turn_signal(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.LightSignal) + return target; +} + +size_t LightSignal::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.LightSignal) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // bool emergency = 1; + if (this->emergency() != 0) { + total_size += 1 + 1; + } + + // .apollo.decision.LightSignal.TurnSignal turn_signal = 2; + if (this->turn_signal() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->turn_signal()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void LightSignal::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.LightSignal) + GOOGLE_DCHECK_NE(&from, this); + const LightSignal* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.LightSignal) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.LightSignal) + MergeFrom(*source); + } +} + +void LightSignal::MergeFrom(const LightSignal& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.LightSignal) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.emergency() != 0) { + set_emergency(from.emergency()); + } + if (from.turn_signal() != 0) { + set_turn_signal(from.turn_signal()); + } +} + +void LightSignal::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.LightSignal) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void LightSignal::CopyFrom(const LightSignal& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.LightSignal) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool LightSignal::IsInitialized() const { + return true; +} + +void LightSignal::Swap(LightSignal* other) { + if (other == this) return; + InternalSwap(other); +} +void LightSignal::InternalSwap(LightSignal* other) { + using std::swap; + swap(emergency_, other->emergency_); + swap(turn_signal_, other->turn_signal_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata LightSignal::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void DecisionResult::InitAsDefaultInstance() { + ::apollo::decision::_DecisionResult_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::decision::_DecisionResult_default_instance_._instance.get_mutable()->object_decision_ = const_cast< ::apollo::decision::ObjectDecisions*>( + ::apollo::decision::ObjectDecisions::internal_default_instance()); + ::apollo::decision::_DecisionResult_default_instance_._instance.get_mutable()->main_decision_ = const_cast< ::apollo::decision::MainDecision*>( + ::apollo::decision::MainDecision::internal_default_instance()); + ::apollo::decision::_DecisionResult_default_instance_._instance.get_mutable()->debug_ = const_cast< ::apollo::decision::Debug*>( + ::apollo::decision::Debug::internal_default_instance()); + ::apollo::decision::_DecisionResult_default_instance_._instance.get_mutable()->stats_ = const_cast< ::apollo::decision::Stats*>( + ::apollo::decision::Stats::internal_default_instance()); + ::apollo::decision::_DecisionResult_default_instance_._instance.get_mutable()->signal_ = const_cast< ::apollo::canbus::Signal*>( + ::apollo::canbus::Signal::internal_default_instance()); + ::apollo::decision::_DecisionResult_default_instance_._instance.get_mutable()->light_signal_ = const_cast< ::apollo::decision::LightSignal*>( + ::apollo::decision::LightSignal::internal_default_instance()); +} +void DecisionResult::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +void DecisionResult::clear_signal() { + if (GetArenaNoVirtual() == NULL && signal_ != NULL) { + delete signal_; + } + signal_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int DecisionResult::kHeaderFieldNumber; +const int DecisionResult::kObjectDecisionFieldNumber; +const int DecisionResult::kMainDecisionFieldNumber; +const int DecisionResult::kDebugFieldNumber; +const int DecisionResult::kStatsFieldNumber; +const int DecisionResult::kSignalFieldNumber; +const int DecisionResult::kLightSignalFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +DecisionResult::DecisionResult() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_DecisionResult.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.decision.DecisionResult) +} +DecisionResult::DecisionResult(const DecisionResult& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + if (from.has_object_decision()) { + object_decision_ = new ::apollo::decision::ObjectDecisions(*from.object_decision_); + } else { + object_decision_ = NULL; + } + if (from.has_main_decision()) { + main_decision_ = new ::apollo::decision::MainDecision(*from.main_decision_); + } else { + main_decision_ = NULL; + } + if (from.has_debug()) { + debug_ = new ::apollo::decision::Debug(*from.debug_); + } else { + debug_ = NULL; + } + if (from.has_light_signal()) { + light_signal_ = new ::apollo::decision::LightSignal(*from.light_signal_); + } else { + light_signal_ = NULL; + } + if (from.has_stats()) { + stats_ = new ::apollo::decision::Stats(*from.stats_); + } else { + stats_ = NULL; + } + if (from.has_signal()) { + signal_ = new ::apollo::canbus::Signal(*from.signal_); + } else { + signal_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.decision.DecisionResult) +} + +void DecisionResult::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&signal_) - + reinterpret_cast(&header_)) + sizeof(signal_)); +} + +DecisionResult::~DecisionResult() { + // @@protoc_insertion_point(destructor:apollo.decision.DecisionResult) + SharedDtor(); +} + +void DecisionResult::SharedDtor() { + if (this != internal_default_instance()) delete header_; + if (this != internal_default_instance()) delete object_decision_; + if (this != internal_default_instance()) delete main_decision_; + if (this != internal_default_instance()) delete debug_; + if (this != internal_default_instance()) delete light_signal_; + if (this != internal_default_instance()) delete stats_; + if (this != internal_default_instance()) delete signal_; +} + +void DecisionResult::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* DecisionResult::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const DecisionResult& DecisionResult::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_DecisionResult.base); + return *internal_default_instance(); +} + + +void DecisionResult::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.decision.DecisionResult) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + if (GetArenaNoVirtual() == NULL && object_decision_ != NULL) { + delete object_decision_; + } + object_decision_ = NULL; + if (GetArenaNoVirtual() == NULL && main_decision_ != NULL) { + delete main_decision_; + } + main_decision_ = NULL; + if (GetArenaNoVirtual() == NULL && debug_ != NULL) { + delete debug_; + } + debug_ = NULL; + if (GetArenaNoVirtual() == NULL && light_signal_ != NULL) { + delete light_signal_; + } + light_signal_ = NULL; + if (GetArenaNoVirtual() == NULL && stats_ != NULL) { + delete stats_; + } + stats_ = NULL; + if (GetArenaNoVirtual() == NULL && signal_ != NULL) { + delete signal_; + } + signal_ = NULL; + _internal_metadata_.Clear(); +} + +bool DecisionResult::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.decision.DecisionResult) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectDecisions object_decision = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_object_decision())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainDecision main_decision = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_main_decision())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Debug debug = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_debug())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.LightSignal light_signal = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_light_signal())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.Stats stats = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(50u /* 50 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_stats())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Signal signal = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(58u /* 58 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_signal())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.decision.DecisionResult) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.decision.DecisionResult) + return false; +#undef DO_ +} + +void DecisionResult::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.decision.DecisionResult) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // .apollo.decision.ObjectDecisions object_decision = 2; + if (this->has_object_decision()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_object_decision(), output); + } + + // .apollo.decision.MainDecision main_decision = 3; + if (this->has_main_decision()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_main_decision(), output); + } + + // .apollo.decision.Debug debug = 4; + if (this->has_debug()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_debug(), output); + } + + // .apollo.decision.LightSignal light_signal = 5; + if (this->has_light_signal()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, this->_internal_light_signal(), output); + } + + // .apollo.decision.Stats stats = 6; + if (this->has_stats()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 6, this->_internal_stats(), output); + } + + // .apollo.canbus.Signal signal = 7; + if (this->has_signal()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 7, this->_internal_signal(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.decision.DecisionResult) +} + +::google::protobuf::uint8* DecisionResult::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.decision.DecisionResult) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // .apollo.decision.ObjectDecisions object_decision = 2; + if (this->has_object_decision()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_object_decision(), deterministic, target); + } + + // .apollo.decision.MainDecision main_decision = 3; + if (this->has_main_decision()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_main_decision(), deterministic, target); + } + + // .apollo.decision.Debug debug = 4; + if (this->has_debug()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_debug(), deterministic, target); + } + + // .apollo.decision.LightSignal light_signal = 5; + if (this->has_light_signal()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->_internal_light_signal(), deterministic, target); + } + + // .apollo.decision.Stats stats = 6; + if (this->has_stats()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 6, this->_internal_stats(), deterministic, target); + } + + // .apollo.canbus.Signal signal = 7; + if (this->has_signal()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 7, this->_internal_signal(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.decision.DecisionResult) + return target; +} + +size_t DecisionResult::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.decision.DecisionResult) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.decision.ObjectDecisions object_decision = 2; + if (this->has_object_decision()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_decision_); + } + + // .apollo.decision.MainDecision main_decision = 3; + if (this->has_main_decision()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *main_decision_); + } + + // .apollo.decision.Debug debug = 4; + if (this->has_debug()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *debug_); + } + + // .apollo.decision.LightSignal light_signal = 5; + if (this->has_light_signal()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *light_signal_); + } + + // .apollo.decision.Stats stats = 6; + if (this->has_stats()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *stats_); + } + + // .apollo.canbus.Signal signal = 7; + if (this->has_signal()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *signal_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void DecisionResult::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.decision.DecisionResult) + GOOGLE_DCHECK_NE(&from, this); + const DecisionResult* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.decision.DecisionResult) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.decision.DecisionResult) + MergeFrom(*source); + } +} + +void DecisionResult::MergeFrom(const DecisionResult& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.decision.DecisionResult) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.has_object_decision()) { + mutable_object_decision()->::apollo::decision::ObjectDecisions::MergeFrom(from.object_decision()); + } + if (from.has_main_decision()) { + mutable_main_decision()->::apollo::decision::MainDecision::MergeFrom(from.main_decision()); + } + if (from.has_debug()) { + mutable_debug()->::apollo::decision::Debug::MergeFrom(from.debug()); + } + if (from.has_light_signal()) { + mutable_light_signal()->::apollo::decision::LightSignal::MergeFrom(from.light_signal()); + } + if (from.has_stats()) { + mutable_stats()->::apollo::decision::Stats::MergeFrom(from.stats()); + } + if (from.has_signal()) { + mutable_signal()->::apollo::canbus::Signal::MergeFrom(from.signal()); + } +} + +void DecisionResult::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.decision.DecisionResult) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void DecisionResult::CopyFrom(const DecisionResult& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.decision.DecisionResult) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool DecisionResult::IsInitialized() const { + return true; +} + +void DecisionResult::Swap(DecisionResult* other) { + if (other == this) return; + InternalSwap(other); +} +void DecisionResult::InternalSwap(DecisionResult* other) { + using std::swap; + swap(header_, other->header_); + swap(object_decision_, other->object_decision_); + swap(main_decision_, other->main_decision_); + swap(debug_, other->debug_); + swap(light_signal_, other->light_signal_); + swap(stats_, other->stats_); + swap(signal_, other->signal_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata DecisionResult::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace decision +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::Range* Arena::CreateMaybeMessage< ::apollo::decision::Range >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::Range >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::TargetLane* Arena::CreateMaybeMessage< ::apollo::decision::TargetLane >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::TargetLane >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectIgnore* Arena::CreateMaybeMessage< ::apollo::decision::ObjectIgnore >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectIgnore >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectStop* Arena::CreateMaybeMessage< ::apollo::decision::ObjectStop >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectStop >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectNudge* Arena::CreateMaybeMessage< ::apollo::decision::ObjectNudge >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectNudge >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectYield* Arena::CreateMaybeMessage< ::apollo::decision::ObjectYield >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectYield >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectFollow* Arena::CreateMaybeMessage< ::apollo::decision::ObjectFollow >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectFollow >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectOvertake* Arena::CreateMaybeMessage< ::apollo::decision::ObjectOvertake >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectOvertake >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectSidePass* Arena::CreateMaybeMessage< ::apollo::decision::ObjectSidePass >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectSidePass >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectAvoid* Arena::CreateMaybeMessage< ::apollo::decision::ObjectAvoid >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectAvoid >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectDecisionType* Arena::CreateMaybeMessage< ::apollo::decision::ObjectDecisionType >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectDecisionType >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectDecision* Arena::CreateMaybeMessage< ::apollo::decision::ObjectDecision >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectDecision >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectDecisions* Arena::CreateMaybeMessage< ::apollo::decision::ObjectDecisions >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectDecisions >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::StopLine* Arena::CreateMaybeMessage< ::apollo::decision::StopLine >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::StopLine >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::MainStop* Arena::CreateMaybeMessage< ::apollo::decision::MainStop >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::MainStop >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::EmergencyStopHardBrake* Arena::CreateMaybeMessage< ::apollo::decision::EmergencyStopHardBrake >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::EmergencyStopHardBrake >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::EmergencyStopCruiseToStop* Arena::CreateMaybeMessage< ::apollo::decision::EmergencyStopCruiseToStop >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::EmergencyStopCruiseToStop >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::MainEmergencyStop* Arena::CreateMaybeMessage< ::apollo::decision::MainEmergencyStop >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::MainEmergencyStop >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::MainCruise* Arena::CreateMaybeMessage< ::apollo::decision::MainCruise >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::MainCruise >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::MainChangeLane* Arena::CreateMaybeMessage< ::apollo::decision::MainChangeLane >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::MainChangeLane >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::MainMissionComplete* Arena::CreateMaybeMessage< ::apollo::decision::MainMissionComplete >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::MainMissionComplete >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::MainNotReady* Arena::CreateMaybeMessage< ::apollo::decision::MainNotReady >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::MainNotReady >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::MainParking* Arena::CreateMaybeMessage< ::apollo::decision::MainParking >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::MainParking >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::MainDecision* Arena::CreateMaybeMessage< ::apollo::decision::MainDecision >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::MainDecision >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::MasterVehicleDebug* Arena::CreateMaybeMessage< ::apollo::decision::MasterVehicleDebug >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::MasterVehicleDebug >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ObjectDebug* Arena::CreateMaybeMessage< ::apollo::decision::ObjectDebug >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ObjectDebug >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::LatencyStats* Arena::CreateMaybeMessage< ::apollo::decision::LatencyStats >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::LatencyStats >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::Stats* Arena::CreateMaybeMessage< ::apollo::decision::Stats >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::Stats >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::ModuleDebug* Arena::CreateMaybeMessage< ::apollo::decision::ModuleDebug >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::ModuleDebug >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::Debug* Arena::CreateMaybeMessage< ::apollo::decision::Debug >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::Debug >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::LightSignal* Arena::CreateMaybeMessage< ::apollo::decision::LightSignal >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::LightSignal >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::decision::DecisionResult* Arena::CreateMaybeMessage< ::apollo::decision::DecisionResult >(Arena* arena) { + return Arena::CreateInternal< ::apollo::decision::DecisionResult >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/decision/decision.pb.h b/apollo_msgs/include/apollo_msgs/proto/decision/decision.pb.h new file mode 100644 index 0000000..ef03981 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/decision/decision.pb.h @@ -0,0 +1,9431 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/decision/decision.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/common/geometry.pb.h" +#include "apollo_msgs/proto/prediction/prediction_obstacle.pb.h" +#include "apollo_msgs/proto/canbus/chassis.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[32]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto +namespace apollo { +namespace decision { +class Debug; +class DebugDefaultTypeInternal; +extern DebugDefaultTypeInternal _Debug_default_instance_; +class DecisionResult; +class DecisionResultDefaultTypeInternal; +extern DecisionResultDefaultTypeInternal _DecisionResult_default_instance_; +class EmergencyStopCruiseToStop; +class EmergencyStopCruiseToStopDefaultTypeInternal; +extern EmergencyStopCruiseToStopDefaultTypeInternal _EmergencyStopCruiseToStop_default_instance_; +class EmergencyStopHardBrake; +class EmergencyStopHardBrakeDefaultTypeInternal; +extern EmergencyStopHardBrakeDefaultTypeInternal _EmergencyStopHardBrake_default_instance_; +class LatencyStats; +class LatencyStatsDefaultTypeInternal; +extern LatencyStatsDefaultTypeInternal _LatencyStats_default_instance_; +class LightSignal; +class LightSignalDefaultTypeInternal; +extern LightSignalDefaultTypeInternal _LightSignal_default_instance_; +class MainChangeLane; +class MainChangeLaneDefaultTypeInternal; +extern MainChangeLaneDefaultTypeInternal _MainChangeLane_default_instance_; +class MainCruise; +class MainCruiseDefaultTypeInternal; +extern MainCruiseDefaultTypeInternal _MainCruise_default_instance_; +class MainDecision; +class MainDecisionDefaultTypeInternal; +extern MainDecisionDefaultTypeInternal _MainDecision_default_instance_; +class MainEmergencyStop; +class MainEmergencyStopDefaultTypeInternal; +extern MainEmergencyStopDefaultTypeInternal _MainEmergencyStop_default_instance_; +class MainMissionComplete; +class MainMissionCompleteDefaultTypeInternal; +extern MainMissionCompleteDefaultTypeInternal _MainMissionComplete_default_instance_; +class MainNotReady; +class MainNotReadyDefaultTypeInternal; +extern MainNotReadyDefaultTypeInternal _MainNotReady_default_instance_; +class MainParking; +class MainParkingDefaultTypeInternal; +extern MainParkingDefaultTypeInternal _MainParking_default_instance_; +class MainStop; +class MainStopDefaultTypeInternal; +extern MainStopDefaultTypeInternal _MainStop_default_instance_; +class MasterVehicleDebug; +class MasterVehicleDebugDefaultTypeInternal; +extern MasterVehicleDebugDefaultTypeInternal _MasterVehicleDebug_default_instance_; +class ModuleDebug; +class ModuleDebugDefaultTypeInternal; +extern ModuleDebugDefaultTypeInternal _ModuleDebug_default_instance_; +class ObjectAvoid; +class ObjectAvoidDefaultTypeInternal; +extern ObjectAvoidDefaultTypeInternal _ObjectAvoid_default_instance_; +class ObjectDebug; +class ObjectDebugDefaultTypeInternal; +extern ObjectDebugDefaultTypeInternal _ObjectDebug_default_instance_; +class ObjectDecision; +class ObjectDecisionDefaultTypeInternal; +extern ObjectDecisionDefaultTypeInternal _ObjectDecision_default_instance_; +class ObjectDecisionType; +class ObjectDecisionTypeDefaultTypeInternal; +extern ObjectDecisionTypeDefaultTypeInternal _ObjectDecisionType_default_instance_; +class ObjectDecisions; +class ObjectDecisionsDefaultTypeInternal; +extern ObjectDecisionsDefaultTypeInternal _ObjectDecisions_default_instance_; +class ObjectFollow; +class ObjectFollowDefaultTypeInternal; +extern ObjectFollowDefaultTypeInternal _ObjectFollow_default_instance_; +class ObjectIgnore; +class ObjectIgnoreDefaultTypeInternal; +extern ObjectIgnoreDefaultTypeInternal _ObjectIgnore_default_instance_; +class ObjectNudge; +class ObjectNudgeDefaultTypeInternal; +extern ObjectNudgeDefaultTypeInternal _ObjectNudge_default_instance_; +class ObjectOvertake; +class ObjectOvertakeDefaultTypeInternal; +extern ObjectOvertakeDefaultTypeInternal _ObjectOvertake_default_instance_; +class ObjectSidePass; +class ObjectSidePassDefaultTypeInternal; +extern ObjectSidePassDefaultTypeInternal _ObjectSidePass_default_instance_; +class ObjectStop; +class ObjectStopDefaultTypeInternal; +extern ObjectStopDefaultTypeInternal _ObjectStop_default_instance_; +class ObjectYield; +class ObjectYieldDefaultTypeInternal; +extern ObjectYieldDefaultTypeInternal _ObjectYield_default_instance_; +class Range; +class RangeDefaultTypeInternal; +extern RangeDefaultTypeInternal _Range_default_instance_; +class Stats; +class StatsDefaultTypeInternal; +extern StatsDefaultTypeInternal _Stats_default_instance_; +class StopLine; +class StopLineDefaultTypeInternal; +extern StopLineDefaultTypeInternal _StopLine_default_instance_; +class TargetLane; +class TargetLaneDefaultTypeInternal; +extern TargetLaneDefaultTypeInternal _TargetLane_default_instance_; +} // namespace decision +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::decision::Debug* Arena::CreateMaybeMessage<::apollo::decision::Debug>(Arena*); +template<> ::apollo::decision::DecisionResult* Arena::CreateMaybeMessage<::apollo::decision::DecisionResult>(Arena*); +template<> ::apollo::decision::EmergencyStopCruiseToStop* Arena::CreateMaybeMessage<::apollo::decision::EmergencyStopCruiseToStop>(Arena*); +template<> ::apollo::decision::EmergencyStopHardBrake* Arena::CreateMaybeMessage<::apollo::decision::EmergencyStopHardBrake>(Arena*); +template<> ::apollo::decision::LatencyStats* Arena::CreateMaybeMessage<::apollo::decision::LatencyStats>(Arena*); +template<> ::apollo::decision::LightSignal* Arena::CreateMaybeMessage<::apollo::decision::LightSignal>(Arena*); +template<> ::apollo::decision::MainChangeLane* Arena::CreateMaybeMessage<::apollo::decision::MainChangeLane>(Arena*); +template<> ::apollo::decision::MainCruise* Arena::CreateMaybeMessage<::apollo::decision::MainCruise>(Arena*); +template<> ::apollo::decision::MainDecision* Arena::CreateMaybeMessage<::apollo::decision::MainDecision>(Arena*); +template<> ::apollo::decision::MainEmergencyStop* Arena::CreateMaybeMessage<::apollo::decision::MainEmergencyStop>(Arena*); +template<> ::apollo::decision::MainMissionComplete* Arena::CreateMaybeMessage<::apollo::decision::MainMissionComplete>(Arena*); +template<> ::apollo::decision::MainNotReady* Arena::CreateMaybeMessage<::apollo::decision::MainNotReady>(Arena*); +template<> ::apollo::decision::MainParking* Arena::CreateMaybeMessage<::apollo::decision::MainParking>(Arena*); +template<> ::apollo::decision::MainStop* Arena::CreateMaybeMessage<::apollo::decision::MainStop>(Arena*); +template<> ::apollo::decision::MasterVehicleDebug* Arena::CreateMaybeMessage<::apollo::decision::MasterVehicleDebug>(Arena*); +template<> ::apollo::decision::ModuleDebug* Arena::CreateMaybeMessage<::apollo::decision::ModuleDebug>(Arena*); +template<> ::apollo::decision::ObjectAvoid* Arena::CreateMaybeMessage<::apollo::decision::ObjectAvoid>(Arena*); +template<> ::apollo::decision::ObjectDebug* Arena::CreateMaybeMessage<::apollo::decision::ObjectDebug>(Arena*); +template<> ::apollo::decision::ObjectDecision* Arena::CreateMaybeMessage<::apollo::decision::ObjectDecision>(Arena*); +template<> ::apollo::decision::ObjectDecisionType* Arena::CreateMaybeMessage<::apollo::decision::ObjectDecisionType>(Arena*); +template<> ::apollo::decision::ObjectDecisions* Arena::CreateMaybeMessage<::apollo::decision::ObjectDecisions>(Arena*); +template<> ::apollo::decision::ObjectFollow* Arena::CreateMaybeMessage<::apollo::decision::ObjectFollow>(Arena*); +template<> ::apollo::decision::ObjectIgnore* Arena::CreateMaybeMessage<::apollo::decision::ObjectIgnore>(Arena*); +template<> ::apollo::decision::ObjectNudge* Arena::CreateMaybeMessage<::apollo::decision::ObjectNudge>(Arena*); +template<> ::apollo::decision::ObjectOvertake* Arena::CreateMaybeMessage<::apollo::decision::ObjectOvertake>(Arena*); +template<> ::apollo::decision::ObjectSidePass* Arena::CreateMaybeMessage<::apollo::decision::ObjectSidePass>(Arena*); +template<> ::apollo::decision::ObjectStop* Arena::CreateMaybeMessage<::apollo::decision::ObjectStop>(Arena*); +template<> ::apollo::decision::ObjectYield* Arena::CreateMaybeMessage<::apollo::decision::ObjectYield>(Arena*); +template<> ::apollo::decision::Range* Arena::CreateMaybeMessage<::apollo::decision::Range>(Arena*); +template<> ::apollo::decision::Stats* Arena::CreateMaybeMessage<::apollo::decision::Stats>(Arena*); +template<> ::apollo::decision::StopLine* Arena::CreateMaybeMessage<::apollo::decision::StopLine>(Arena*); +template<> ::apollo::decision::TargetLane* Arena::CreateMaybeMessage<::apollo::decision::TargetLane>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace decision { + +enum ObjectNudge_Type { + ObjectNudge_Type_LEFT_NUDGE = 0, + ObjectNudge_Type_RIGHT_NUDGE = 1, + ObjectNudge_Type_ObjectNudge_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + ObjectNudge_Type_ObjectNudge_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool ObjectNudge_Type_IsValid(int value); +const ObjectNudge_Type ObjectNudge_Type_Type_MIN = ObjectNudge_Type_LEFT_NUDGE; +const ObjectNudge_Type ObjectNudge_Type_Type_MAX = ObjectNudge_Type_RIGHT_NUDGE; +const int ObjectNudge_Type_Type_ARRAYSIZE = ObjectNudge_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* ObjectNudge_Type_descriptor(); +inline const ::std::string& ObjectNudge_Type_Name(ObjectNudge_Type value) { + return ::google::protobuf::internal::NameOfEnum( + ObjectNudge_Type_descriptor(), value); +} +inline bool ObjectNudge_Type_Parse( + const ::std::string& name, ObjectNudge_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + ObjectNudge_Type_descriptor(), name, value); +} +enum ObjectSidePass_Type { + ObjectSidePass_Type_FOLLOW = 0, + ObjectSidePass_Type_LEAD = 1, + ObjectSidePass_Type_ObjectSidePass_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + ObjectSidePass_Type_ObjectSidePass_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool ObjectSidePass_Type_IsValid(int value); +const ObjectSidePass_Type ObjectSidePass_Type_Type_MIN = ObjectSidePass_Type_FOLLOW; +const ObjectSidePass_Type ObjectSidePass_Type_Type_MAX = ObjectSidePass_Type_LEAD; +const int ObjectSidePass_Type_Type_ARRAYSIZE = ObjectSidePass_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* ObjectSidePass_Type_descriptor(); +inline const ::std::string& ObjectSidePass_Type_Name(ObjectSidePass_Type value) { + return ::google::protobuf::internal::NameOfEnum( + ObjectSidePass_Type_descriptor(), value); +} +inline bool ObjectSidePass_Type_Parse( + const ::std::string& name, ObjectSidePass_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + ObjectSidePass_Type_descriptor(), name, value); +} +enum ObjectDecision_ObjectType { + ObjectDecision_ObjectType_PREDICTION = 0, + ObjectDecision_ObjectType_PERCEPTION = 1, + ObjectDecision_ObjectType_VIRTUAL = 2, + ObjectDecision_ObjectType_ObjectDecision_ObjectType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + ObjectDecision_ObjectType_ObjectDecision_ObjectType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool ObjectDecision_ObjectType_IsValid(int value); +const ObjectDecision_ObjectType ObjectDecision_ObjectType_ObjectType_MIN = ObjectDecision_ObjectType_PREDICTION; +const ObjectDecision_ObjectType ObjectDecision_ObjectType_ObjectType_MAX = ObjectDecision_ObjectType_VIRTUAL; +const int ObjectDecision_ObjectType_ObjectType_ARRAYSIZE = ObjectDecision_ObjectType_ObjectType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* ObjectDecision_ObjectType_descriptor(); +inline const ::std::string& ObjectDecision_ObjectType_Name(ObjectDecision_ObjectType value) { + return ::google::protobuf::internal::NameOfEnum( + ObjectDecision_ObjectType_descriptor(), value); +} +inline bool ObjectDecision_ObjectType_Parse( + const ::std::string& name, ObjectDecision_ObjectType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + ObjectDecision_ObjectType_descriptor(), name, value); +} +enum MainEmergencyStop_ReasonCode { + MainEmergencyStop_ReasonCode_ESTOP_REASON_INTERNAL_ERR = 0, + MainEmergencyStop_ReasonCode_ESTOP_REASON_COLLISION = 1, + MainEmergencyStop_ReasonCode_ESTOP_REASON_ST_FIND_PATH = 2, + MainEmergencyStop_ReasonCode_ESTOP_REASON_ST_MAKE_DECISION = 3, + MainEmergencyStop_ReasonCode_ESTOP_REASON_SENSOR_ERROR = 4, + MainEmergencyStop_ReasonCode_MainEmergencyStop_ReasonCode_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + MainEmergencyStop_ReasonCode_MainEmergencyStop_ReasonCode_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool MainEmergencyStop_ReasonCode_IsValid(int value); +const MainEmergencyStop_ReasonCode MainEmergencyStop_ReasonCode_ReasonCode_MIN = MainEmergencyStop_ReasonCode_ESTOP_REASON_INTERNAL_ERR; +const MainEmergencyStop_ReasonCode MainEmergencyStop_ReasonCode_ReasonCode_MAX = MainEmergencyStop_ReasonCode_ESTOP_REASON_SENSOR_ERROR; +const int MainEmergencyStop_ReasonCode_ReasonCode_ARRAYSIZE = MainEmergencyStop_ReasonCode_ReasonCode_MAX + 1; + +const ::google::protobuf::EnumDescriptor* MainEmergencyStop_ReasonCode_descriptor(); +inline const ::std::string& MainEmergencyStop_ReasonCode_Name(MainEmergencyStop_ReasonCode value) { + return ::google::protobuf::internal::NameOfEnum( + MainEmergencyStop_ReasonCode_descriptor(), value); +} +inline bool MainEmergencyStop_ReasonCode_Parse( + const ::std::string& name, MainEmergencyStop_ReasonCode* value) { + return ::google::protobuf::internal::ParseNamedEnum( + MainEmergencyStop_ReasonCode_descriptor(), name, value); +} +enum MainChangeLane_Type { + MainChangeLane_Type_LEFT = 0, + MainChangeLane_Type_RIGHT = 1, + MainChangeLane_Type_MainChangeLane_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + MainChangeLane_Type_MainChangeLane_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool MainChangeLane_Type_IsValid(int value); +const MainChangeLane_Type MainChangeLane_Type_Type_MIN = MainChangeLane_Type_LEFT; +const MainChangeLane_Type MainChangeLane_Type_Type_MAX = MainChangeLane_Type_RIGHT; +const int MainChangeLane_Type_Type_ARRAYSIZE = MainChangeLane_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* MainChangeLane_Type_descriptor(); +inline const ::std::string& MainChangeLane_Type_Name(MainChangeLane_Type value) { + return ::google::protobuf::internal::NameOfEnum( + MainChangeLane_Type_descriptor(), value); +} +inline bool MainChangeLane_Type_Parse( + const ::std::string& name, MainChangeLane_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + MainChangeLane_Type_descriptor(), name, value); +} +enum MainParking_Type { + MainParking_Type_FORWARD_PARKING = 0, + MainParking_Type_REVERSE_PARKING = 1, + MainParking_Type_MainParking_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + MainParking_Type_MainParking_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool MainParking_Type_IsValid(int value); +const MainParking_Type MainParking_Type_Type_MIN = MainParking_Type_FORWARD_PARKING; +const MainParking_Type MainParking_Type_Type_MAX = MainParking_Type_REVERSE_PARKING; +const int MainParking_Type_Type_ARRAYSIZE = MainParking_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* MainParking_Type_descriptor(); +inline const ::std::string& MainParking_Type_Name(MainParking_Type value) { + return ::google::protobuf::internal::NameOfEnum( + MainParking_Type_descriptor(), value); +} +inline bool MainParking_Type_Parse( + const ::std::string& name, MainParking_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + MainParking_Type_descriptor(), name, value); +} +enum LightSignal_TurnSignal { + LightSignal_TurnSignal_NO_TURN = 0, + LightSignal_TurnSignal_LEFT_TURN = 1, + LightSignal_TurnSignal_RIGHT_TURN = 2, + LightSignal_TurnSignal_LightSignal_TurnSignal_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + LightSignal_TurnSignal_LightSignal_TurnSignal_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool LightSignal_TurnSignal_IsValid(int value); +const LightSignal_TurnSignal LightSignal_TurnSignal_TurnSignal_MIN = LightSignal_TurnSignal_NO_TURN; +const LightSignal_TurnSignal LightSignal_TurnSignal_TurnSignal_MAX = LightSignal_TurnSignal_RIGHT_TURN; +const int LightSignal_TurnSignal_TurnSignal_ARRAYSIZE = LightSignal_TurnSignal_TurnSignal_MAX + 1; + +const ::google::protobuf::EnumDescriptor* LightSignal_TurnSignal_descriptor(); +inline const ::std::string& LightSignal_TurnSignal_Name(LightSignal_TurnSignal value) { + return ::google::protobuf::internal::NameOfEnum( + LightSignal_TurnSignal_descriptor(), value); +} +inline bool LightSignal_TurnSignal_Parse( + const ::std::string& name, LightSignal_TurnSignal* value) { + return ::google::protobuf::internal::ParseNamedEnum( + LightSignal_TurnSignal_descriptor(), name, value); +} +enum StopReasonCode { + STOP_REASON_HEAD_VEHICLE = 0, + STOP_REASON_DESTINATION = 1, + STOP_REASON_PEDESTRIAN = 2, + STOP_REASON_OBSTACLE = 3, + STOP_REASON_PREPARKING = 4, + STOP_REASON_SIGNAL = 100, + STOP_REASON_STOP_SIGN = 101, + STOP_REASON_YIELD_SIGN = 102, + STOP_REASON_CLEAR_ZONE = 103, + STOP_REASON_CROSSWALK = 104, + StopReasonCode_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + StopReasonCode_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool StopReasonCode_IsValid(int value); +const StopReasonCode StopReasonCode_MIN = STOP_REASON_HEAD_VEHICLE; +const StopReasonCode StopReasonCode_MAX = STOP_REASON_CROSSWALK; +const int StopReasonCode_ARRAYSIZE = StopReasonCode_MAX + 1; + +const ::google::protobuf::EnumDescriptor* StopReasonCode_descriptor(); +inline const ::std::string& StopReasonCode_Name(StopReasonCode value) { + return ::google::protobuf::internal::NameOfEnum( + StopReasonCode_descriptor(), value); +} +inline bool StopReasonCode_Parse( + const ::std::string& name, StopReasonCode* value) { + return ::google::protobuf::internal::ParseNamedEnum( + StopReasonCode_descriptor(), name, value); +} +// =================================================================== + +class Range : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.Range) */ { + public: + Range(); + virtual ~Range(); + + Range(const Range& from); + + inline Range& operator=(const Range& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Range(Range&& from) noexcept + : Range() { + *this = ::std::move(from); + } + + inline Range& operator=(Range&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Range& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Range* internal_default_instance() { + return reinterpret_cast( + &_Range_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Range* other); + friend void swap(Range& a, Range& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Range* New() const final { + return CreateMaybeMessage(NULL); + } + + Range* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Range& from); + void MergeFrom(const Range& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Range* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double start = 1; + void clear_start(); + static const int kStartFieldNumber = 1; + double start() const; + void set_start(double value); + + // double end = 2; + void clear_end(); + static const int kEndFieldNumber = 2; + double end() const; + void set_end(double value); + + // @@protoc_insertion_point(class_scope:apollo.decision.Range) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double start_; + double end_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class TargetLane : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.TargetLane) */ { + public: + TargetLane(); + virtual ~TargetLane(); + + TargetLane(const TargetLane& from); + + inline TargetLane& operator=(const TargetLane& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + TargetLane(TargetLane&& from) noexcept + : TargetLane() { + *this = ::std::move(from); + } + + inline TargetLane& operator=(TargetLane&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const TargetLane& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const TargetLane* internal_default_instance() { + return reinterpret_cast( + &_TargetLane_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(TargetLane* other); + friend void swap(TargetLane& a, TargetLane& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline TargetLane* New() const final { + return CreateMaybeMessage(NULL); + } + + TargetLane* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const TargetLane& from); + void MergeFrom(const TargetLane& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(TargetLane* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // string id = 1; + void clear_id(); + static const int kIdFieldNumber = 1; + const ::std::string& id() const; + void set_id(const ::std::string& value); + #if LANG_CXX11 + void set_id(::std::string&& value); + #endif + void set_id(const char* value); + void set_id(const char* value, size_t size); + ::std::string* mutable_id(); + ::std::string* release_id(); + void set_allocated_id(::std::string* id); + + // double start_s = 2; + void clear_start_s(); + static const int kStartSFieldNumber = 2; + double start_s() const; + void set_start_s(double value); + + // double end_s = 3; + void clear_end_s(); + static const int kEndSFieldNumber = 3; + double end_s() const; + void set_end_s(double value); + + // double speed_limit = 4; + void clear_speed_limit(); + static const int kSpeedLimitFieldNumber = 4; + double speed_limit() const; + void set_speed_limit(double value); + + // @@protoc_insertion_point(class_scope:apollo.decision.TargetLane) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr id_; + double start_s_; + double end_s_; + double speed_limit_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectIgnore : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectIgnore) */ { + public: + ObjectIgnore(); + virtual ~ObjectIgnore(); + + ObjectIgnore(const ObjectIgnore& from); + + inline ObjectIgnore& operator=(const ObjectIgnore& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectIgnore(ObjectIgnore&& from) noexcept + : ObjectIgnore() { + *this = ::std::move(from); + } + + inline ObjectIgnore& operator=(ObjectIgnore&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectIgnore& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectIgnore* internal_default_instance() { + return reinterpret_cast( + &_ObjectIgnore_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(ObjectIgnore* other); + friend void swap(ObjectIgnore& a, ObjectIgnore& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectIgnore* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectIgnore* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectIgnore& from); + void MergeFrom(const ObjectIgnore& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectIgnore* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectIgnore) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectStop : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectStop) */ { + public: + ObjectStop(); + virtual ~ObjectStop(); + + ObjectStop(const ObjectStop& from); + + inline ObjectStop& operator=(const ObjectStop& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectStop(ObjectStop&& from) noexcept + : ObjectStop() { + *this = ::std::move(from); + } + + inline ObjectStop& operator=(ObjectStop&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectStop& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectStop* internal_default_instance() { + return reinterpret_cast( + &_ObjectStop_default_instance_); + } + static constexpr int kIndexInFileMessages = + 3; + + void Swap(ObjectStop* other); + friend void swap(ObjectStop& a, ObjectStop& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectStop* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectStop* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectStop& from); + void MergeFrom(const ObjectStop& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectStop* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.decision.Range preferred_distance_s = 2; + bool has_preferred_distance_s() const; + void clear_preferred_distance_s(); + static const int kPreferredDistanceSFieldNumber = 2; + private: + const ::apollo::decision::Range& _internal_preferred_distance_s() const; + public: + const ::apollo::decision::Range& preferred_distance_s() const; + ::apollo::decision::Range* release_preferred_distance_s(); + ::apollo::decision::Range* mutable_preferred_distance_s(); + void set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s); + + // .apollo.common.PointENU stop_point = 4; + bool has_stop_point() const; + void clear_stop_point(); + static const int kStopPointFieldNumber = 4; + private: + const ::apollo::common::PointENU& _internal_stop_point() const; + public: + const ::apollo::common::PointENU& stop_point() const; + ::apollo::common::PointENU* release_stop_point(); + ::apollo::common::PointENU* mutable_stop_point(); + void set_allocated_stop_point(::apollo::common::PointENU* stop_point); + + // double distance_s = 1; + void clear_distance_s(); + static const int kDistanceSFieldNumber = 1; + double distance_s() const; + void set_distance_s(double value); + + // .apollo.decision.StopReasonCode reason_code = 3; + void clear_reason_code(); + static const int kReasonCodeFieldNumber = 3; + ::apollo::decision::StopReasonCode reason_code() const; + void set_reason_code(::apollo::decision::StopReasonCode value); + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectStop) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::decision::Range* preferred_distance_s_; + ::apollo::common::PointENU* stop_point_; + double distance_s_; + int reason_code_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectNudge : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectNudge) */ { + public: + ObjectNudge(); + virtual ~ObjectNudge(); + + ObjectNudge(const ObjectNudge& from); + + inline ObjectNudge& operator=(const ObjectNudge& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectNudge(ObjectNudge&& from) noexcept + : ObjectNudge() { + *this = ::std::move(from); + } + + inline ObjectNudge& operator=(ObjectNudge&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectNudge& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectNudge* internal_default_instance() { + return reinterpret_cast( + &_ObjectNudge_default_instance_); + } + static constexpr int kIndexInFileMessages = + 4; + + void Swap(ObjectNudge* other); + friend void swap(ObjectNudge& a, ObjectNudge& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectNudge* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectNudge* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectNudge& from); + void MergeFrom(const ObjectNudge& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectNudge* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef ObjectNudge_Type Type; + static const Type LEFT_NUDGE = + ObjectNudge_Type_LEFT_NUDGE; + static const Type RIGHT_NUDGE = + ObjectNudge_Type_RIGHT_NUDGE; + static inline bool Type_IsValid(int value) { + return ObjectNudge_Type_IsValid(value); + } + static const Type Type_MIN = + ObjectNudge_Type_Type_MIN; + static const Type Type_MAX = + ObjectNudge_Type_Type_MAX; + static const int Type_ARRAYSIZE = + ObjectNudge_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return ObjectNudge_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return ObjectNudge_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return ObjectNudge_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.decision.Range preferred_distance_l = 3; + bool has_preferred_distance_l() const; + void clear_preferred_distance_l(); + static const int kPreferredDistanceLFieldNumber = 3; + private: + const ::apollo::decision::Range& _internal_preferred_distance_l() const; + public: + const ::apollo::decision::Range& preferred_distance_l() const; + ::apollo::decision::Range* release_preferred_distance_l(); + ::apollo::decision::Range* mutable_preferred_distance_l(); + void set_allocated_preferred_distance_l(::apollo::decision::Range* preferred_distance_l); + + // double distance_l = 1; + void clear_distance_l(); + static const int kDistanceLFieldNumber = 1; + double distance_l() const; + void set_distance_l(double value); + + // .apollo.decision.ObjectNudge.Type type = 2; + void clear_type(); + static const int kTypeFieldNumber = 2; + ::apollo::decision::ObjectNudge_Type type() const; + void set_type(::apollo::decision::ObjectNudge_Type value); + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectNudge) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::decision::Range* preferred_distance_l_; + double distance_l_; + int type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectYield : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectYield) */ { + public: + ObjectYield(); + virtual ~ObjectYield(); + + ObjectYield(const ObjectYield& from); + + inline ObjectYield& operator=(const ObjectYield& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectYield(ObjectYield&& from) noexcept + : ObjectYield() { + *this = ::std::move(from); + } + + inline ObjectYield& operator=(ObjectYield&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectYield& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectYield* internal_default_instance() { + return reinterpret_cast( + &_ObjectYield_default_instance_); + } + static constexpr int kIndexInFileMessages = + 5; + + void Swap(ObjectYield* other); + friend void swap(ObjectYield& a, ObjectYield& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectYield* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectYield* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectYield& from); + void MergeFrom(const ObjectYield& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectYield* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.decision.Range preferred_distance_s = 2; + bool has_preferred_distance_s() const; + void clear_preferred_distance_s(); + static const int kPreferredDistanceSFieldNumber = 2; + private: + const ::apollo::decision::Range& _internal_preferred_distance_s() const; + public: + const ::apollo::decision::Range& preferred_distance_s() const; + ::apollo::decision::Range* release_preferred_distance_s(); + ::apollo::decision::Range* mutable_preferred_distance_s(); + void set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s); + + // .apollo.common.PointENU yield_point = 3; + bool has_yield_point() const; + void clear_yield_point(); + static const int kYieldPointFieldNumber = 3; + private: + const ::apollo::common::PointENU& _internal_yield_point() const; + public: + const ::apollo::common::PointENU& yield_point() const; + ::apollo::common::PointENU* release_yield_point(); + ::apollo::common::PointENU* mutable_yield_point(); + void set_allocated_yield_point(::apollo::common::PointENU* yield_point); + + // double distance_s = 1; + void clear_distance_s(); + static const int kDistanceSFieldNumber = 1; + double distance_s() const; + void set_distance_s(double value); + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectYield) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::decision::Range* preferred_distance_s_; + ::apollo::common::PointENU* yield_point_; + double distance_s_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectFollow : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectFollow) */ { + public: + ObjectFollow(); + virtual ~ObjectFollow(); + + ObjectFollow(const ObjectFollow& from); + + inline ObjectFollow& operator=(const ObjectFollow& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectFollow(ObjectFollow&& from) noexcept + : ObjectFollow() { + *this = ::std::move(from); + } + + inline ObjectFollow& operator=(ObjectFollow&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectFollow& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectFollow* internal_default_instance() { + return reinterpret_cast( + &_ObjectFollow_default_instance_); + } + static constexpr int kIndexInFileMessages = + 6; + + void Swap(ObjectFollow* other); + friend void swap(ObjectFollow& a, ObjectFollow& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectFollow* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectFollow* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectFollow& from); + void MergeFrom(const ObjectFollow& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectFollow* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.decision.Range preferred_distance_s = 2; + bool has_preferred_distance_s() const; + void clear_preferred_distance_s(); + static const int kPreferredDistanceSFieldNumber = 2; + private: + const ::apollo::decision::Range& _internal_preferred_distance_s() const; + public: + const ::apollo::decision::Range& preferred_distance_s() const; + ::apollo::decision::Range* release_preferred_distance_s(); + ::apollo::decision::Range* mutable_preferred_distance_s(); + void set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s); + + // .apollo.common.PointENU follow_point = 3; + bool has_follow_point() const; + void clear_follow_point(); + static const int kFollowPointFieldNumber = 3; + private: + const ::apollo::common::PointENU& _internal_follow_point() const; + public: + const ::apollo::common::PointENU& follow_point() const; + ::apollo::common::PointENU* release_follow_point(); + ::apollo::common::PointENU* mutable_follow_point(); + void set_allocated_follow_point(::apollo::common::PointENU* follow_point); + + // double distance_s = 1; + void clear_distance_s(); + static const int kDistanceSFieldNumber = 1; + double distance_s() const; + void set_distance_s(double value); + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectFollow) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::decision::Range* preferred_distance_s_; + ::apollo::common::PointENU* follow_point_; + double distance_s_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectOvertake : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectOvertake) */ { + public: + ObjectOvertake(); + virtual ~ObjectOvertake(); + + ObjectOvertake(const ObjectOvertake& from); + + inline ObjectOvertake& operator=(const ObjectOvertake& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectOvertake(ObjectOvertake&& from) noexcept + : ObjectOvertake() { + *this = ::std::move(from); + } + + inline ObjectOvertake& operator=(ObjectOvertake&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectOvertake& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectOvertake* internal_default_instance() { + return reinterpret_cast( + &_ObjectOvertake_default_instance_); + } + static constexpr int kIndexInFileMessages = + 7; + + void Swap(ObjectOvertake* other); + friend void swap(ObjectOvertake& a, ObjectOvertake& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectOvertake* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectOvertake* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectOvertake& from); + void MergeFrom(const ObjectOvertake& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectOvertake* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.decision.Range preferred_distance_s = 2; + bool has_preferred_distance_s() const; + void clear_preferred_distance_s(); + static const int kPreferredDistanceSFieldNumber = 2; + private: + const ::apollo::decision::Range& _internal_preferred_distance_s() const; + public: + const ::apollo::decision::Range& preferred_distance_s() const; + ::apollo::decision::Range* release_preferred_distance_s(); + ::apollo::decision::Range* mutable_preferred_distance_s(); + void set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s); + + // .apollo.common.PointENU overtake_point = 3; + bool has_overtake_point() const; + void clear_overtake_point(); + static const int kOvertakePointFieldNumber = 3; + private: + const ::apollo::common::PointENU& _internal_overtake_point() const; + public: + const ::apollo::common::PointENU& overtake_point() const; + ::apollo::common::PointENU* release_overtake_point(); + ::apollo::common::PointENU* mutable_overtake_point(); + void set_allocated_overtake_point(::apollo::common::PointENU* overtake_point); + + // double distance_s = 1; + void clear_distance_s(); + static const int kDistanceSFieldNumber = 1; + double distance_s() const; + void set_distance_s(double value); + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectOvertake) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::decision::Range* preferred_distance_s_; + ::apollo::common::PointENU* overtake_point_; + double distance_s_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectSidePass : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectSidePass) */ { + public: + ObjectSidePass(); + virtual ~ObjectSidePass(); + + ObjectSidePass(const ObjectSidePass& from); + + inline ObjectSidePass& operator=(const ObjectSidePass& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectSidePass(ObjectSidePass&& from) noexcept + : ObjectSidePass() { + *this = ::std::move(from); + } + + inline ObjectSidePass& operator=(ObjectSidePass&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectSidePass& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectSidePass* internal_default_instance() { + return reinterpret_cast( + &_ObjectSidePass_default_instance_); + } + static constexpr int kIndexInFileMessages = + 8; + + void Swap(ObjectSidePass* other); + friend void swap(ObjectSidePass& a, ObjectSidePass& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectSidePass* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectSidePass* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectSidePass& from); + void MergeFrom(const ObjectSidePass& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectSidePass* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef ObjectSidePass_Type Type; + static const Type FOLLOW = + ObjectSidePass_Type_FOLLOW; + static const Type LEAD = + ObjectSidePass_Type_LEAD; + static inline bool Type_IsValid(int value) { + return ObjectSidePass_Type_IsValid(value); + } + static const Type Type_MIN = + ObjectSidePass_Type_Type_MIN; + static const Type Type_MAX = + ObjectSidePass_Type_Type_MAX; + static const int Type_ARRAYSIZE = + ObjectSidePass_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return ObjectSidePass_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return ObjectSidePass_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return ObjectSidePass_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.decision.Range preferred_distance_s = 2; + bool has_preferred_distance_s() const; + void clear_preferred_distance_s(); + static const int kPreferredDistanceSFieldNumber = 2; + private: + const ::apollo::decision::Range& _internal_preferred_distance_s() const; + public: + const ::apollo::decision::Range& preferred_distance_s() const; + ::apollo::decision::Range* release_preferred_distance_s(); + ::apollo::decision::Range* mutable_preferred_distance_s(); + void set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s); + + // double distance_s = 1; + void clear_distance_s(); + static const int kDistanceSFieldNumber = 1; + double distance_s() const; + void set_distance_s(double value); + + // .apollo.decision.ObjectSidePass.Type type = 3; + void clear_type(); + static const int kTypeFieldNumber = 3; + ::apollo::decision::ObjectSidePass_Type type() const; + void set_type(::apollo::decision::ObjectSidePass_Type value); + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectSidePass) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::decision::Range* preferred_distance_s_; + double distance_s_; + int type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectAvoid : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectAvoid) */ { + public: + ObjectAvoid(); + virtual ~ObjectAvoid(); + + ObjectAvoid(const ObjectAvoid& from); + + inline ObjectAvoid& operator=(const ObjectAvoid& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectAvoid(ObjectAvoid&& from) noexcept + : ObjectAvoid() { + *this = ::std::move(from); + } + + inline ObjectAvoid& operator=(ObjectAvoid&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectAvoid& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectAvoid* internal_default_instance() { + return reinterpret_cast( + &_ObjectAvoid_default_instance_); + } + static constexpr int kIndexInFileMessages = + 9; + + void Swap(ObjectAvoid* other); + friend void swap(ObjectAvoid& a, ObjectAvoid& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectAvoid* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectAvoid* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectAvoid& from); + void MergeFrom(const ObjectAvoid& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectAvoid* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectAvoid) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectDecisionType : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectDecisionType) */ { + public: + ObjectDecisionType(); + virtual ~ObjectDecisionType(); + + ObjectDecisionType(const ObjectDecisionType& from); + + inline ObjectDecisionType& operator=(const ObjectDecisionType& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectDecisionType(ObjectDecisionType&& from) noexcept + : ObjectDecisionType() { + *this = ::std::move(from); + } + + inline ObjectDecisionType& operator=(ObjectDecisionType&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectDecisionType& default_instance(); + + enum ObjectTagCase { + kIgnore = 1, + kStop = 2, + kFollow = 3, + kYield = 4, + kOvertake = 5, + kNudge = 6, + kSidepass = 7, + kAvoid = 8, + OBJECT_TAG_NOT_SET = 0, + }; + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectDecisionType* internal_default_instance() { + return reinterpret_cast( + &_ObjectDecisionType_default_instance_); + } + static constexpr int kIndexInFileMessages = + 10; + + void Swap(ObjectDecisionType* other); + friend void swap(ObjectDecisionType& a, ObjectDecisionType& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectDecisionType* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectDecisionType* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectDecisionType& from); + void MergeFrom(const ObjectDecisionType& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectDecisionType* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.decision.ObjectIgnore ignore = 1; + bool has_ignore() const; + void clear_ignore(); + static const int kIgnoreFieldNumber = 1; + private: + const ::apollo::decision::ObjectIgnore& _internal_ignore() const; + public: + const ::apollo::decision::ObjectIgnore& ignore() const; + ::apollo::decision::ObjectIgnore* release_ignore(); + ::apollo::decision::ObjectIgnore* mutable_ignore(); + void set_allocated_ignore(::apollo::decision::ObjectIgnore* ignore); + + // .apollo.decision.ObjectStop stop = 2; + bool has_stop() const; + void clear_stop(); + static const int kStopFieldNumber = 2; + private: + const ::apollo::decision::ObjectStop& _internal_stop() const; + public: + const ::apollo::decision::ObjectStop& stop() const; + ::apollo::decision::ObjectStop* release_stop(); + ::apollo::decision::ObjectStop* mutable_stop(); + void set_allocated_stop(::apollo::decision::ObjectStop* stop); + + // .apollo.decision.ObjectFollow follow = 3; + bool has_follow() const; + void clear_follow(); + static const int kFollowFieldNumber = 3; + private: + const ::apollo::decision::ObjectFollow& _internal_follow() const; + public: + const ::apollo::decision::ObjectFollow& follow() const; + ::apollo::decision::ObjectFollow* release_follow(); + ::apollo::decision::ObjectFollow* mutable_follow(); + void set_allocated_follow(::apollo::decision::ObjectFollow* follow); + + // .apollo.decision.ObjectYield yield = 4; + bool has_yield() const; + void clear_yield(); + static const int kYieldFieldNumber = 4; + private: + const ::apollo::decision::ObjectYield& _internal_yield() const; + public: + const ::apollo::decision::ObjectYield& yield() const; + ::apollo::decision::ObjectYield* release_yield(); + ::apollo::decision::ObjectYield* mutable_yield(); + void set_allocated_yield(::apollo::decision::ObjectYield* yield); + + // .apollo.decision.ObjectOvertake overtake = 5; + bool has_overtake() const; + void clear_overtake(); + static const int kOvertakeFieldNumber = 5; + private: + const ::apollo::decision::ObjectOvertake& _internal_overtake() const; + public: + const ::apollo::decision::ObjectOvertake& overtake() const; + ::apollo::decision::ObjectOvertake* release_overtake(); + ::apollo::decision::ObjectOvertake* mutable_overtake(); + void set_allocated_overtake(::apollo::decision::ObjectOvertake* overtake); + + // .apollo.decision.ObjectNudge nudge = 6; + bool has_nudge() const; + void clear_nudge(); + static const int kNudgeFieldNumber = 6; + private: + const ::apollo::decision::ObjectNudge& _internal_nudge() const; + public: + const ::apollo::decision::ObjectNudge& nudge() const; + ::apollo::decision::ObjectNudge* release_nudge(); + ::apollo::decision::ObjectNudge* mutable_nudge(); + void set_allocated_nudge(::apollo::decision::ObjectNudge* nudge); + + // .apollo.decision.ObjectSidePass sidepass = 7; + bool has_sidepass() const; + void clear_sidepass(); + static const int kSidepassFieldNumber = 7; + private: + const ::apollo::decision::ObjectSidePass& _internal_sidepass() const; + public: + const ::apollo::decision::ObjectSidePass& sidepass() const; + ::apollo::decision::ObjectSidePass* release_sidepass(); + ::apollo::decision::ObjectSidePass* mutable_sidepass(); + void set_allocated_sidepass(::apollo::decision::ObjectSidePass* sidepass); + + // .apollo.decision.ObjectAvoid avoid = 8; + bool has_avoid() const; + void clear_avoid(); + static const int kAvoidFieldNumber = 8; + private: + const ::apollo::decision::ObjectAvoid& _internal_avoid() const; + public: + const ::apollo::decision::ObjectAvoid& avoid() const; + ::apollo::decision::ObjectAvoid* release_avoid(); + ::apollo::decision::ObjectAvoid* mutable_avoid(); + void set_allocated_avoid(::apollo::decision::ObjectAvoid* avoid); + + void clear_object_tag(); + ObjectTagCase object_tag_case() const; + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectDecisionType) + private: + void set_has_ignore(); + void set_has_stop(); + void set_has_follow(); + void set_has_yield(); + void set_has_overtake(); + void set_has_nudge(); + void set_has_sidepass(); + void set_has_avoid(); + + inline bool has_object_tag() const; + inline void clear_has_object_tag(); + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + union ObjectTagUnion { + ObjectTagUnion() {} + ::apollo::decision::ObjectIgnore* ignore_; + ::apollo::decision::ObjectStop* stop_; + ::apollo::decision::ObjectFollow* follow_; + ::apollo::decision::ObjectYield* yield_; + ::apollo::decision::ObjectOvertake* overtake_; + ::apollo::decision::ObjectNudge* nudge_; + ::apollo::decision::ObjectSidePass* sidepass_; + ::apollo::decision::ObjectAvoid* avoid_; + } object_tag_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + ::google::protobuf::uint32 _oneof_case_[1]; + + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectDecision : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectDecision) */ { + public: + ObjectDecision(); + virtual ~ObjectDecision(); + + ObjectDecision(const ObjectDecision& from); + + inline ObjectDecision& operator=(const ObjectDecision& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectDecision(ObjectDecision&& from) noexcept + : ObjectDecision() { + *this = ::std::move(from); + } + + inline ObjectDecision& operator=(ObjectDecision&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectDecision& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectDecision* internal_default_instance() { + return reinterpret_cast( + &_ObjectDecision_default_instance_); + } + static constexpr int kIndexInFileMessages = + 11; + + void Swap(ObjectDecision* other); + friend void swap(ObjectDecision& a, ObjectDecision& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectDecision* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectDecision* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectDecision& from); + void MergeFrom(const ObjectDecision& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectDecision* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef ObjectDecision_ObjectType ObjectType; + static const ObjectType PREDICTION = + ObjectDecision_ObjectType_PREDICTION; + static const ObjectType PERCEPTION = + ObjectDecision_ObjectType_PERCEPTION; + static const ObjectType VIRTUAL = + ObjectDecision_ObjectType_VIRTUAL; + static inline bool ObjectType_IsValid(int value) { + return ObjectDecision_ObjectType_IsValid(value); + } + static const ObjectType ObjectType_MIN = + ObjectDecision_ObjectType_ObjectType_MIN; + static const ObjectType ObjectType_MAX = + ObjectDecision_ObjectType_ObjectType_MAX; + static const int ObjectType_ARRAYSIZE = + ObjectDecision_ObjectType_ObjectType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + ObjectType_descriptor() { + return ObjectDecision_ObjectType_descriptor(); + } + static inline const ::std::string& ObjectType_Name(ObjectType value) { + return ObjectDecision_ObjectType_Name(value); + } + static inline bool ObjectType_Parse(const ::std::string& name, + ObjectType* value) { + return ObjectDecision_ObjectType_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // repeated .apollo.decision.ObjectDecisionType object_decision = 5; + int object_decision_size() const; + void clear_object_decision(); + static const int kObjectDecisionFieldNumber = 5; + ::apollo::decision::ObjectDecisionType* mutable_object_decision(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType >* + mutable_object_decision(); + const ::apollo::decision::ObjectDecisionType& object_decision(int index) const; + ::apollo::decision::ObjectDecisionType* add_object_decision(); + const ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType >& + object_decision() const; + + // string id = 2; + void clear_id(); + static const int kIdFieldNumber = 2; + const ::std::string& id() const; + void set_id(const ::std::string& value); + #if LANG_CXX11 + void set_id(::std::string&& value); + #endif + void set_id(const char* value); + void set_id(const char* value, size_t size); + ::std::string* mutable_id(); + ::std::string* release_id(); + void set_allocated_id(::std::string* id); + + // .apollo.prediction.PredictionObstacle prediction = 1; + bool has_prediction() const; + void clear_prediction(); + static const int kPredictionFieldNumber = 1; + private: + const ::apollo::prediction::PredictionObstacle& _internal_prediction() const; + public: + const ::apollo::prediction::PredictionObstacle& prediction() const; + ::apollo::prediction::PredictionObstacle* release_prediction(); + ::apollo::prediction::PredictionObstacle* mutable_prediction(); + void set_allocated_prediction(::apollo::prediction::PredictionObstacle* prediction); + + // .apollo.decision.ObjectDecisionType decision = 4; + bool has_decision() const; + void clear_decision(); + static const int kDecisionFieldNumber = 4; + private: + const ::apollo::decision::ObjectDecisionType& _internal_decision() const; + public: + const ::apollo::decision::ObjectDecisionType& decision() const; + ::apollo::decision::ObjectDecisionType* release_decision(); + ::apollo::decision::ObjectDecisionType* mutable_decision(); + void set_allocated_decision(::apollo::decision::ObjectDecisionType* decision); + + // .apollo.decision.ObjectDecision.ObjectType type = 3; + void clear_type(); + static const int kTypeFieldNumber = 3; + ::apollo::decision::ObjectDecision_ObjectType type() const; + void set_type(::apollo::decision::ObjectDecision_ObjectType value); + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectDecision) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType > object_decision_; + ::google::protobuf::internal::ArenaStringPtr id_; + ::apollo::prediction::PredictionObstacle* prediction_; + ::apollo::decision::ObjectDecisionType* decision_; + int type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectDecisions : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectDecisions) */ { + public: + ObjectDecisions(); + virtual ~ObjectDecisions(); + + ObjectDecisions(const ObjectDecisions& from); + + inline ObjectDecisions& operator=(const ObjectDecisions& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectDecisions(ObjectDecisions&& from) noexcept + : ObjectDecisions() { + *this = ::std::move(from); + } + + inline ObjectDecisions& operator=(ObjectDecisions&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectDecisions& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectDecisions* internal_default_instance() { + return reinterpret_cast( + &_ObjectDecisions_default_instance_); + } + static constexpr int kIndexInFileMessages = + 12; + + void Swap(ObjectDecisions* other); + friend void swap(ObjectDecisions& a, ObjectDecisions& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectDecisions* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectDecisions* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectDecisions& from); + void MergeFrom(const ObjectDecisions& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectDecisions* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.decision.ObjectDecision decision = 1; + int decision_size() const; + void clear_decision(); + static const int kDecisionFieldNumber = 1; + ::apollo::decision::ObjectDecision* mutable_decision(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecision >* + mutable_decision(); + const ::apollo::decision::ObjectDecision& decision(int index) const; + ::apollo::decision::ObjectDecision* add_decision(); + const ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecision >& + decision() const; + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectDecisions) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecision > decision_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class StopLine : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.StopLine) */ { + public: + StopLine(); + virtual ~StopLine(); + + StopLine(const StopLine& from); + + inline StopLine& operator=(const StopLine& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + StopLine(StopLine&& from) noexcept + : StopLine() { + *this = ::std::move(from); + } + + inline StopLine& operator=(StopLine&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const StopLine& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const StopLine* internal_default_instance() { + return reinterpret_cast( + &_StopLine_default_instance_); + } + static constexpr int kIndexInFileMessages = + 13; + + void Swap(StopLine* other); + friend void swap(StopLine& a, StopLine& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline StopLine* New() const final { + return CreateMaybeMessage(NULL); + } + + StopLine* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const StopLine& from); + void MergeFrom(const StopLine& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(StopLine* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // string lane_id = 1; + void clear_lane_id(); + static const int kLaneIdFieldNumber = 1; + const ::std::string& lane_id() const; + void set_lane_id(const ::std::string& value); + #if LANG_CXX11 + void set_lane_id(::std::string&& value); + #endif + void set_lane_id(const char* value); + void set_lane_id(const char* value, size_t size); + ::std::string* mutable_lane_id(); + ::std::string* release_lane_id(); + void set_allocated_lane_id(::std::string* lane_id); + + // double distance_s = 2; + void clear_distance_s(); + static const int kDistanceSFieldNumber = 2; + double distance_s() const; + void set_distance_s(double value); + + // @@protoc_insertion_point(class_scope:apollo.decision.StopLine) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr lane_id_; + double distance_s_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MainStop : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.MainStop) */ { + public: + MainStop(); + virtual ~MainStop(); + + MainStop(const MainStop& from); + + inline MainStop& operator=(const MainStop& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MainStop(MainStop&& from) noexcept + : MainStop() { + *this = ::std::move(from); + } + + inline MainStop& operator=(MainStop&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MainStop& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MainStop* internal_default_instance() { + return reinterpret_cast( + &_MainStop_default_instance_); + } + static constexpr int kIndexInFileMessages = + 14; + + void Swap(MainStop* other); + friend void swap(MainStop& a, MainStop& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MainStop* New() const final { + return CreateMaybeMessage(NULL); + } + + MainStop* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MainStop& from); + void MergeFrom(const MainStop& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MainStop* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // string reason = 4; + void clear_reason(); + static const int kReasonFieldNumber = 4; + const ::std::string& reason() const; + void set_reason(const ::std::string& value); + #if LANG_CXX11 + void set_reason(::std::string&& value); + #endif + void set_reason(const char* value); + void set_reason(const char* value, size_t size); + ::std::string* mutable_reason(); + ::std::string* release_reason(); + void set_allocated_reason(::std::string* reason); + + // .apollo.decision.StopLine enforced_line = 1; + bool has_enforced_line() const; + void clear_enforced_line(); + static const int kEnforcedLineFieldNumber = 1; + private: + const ::apollo::decision::StopLine& _internal_enforced_line() const; + public: + const ::apollo::decision::StopLine& enforced_line() const; + ::apollo::decision::StopLine* release_enforced_line(); + ::apollo::decision::StopLine* mutable_enforced_line(); + void set_allocated_enforced_line(::apollo::decision::StopLine* enforced_line); + + // .apollo.decision.StopLine preferred_start = 2; + bool has_preferred_start() const; + void clear_preferred_start(); + static const int kPreferredStartFieldNumber = 2; + private: + const ::apollo::decision::StopLine& _internal_preferred_start() const; + public: + const ::apollo::decision::StopLine& preferred_start() const; + ::apollo::decision::StopLine* release_preferred_start(); + ::apollo::decision::StopLine* mutable_preferred_start(); + void set_allocated_preferred_start(::apollo::decision::StopLine* preferred_start); + + // .apollo.decision.StopLine preferred_end = 3; + bool has_preferred_end() const; + void clear_preferred_end(); + static const int kPreferredEndFieldNumber = 3; + private: + const ::apollo::decision::StopLine& _internal_preferred_end() const; + public: + const ::apollo::decision::StopLine& preferred_end() const; + ::apollo::decision::StopLine* release_preferred_end(); + ::apollo::decision::StopLine* mutable_preferred_end(); + void set_allocated_preferred_end(::apollo::decision::StopLine* preferred_end); + + // .apollo.common.PointENU stop_point = 6; + bool has_stop_point() const; + void clear_stop_point(); + static const int kStopPointFieldNumber = 6; + private: + const ::apollo::common::PointENU& _internal_stop_point() const; + public: + const ::apollo::common::PointENU& stop_point() const; + ::apollo::common::PointENU* release_stop_point(); + ::apollo::common::PointENU* mutable_stop_point(); + void set_allocated_stop_point(::apollo::common::PointENU* stop_point); + + // double stop_heading = 7; + void clear_stop_heading(); + static const int kStopHeadingFieldNumber = 7; + double stop_heading() const; + void set_stop_heading(double value); + + // .apollo.decision.StopReasonCode reason_code = 5; + void clear_reason_code(); + static const int kReasonCodeFieldNumber = 5; + ::apollo::decision::StopReasonCode reason_code() const; + void set_reason_code(::apollo::decision::StopReasonCode value); + + // @@protoc_insertion_point(class_scope:apollo.decision.MainStop) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr reason_; + ::apollo::decision::StopLine* enforced_line_; + ::apollo::decision::StopLine* preferred_start_; + ::apollo::decision::StopLine* preferred_end_; + ::apollo::common::PointENU* stop_point_; + double stop_heading_; + int reason_code_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class EmergencyStopHardBrake : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.EmergencyStopHardBrake) */ { + public: + EmergencyStopHardBrake(); + virtual ~EmergencyStopHardBrake(); + + EmergencyStopHardBrake(const EmergencyStopHardBrake& from); + + inline EmergencyStopHardBrake& operator=(const EmergencyStopHardBrake& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + EmergencyStopHardBrake(EmergencyStopHardBrake&& from) noexcept + : EmergencyStopHardBrake() { + *this = ::std::move(from); + } + + inline EmergencyStopHardBrake& operator=(EmergencyStopHardBrake&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const EmergencyStopHardBrake& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const EmergencyStopHardBrake* internal_default_instance() { + return reinterpret_cast( + &_EmergencyStopHardBrake_default_instance_); + } + static constexpr int kIndexInFileMessages = + 15; + + void Swap(EmergencyStopHardBrake* other); + friend void swap(EmergencyStopHardBrake& a, EmergencyStopHardBrake& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline EmergencyStopHardBrake* New() const final { + return CreateMaybeMessage(NULL); + } + + EmergencyStopHardBrake* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const EmergencyStopHardBrake& from); + void MergeFrom(const EmergencyStopHardBrake& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(EmergencyStopHardBrake* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // @@protoc_insertion_point(class_scope:apollo.decision.EmergencyStopHardBrake) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class EmergencyStopCruiseToStop : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.EmergencyStopCruiseToStop) */ { + public: + EmergencyStopCruiseToStop(); + virtual ~EmergencyStopCruiseToStop(); + + EmergencyStopCruiseToStop(const EmergencyStopCruiseToStop& from); + + inline EmergencyStopCruiseToStop& operator=(const EmergencyStopCruiseToStop& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + EmergencyStopCruiseToStop(EmergencyStopCruiseToStop&& from) noexcept + : EmergencyStopCruiseToStop() { + *this = ::std::move(from); + } + + inline EmergencyStopCruiseToStop& operator=(EmergencyStopCruiseToStop&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const EmergencyStopCruiseToStop& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const EmergencyStopCruiseToStop* internal_default_instance() { + return reinterpret_cast( + &_EmergencyStopCruiseToStop_default_instance_); + } + static constexpr int kIndexInFileMessages = + 16; + + void Swap(EmergencyStopCruiseToStop* other); + friend void swap(EmergencyStopCruiseToStop& a, EmergencyStopCruiseToStop& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline EmergencyStopCruiseToStop* New() const final { + return CreateMaybeMessage(NULL); + } + + EmergencyStopCruiseToStop* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const EmergencyStopCruiseToStop& from); + void MergeFrom(const EmergencyStopCruiseToStop& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(EmergencyStopCruiseToStop* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // @@protoc_insertion_point(class_scope:apollo.decision.EmergencyStopCruiseToStop) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MainEmergencyStop : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.MainEmergencyStop) */ { + public: + MainEmergencyStop(); + virtual ~MainEmergencyStop(); + + MainEmergencyStop(const MainEmergencyStop& from); + + inline MainEmergencyStop& operator=(const MainEmergencyStop& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MainEmergencyStop(MainEmergencyStop&& from) noexcept + : MainEmergencyStop() { + *this = ::std::move(from); + } + + inline MainEmergencyStop& operator=(MainEmergencyStop&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MainEmergencyStop& default_instance(); + + enum TaskCase { + kHardBrake = 3, + kCruiseToStop = 4, + TASK_NOT_SET = 0, + }; + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MainEmergencyStop* internal_default_instance() { + return reinterpret_cast( + &_MainEmergencyStop_default_instance_); + } + static constexpr int kIndexInFileMessages = + 17; + + void Swap(MainEmergencyStop* other); + friend void swap(MainEmergencyStop& a, MainEmergencyStop& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MainEmergencyStop* New() const final { + return CreateMaybeMessage(NULL); + } + + MainEmergencyStop* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MainEmergencyStop& from); + void MergeFrom(const MainEmergencyStop& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MainEmergencyStop* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef MainEmergencyStop_ReasonCode ReasonCode; + static const ReasonCode ESTOP_REASON_INTERNAL_ERR = + MainEmergencyStop_ReasonCode_ESTOP_REASON_INTERNAL_ERR; + static const ReasonCode ESTOP_REASON_COLLISION = + MainEmergencyStop_ReasonCode_ESTOP_REASON_COLLISION; + static const ReasonCode ESTOP_REASON_ST_FIND_PATH = + MainEmergencyStop_ReasonCode_ESTOP_REASON_ST_FIND_PATH; + static const ReasonCode ESTOP_REASON_ST_MAKE_DECISION = + MainEmergencyStop_ReasonCode_ESTOP_REASON_ST_MAKE_DECISION; + static const ReasonCode ESTOP_REASON_SENSOR_ERROR = + MainEmergencyStop_ReasonCode_ESTOP_REASON_SENSOR_ERROR; + static inline bool ReasonCode_IsValid(int value) { + return MainEmergencyStop_ReasonCode_IsValid(value); + } + static const ReasonCode ReasonCode_MIN = + MainEmergencyStop_ReasonCode_ReasonCode_MIN; + static const ReasonCode ReasonCode_MAX = + MainEmergencyStop_ReasonCode_ReasonCode_MAX; + static const int ReasonCode_ARRAYSIZE = + MainEmergencyStop_ReasonCode_ReasonCode_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + ReasonCode_descriptor() { + return MainEmergencyStop_ReasonCode_descriptor(); + } + static inline const ::std::string& ReasonCode_Name(ReasonCode value) { + return MainEmergencyStop_ReasonCode_Name(value); + } + static inline bool ReasonCode_Parse(const ::std::string& name, + ReasonCode* value) { + return MainEmergencyStop_ReasonCode_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // string reason = 1; + void clear_reason(); + static const int kReasonFieldNumber = 1; + const ::std::string& reason() const; + void set_reason(const ::std::string& value); + #if LANG_CXX11 + void set_reason(::std::string&& value); + #endif + void set_reason(const char* value); + void set_reason(const char* value, size_t size); + ::std::string* mutable_reason(); + ::std::string* release_reason(); + void set_allocated_reason(::std::string* reason); + + // .apollo.decision.MainEmergencyStop.ReasonCode reason_code = 2; + void clear_reason_code(); + static const int kReasonCodeFieldNumber = 2; + ::apollo::decision::MainEmergencyStop_ReasonCode reason_code() const; + void set_reason_code(::apollo::decision::MainEmergencyStop_ReasonCode value); + + // .apollo.decision.EmergencyStopHardBrake hard_brake = 3; + bool has_hard_brake() const; + void clear_hard_brake(); + static const int kHardBrakeFieldNumber = 3; + private: + const ::apollo::decision::EmergencyStopHardBrake& _internal_hard_brake() const; + public: + const ::apollo::decision::EmergencyStopHardBrake& hard_brake() const; + ::apollo::decision::EmergencyStopHardBrake* release_hard_brake(); + ::apollo::decision::EmergencyStopHardBrake* mutable_hard_brake(); + void set_allocated_hard_brake(::apollo::decision::EmergencyStopHardBrake* hard_brake); + + // .apollo.decision.EmergencyStopCruiseToStop cruise_to_stop = 4; + bool has_cruise_to_stop() const; + void clear_cruise_to_stop(); + static const int kCruiseToStopFieldNumber = 4; + private: + const ::apollo::decision::EmergencyStopCruiseToStop& _internal_cruise_to_stop() const; + public: + const ::apollo::decision::EmergencyStopCruiseToStop& cruise_to_stop() const; + ::apollo::decision::EmergencyStopCruiseToStop* release_cruise_to_stop(); + ::apollo::decision::EmergencyStopCruiseToStop* mutable_cruise_to_stop(); + void set_allocated_cruise_to_stop(::apollo::decision::EmergencyStopCruiseToStop* cruise_to_stop); + + void clear_task(); + TaskCase task_case() const; + // @@protoc_insertion_point(class_scope:apollo.decision.MainEmergencyStop) + private: + void set_has_hard_brake(); + void set_has_cruise_to_stop(); + + inline bool has_task() const; + inline void clear_has_task(); + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr reason_; + int reason_code_; + union TaskUnion { + TaskUnion() {} + ::apollo::decision::EmergencyStopHardBrake* hard_brake_; + ::apollo::decision::EmergencyStopCruiseToStop* cruise_to_stop_; + } task_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + ::google::protobuf::uint32 _oneof_case_[1]; + + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MainCruise : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.MainCruise) */ { + public: + MainCruise(); + virtual ~MainCruise(); + + MainCruise(const MainCruise& from); + + inline MainCruise& operator=(const MainCruise& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MainCruise(MainCruise&& from) noexcept + : MainCruise() { + *this = ::std::move(from); + } + + inline MainCruise& operator=(MainCruise&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MainCruise& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MainCruise* internal_default_instance() { + return reinterpret_cast( + &_MainCruise_default_instance_); + } + static constexpr int kIndexInFileMessages = + 18; + + void Swap(MainCruise* other); + friend void swap(MainCruise& a, MainCruise& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MainCruise* New() const final { + return CreateMaybeMessage(NULL); + } + + MainCruise* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MainCruise& from); + void MergeFrom(const MainCruise& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MainCruise* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // @@protoc_insertion_point(class_scope:apollo.decision.MainCruise) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MainChangeLane : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.MainChangeLane) */ { + public: + MainChangeLane(); + virtual ~MainChangeLane(); + + MainChangeLane(const MainChangeLane& from); + + inline MainChangeLane& operator=(const MainChangeLane& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MainChangeLane(MainChangeLane&& from) noexcept + : MainChangeLane() { + *this = ::std::move(from); + } + + inline MainChangeLane& operator=(MainChangeLane&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MainChangeLane& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MainChangeLane* internal_default_instance() { + return reinterpret_cast( + &_MainChangeLane_default_instance_); + } + static constexpr int kIndexInFileMessages = + 19; + + void Swap(MainChangeLane* other); + friend void swap(MainChangeLane& a, MainChangeLane& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MainChangeLane* New() const final { + return CreateMaybeMessage(NULL); + } + + MainChangeLane* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MainChangeLane& from); + void MergeFrom(const MainChangeLane& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MainChangeLane* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef MainChangeLane_Type Type; + static const Type LEFT = + MainChangeLane_Type_LEFT; + static const Type RIGHT = + MainChangeLane_Type_RIGHT; + static inline bool Type_IsValid(int value) { + return MainChangeLane_Type_IsValid(value); + } + static const Type Type_MIN = + MainChangeLane_Type_Type_MIN; + static const Type Type_MAX = + MainChangeLane_Type_Type_MAX; + static const int Type_ARRAYSIZE = + MainChangeLane_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return MainChangeLane_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return MainChangeLane_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return MainChangeLane_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // repeated .apollo.decision.TargetLane default_lane = 2; + int default_lane_size() const; + void clear_default_lane(); + static const int kDefaultLaneFieldNumber = 2; + ::apollo::decision::TargetLane* mutable_default_lane(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane >* + mutable_default_lane(); + const ::apollo::decision::TargetLane& default_lane(int index) const; + ::apollo::decision::TargetLane* add_default_lane(); + const ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane >& + default_lane() const; + + // .apollo.decision.MainStop default_lane_stop = 3; + bool has_default_lane_stop() const; + void clear_default_lane_stop(); + static const int kDefaultLaneStopFieldNumber = 3; + private: + const ::apollo::decision::MainStop& _internal_default_lane_stop() const; + public: + const ::apollo::decision::MainStop& default_lane_stop() const; + ::apollo::decision::MainStop* release_default_lane_stop(); + ::apollo::decision::MainStop* mutable_default_lane_stop(); + void set_allocated_default_lane_stop(::apollo::decision::MainStop* default_lane_stop); + + // .apollo.decision.MainStop target_lane_stop = 4; + bool has_target_lane_stop() const; + void clear_target_lane_stop(); + static const int kTargetLaneStopFieldNumber = 4; + private: + const ::apollo::decision::MainStop& _internal_target_lane_stop() const; + public: + const ::apollo::decision::MainStop& target_lane_stop() const; + ::apollo::decision::MainStop* release_target_lane_stop(); + ::apollo::decision::MainStop* mutable_target_lane_stop(); + void set_allocated_target_lane_stop(::apollo::decision::MainStop* target_lane_stop); + + // .apollo.decision.MainChangeLane.Type type = 1; + void clear_type(); + static const int kTypeFieldNumber = 1; + ::apollo::decision::MainChangeLane_Type type() const; + void set_type(::apollo::decision::MainChangeLane_Type value); + + // @@protoc_insertion_point(class_scope:apollo.decision.MainChangeLane) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane > default_lane_; + ::apollo::decision::MainStop* default_lane_stop_; + ::apollo::decision::MainStop* target_lane_stop_; + int type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MainMissionComplete : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.MainMissionComplete) */ { + public: + MainMissionComplete(); + virtual ~MainMissionComplete(); + + MainMissionComplete(const MainMissionComplete& from); + + inline MainMissionComplete& operator=(const MainMissionComplete& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MainMissionComplete(MainMissionComplete&& from) noexcept + : MainMissionComplete() { + *this = ::std::move(from); + } + + inline MainMissionComplete& operator=(MainMissionComplete&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MainMissionComplete& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MainMissionComplete* internal_default_instance() { + return reinterpret_cast( + &_MainMissionComplete_default_instance_); + } + static constexpr int kIndexInFileMessages = + 20; + + void Swap(MainMissionComplete* other); + friend void swap(MainMissionComplete& a, MainMissionComplete& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MainMissionComplete* New() const final { + return CreateMaybeMessage(NULL); + } + + MainMissionComplete* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MainMissionComplete& from); + void MergeFrom(const MainMissionComplete& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MainMissionComplete* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // @@protoc_insertion_point(class_scope:apollo.decision.MainMissionComplete) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MainNotReady : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.MainNotReady) */ { + public: + MainNotReady(); + virtual ~MainNotReady(); + + MainNotReady(const MainNotReady& from); + + inline MainNotReady& operator=(const MainNotReady& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MainNotReady(MainNotReady&& from) noexcept + : MainNotReady() { + *this = ::std::move(from); + } + + inline MainNotReady& operator=(MainNotReady&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MainNotReady& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MainNotReady* internal_default_instance() { + return reinterpret_cast( + &_MainNotReady_default_instance_); + } + static constexpr int kIndexInFileMessages = + 21; + + void Swap(MainNotReady* other); + friend void swap(MainNotReady& a, MainNotReady& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MainNotReady* New() const final { + return CreateMaybeMessage(NULL); + } + + MainNotReady* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MainNotReady& from); + void MergeFrom(const MainNotReady& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MainNotReady* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // string reason = 1; + void clear_reason(); + static const int kReasonFieldNumber = 1; + const ::std::string& reason() const; + void set_reason(const ::std::string& value); + #if LANG_CXX11 + void set_reason(::std::string&& value); + #endif + void set_reason(const char* value); + void set_reason(const char* value, size_t size); + ::std::string* mutable_reason(); + ::std::string* release_reason(); + void set_allocated_reason(::std::string* reason); + + // @@protoc_insertion_point(class_scope:apollo.decision.MainNotReady) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr reason_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MainParking : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.MainParking) */ { + public: + MainParking(); + virtual ~MainParking(); + + MainParking(const MainParking& from); + + inline MainParking& operator=(const MainParking& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MainParking(MainParking&& from) noexcept + : MainParking() { + *this = ::std::move(from); + } + + inline MainParking& operator=(MainParking&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MainParking& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MainParking* internal_default_instance() { + return reinterpret_cast( + &_MainParking_default_instance_); + } + static constexpr int kIndexInFileMessages = + 22; + + void Swap(MainParking* other); + friend void swap(MainParking& a, MainParking& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MainParking* New() const final { + return CreateMaybeMessage(NULL); + } + + MainParking* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MainParking& from); + void MergeFrom(const MainParking& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MainParking* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef MainParking_Type Type; + static const Type FORWARD_PARKING = + MainParking_Type_FORWARD_PARKING; + static const Type REVERSE_PARKING = + MainParking_Type_REVERSE_PARKING; + static inline bool Type_IsValid(int value) { + return MainParking_Type_IsValid(value); + } + static const Type Type_MIN = + MainParking_Type_Type_MIN; + static const Type Type_MAX = + MainParking_Type_Type_MAX; + static const int Type_ARRAYSIZE = + MainParking_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return MainParking_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return MainParking_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return MainParking_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // repeated .apollo.common.PointENU parking_polygon = 4; + int parking_polygon_size() const; + void clear_parking_polygon(); + static const int kParkingPolygonFieldNumber = 4; + ::apollo::common::PointENU* mutable_parking_polygon(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::common::PointENU >* + mutable_parking_polygon(); + const ::apollo::common::PointENU& parking_polygon(int index) const; + ::apollo::common::PointENU* add_parking_polygon(); + const ::google::protobuf::RepeatedPtrField< ::apollo::common::PointENU >& + parking_polygon() const; + + // .apollo.common.PointENU stop_point = 3; + bool has_stop_point() const; + void clear_stop_point(); + static const int kStopPointFieldNumber = 3; + private: + const ::apollo::common::PointENU& _internal_stop_point() const; + public: + const ::apollo::common::PointENU& stop_point() const; + ::apollo::common::PointENU* release_stop_point(); + ::apollo::common::PointENU* mutable_stop_point(); + void set_allocated_stop_point(::apollo::common::PointENU* stop_point); + + // double heading = 2; + void clear_heading(); + static const int kHeadingFieldNumber = 2; + double heading() const; + void set_heading(double value); + + // .apollo.decision.MainParking.Type type = 1; + void clear_type(); + static const int kTypeFieldNumber = 1; + ::apollo::decision::MainParking_Type type() const; + void set_type(::apollo::decision::MainParking_Type value); + + // @@protoc_insertion_point(class_scope:apollo.decision.MainParking) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::common::PointENU > parking_polygon_; + ::apollo::common::PointENU* stop_point_; + double heading_; + int type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MainDecision : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.MainDecision) */ { + public: + MainDecision(); + virtual ~MainDecision(); + + MainDecision(const MainDecision& from); + + inline MainDecision& operator=(const MainDecision& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MainDecision(MainDecision&& from) noexcept + : MainDecision() { + *this = ::std::move(from); + } + + inline MainDecision& operator=(MainDecision&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MainDecision& default_instance(); + + enum TaskCase { + kCruise = 1, + kStop = 2, + kEstop = 3, + kChangeLane = 4, + kMissionComplete = 6, + kNotReady = 7, + kParking = 8, + TASK_NOT_SET = 0, + }; + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MainDecision* internal_default_instance() { + return reinterpret_cast( + &_MainDecision_default_instance_); + } + static constexpr int kIndexInFileMessages = + 23; + + void Swap(MainDecision* other); + friend void swap(MainDecision& a, MainDecision& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MainDecision* New() const final { + return CreateMaybeMessage(NULL); + } + + MainDecision* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MainDecision& from); + void MergeFrom(const MainDecision& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MainDecision* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.decision.TargetLane target_lane = 5; + int target_lane_size() const; + void clear_target_lane(); + static const int kTargetLaneFieldNumber = 5; + ::apollo::decision::TargetLane* mutable_target_lane(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane >* + mutable_target_lane(); + const ::apollo::decision::TargetLane& target_lane(int index) const; + ::apollo::decision::TargetLane* add_target_lane(); + const ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane >& + target_lane() const; + + // .apollo.decision.MainCruise cruise = 1; + bool has_cruise() const; + void clear_cruise(); + static const int kCruiseFieldNumber = 1; + private: + const ::apollo::decision::MainCruise& _internal_cruise() const; + public: + const ::apollo::decision::MainCruise& cruise() const; + ::apollo::decision::MainCruise* release_cruise(); + ::apollo::decision::MainCruise* mutable_cruise(); + void set_allocated_cruise(::apollo::decision::MainCruise* cruise); + + // .apollo.decision.MainStop stop = 2; + bool has_stop() const; + void clear_stop(); + static const int kStopFieldNumber = 2; + private: + const ::apollo::decision::MainStop& _internal_stop() const; + public: + const ::apollo::decision::MainStop& stop() const; + ::apollo::decision::MainStop* release_stop(); + ::apollo::decision::MainStop* mutable_stop(); + void set_allocated_stop(::apollo::decision::MainStop* stop); + + // .apollo.decision.MainEmergencyStop estop = 3; + bool has_estop() const; + void clear_estop(); + static const int kEstopFieldNumber = 3; + private: + const ::apollo::decision::MainEmergencyStop& _internal_estop() const; + public: + const ::apollo::decision::MainEmergencyStop& estop() const; + ::apollo::decision::MainEmergencyStop* release_estop(); + ::apollo::decision::MainEmergencyStop* mutable_estop(); + void set_allocated_estop(::apollo::decision::MainEmergencyStop* estop); + + // .apollo.decision.MainChangeLane change_lane = 4; + bool has_change_lane() const; + void clear_change_lane(); + static const int kChangeLaneFieldNumber = 4; + private: + const ::apollo::decision::MainChangeLane& _internal_change_lane() const; + public: + const ::apollo::decision::MainChangeLane& change_lane() const; + ::apollo::decision::MainChangeLane* release_change_lane(); + ::apollo::decision::MainChangeLane* mutable_change_lane(); + void set_allocated_change_lane(::apollo::decision::MainChangeLane* change_lane); + + // .apollo.decision.MainMissionComplete mission_complete = 6; + bool has_mission_complete() const; + void clear_mission_complete(); + static const int kMissionCompleteFieldNumber = 6; + private: + const ::apollo::decision::MainMissionComplete& _internal_mission_complete() const; + public: + const ::apollo::decision::MainMissionComplete& mission_complete() const; + ::apollo::decision::MainMissionComplete* release_mission_complete(); + ::apollo::decision::MainMissionComplete* mutable_mission_complete(); + void set_allocated_mission_complete(::apollo::decision::MainMissionComplete* mission_complete); + + // .apollo.decision.MainNotReady not_ready = 7; + bool has_not_ready() const; + void clear_not_ready(); + static const int kNotReadyFieldNumber = 7; + private: + const ::apollo::decision::MainNotReady& _internal_not_ready() const; + public: + const ::apollo::decision::MainNotReady& not_ready() const; + ::apollo::decision::MainNotReady* release_not_ready(); + ::apollo::decision::MainNotReady* mutable_not_ready(); + void set_allocated_not_ready(::apollo::decision::MainNotReady* not_ready); + + // .apollo.decision.MainParking parking = 8; + bool has_parking() const; + void clear_parking(); + static const int kParkingFieldNumber = 8; + private: + const ::apollo::decision::MainParking& _internal_parking() const; + public: + const ::apollo::decision::MainParking& parking() const; + ::apollo::decision::MainParking* release_parking(); + ::apollo::decision::MainParking* mutable_parking(); + void set_allocated_parking(::apollo::decision::MainParking* parking); + + void clear_task(); + TaskCase task_case() const; + // @@protoc_insertion_point(class_scope:apollo.decision.MainDecision) + private: + void set_has_cruise(); + void set_has_stop(); + void set_has_estop(); + void set_has_change_lane(); + void set_has_mission_complete(); + void set_has_not_ready(); + void set_has_parking(); + + inline bool has_task() const; + inline void clear_has_task(); + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane > target_lane_; + union TaskUnion { + TaskUnion() {} + ::apollo::decision::MainCruise* cruise_; + ::apollo::decision::MainStop* stop_; + ::apollo::decision::MainEmergencyStop* estop_; + ::apollo::decision::MainChangeLane* change_lane_; + ::apollo::decision::MainMissionComplete* mission_complete_; + ::apollo::decision::MainNotReady* not_ready_; + ::apollo::decision::MainParking* parking_; + } task_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + ::google::protobuf::uint32 _oneof_case_[1]; + + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class MasterVehicleDebug : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.MasterVehicleDebug) */ { + public: + MasterVehicleDebug(); + virtual ~MasterVehicleDebug(); + + MasterVehicleDebug(const MasterVehicleDebug& from); + + inline MasterVehicleDebug& operator=(const MasterVehicleDebug& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + MasterVehicleDebug(MasterVehicleDebug&& from) noexcept + : MasterVehicleDebug() { + *this = ::std::move(from); + } + + inline MasterVehicleDebug& operator=(MasterVehicleDebug&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const MasterVehicleDebug& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const MasterVehicleDebug* internal_default_instance() { + return reinterpret_cast( + &_MasterVehicleDebug_default_instance_); + } + static constexpr int kIndexInFileMessages = + 24; + + void Swap(MasterVehicleDebug* other); + friend void swap(MasterVehicleDebug& a, MasterVehicleDebug& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline MasterVehicleDebug* New() const final { + return CreateMaybeMessage(NULL); + } + + MasterVehicleDebug* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const MasterVehicleDebug& from); + void MergeFrom(const MasterVehicleDebug& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(MasterVehicleDebug* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // string current_lane_id = 2; + void clear_current_lane_id(); + static const int kCurrentLaneIdFieldNumber = 2; + const ::std::string& current_lane_id() const; + void set_current_lane_id(const ::std::string& value); + #if LANG_CXX11 + void set_current_lane_id(::std::string&& value); + #endif + void set_current_lane_id(const char* value); + void set_current_lane_id(const char* value, size_t size); + ::std::string* mutable_current_lane_id(); + ::std::string* release_current_lane_id(); + void set_allocated_current_lane_id(::std::string* current_lane_id); + + // .apollo.common.PointENU position = 1; + bool has_position() const; + void clear_position(); + static const int kPositionFieldNumber = 1; + private: + const ::apollo::common::PointENU& _internal_position() const; + public: + const ::apollo::common::PointENU& position() const; + ::apollo::common::PointENU* release_position(); + ::apollo::common::PointENU* mutable_position(); + void set_allocated_position(::apollo::common::PointENU* position); + + // .apollo.decision.Range route_s_range = 10; + bool has_route_s_range() const; + void clear_route_s_range(); + static const int kRouteSRangeFieldNumber = 10; + private: + const ::apollo::decision::Range& _internal_route_s_range() const; + public: + const ::apollo::decision::Range& route_s_range() const; + ::apollo::decision::Range* release_route_s_range(); + ::apollo::decision::Range* mutable_route_s_range(); + void set_allocated_route_s_range(::apollo::decision::Range* route_s_range); + + // .apollo.decision.Range route_l_range = 11; + bool has_route_l_range() const; + void clear_route_l_range(); + static const int kRouteLRangeFieldNumber = 11; + private: + const ::apollo::decision::Range& _internal_route_l_range() const; + public: + const ::apollo::decision::Range& route_l_range() const; + ::apollo::decision::Range* release_route_l_range(); + ::apollo::decision::Range* mutable_route_l_range(); + void set_allocated_route_l_range(::apollo::decision::Range* route_l_range); + + // double lane_s = 3; + void clear_lane_s(); + static const int kLaneSFieldNumber = 3; + double lane_s() const; + void set_lane_s(double value); + + // double lane_l = 4; + void clear_lane_l(); + static const int kLaneLFieldNumber = 4; + double lane_l() const; + void set_lane_l(double value); + + // double route_s = 5; + void clear_route_s(); + static const int kRouteSFieldNumber = 5; + double route_s() const; + void set_route_s(double value); + + // double route_l = 6; + void clear_route_l(); + static const int kRouteLFieldNumber = 6; + double route_l() const; + void set_route_l(double value); + + // double heading = 7; + void clear_heading(); + static const int kHeadingFieldNumber = 7; + double heading() const; + void set_heading(double value); + + // double heading_speed = 8; + void clear_heading_speed(); + static const int kHeadingSpeedFieldNumber = 8; + double heading_speed() const; + void set_heading_speed(double value); + + // double heading_acceleration = 9; + void clear_heading_acceleration(); + static const int kHeadingAccelerationFieldNumber = 9; + double heading_acceleration() const; + void set_heading_acceleration(double value); + + // @@protoc_insertion_point(class_scope:apollo.decision.MasterVehicleDebug) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr current_lane_id_; + ::apollo::common::PointENU* position_; + ::apollo::decision::Range* route_s_range_; + ::apollo::decision::Range* route_l_range_; + double lane_s_; + double lane_l_; + double route_s_; + double route_l_; + double heading_; + double heading_speed_; + double heading_acceleration_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ObjectDebug : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ObjectDebug) */ { + public: + ObjectDebug(); + virtual ~ObjectDebug(); + + ObjectDebug(const ObjectDebug& from); + + inline ObjectDebug& operator=(const ObjectDebug& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ObjectDebug(ObjectDebug&& from) noexcept + : ObjectDebug() { + *this = ::std::move(from); + } + + inline ObjectDebug& operator=(ObjectDebug&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ObjectDebug& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ObjectDebug* internal_default_instance() { + return reinterpret_cast( + &_ObjectDebug_default_instance_); + } + static constexpr int kIndexInFileMessages = + 25; + + void Swap(ObjectDebug* other); + friend void swap(ObjectDebug& a, ObjectDebug& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ObjectDebug* New() const final { + return CreateMaybeMessage(NULL); + } + + ObjectDebug* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ObjectDebug& from); + void MergeFrom(const ObjectDebug& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ObjectDebug* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.common.Point3D st_region = 10; + int st_region_size() const; + void clear_st_region(); + static const int kStRegionFieldNumber = 10; + ::apollo::common::Point3D* mutable_st_region(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::common::Point3D >* + mutable_st_region(); + const ::apollo::common::Point3D& st_region(int index) const; + ::apollo::common::Point3D* add_st_region(); + const ::google::protobuf::RepeatedPtrField< ::apollo::common::Point3D >& + st_region() const; + + // string id = 1; + void clear_id(); + static const int kIdFieldNumber = 1; + const ::std::string& id() const; + void set_id(const ::std::string& value); + #if LANG_CXX11 + void set_id(::std::string&& value); + #endif + void set_id(const char* value); + void set_id(const char* value, size_t size); + ::std::string* mutable_id(); + ::std::string* release_id(); + void set_allocated_id(::std::string* id); + + // string path_id = 2; + void clear_path_id(); + static const int kPathIdFieldNumber = 2; + const ::std::string& path_id() const; + void set_path_id(const ::std::string& value); + #if LANG_CXX11 + void set_path_id(::std::string&& value); + #endif + void set_path_id(const char* value); + void set_path_id(const char* value, size_t size); + ::std::string* mutable_path_id(); + ::std::string* release_path_id(); + void set_allocated_path_id(::std::string* path_id); + + // string lane_id = 6; + void clear_lane_id(); + static const int kLaneIdFieldNumber = 6; + const ::std::string& lane_id() const; + void set_lane_id(const ::std::string& value); + #if LANG_CXX11 + void set_lane_id(::std::string&& value); + #endif + void set_lane_id(const char* value); + void set_lane_id(const char* value, size_t size); + ::std::string* mutable_lane_id(); + ::std::string* release_lane_id(); + void set_allocated_lane_id(::std::string* lane_id); + + // .apollo.decision.Range route_s = 3; + bool has_route_s() const; + void clear_route_s(); + static const int kRouteSFieldNumber = 3; + private: + const ::apollo::decision::Range& _internal_route_s() const; + public: + const ::apollo::decision::Range& route_s() const; + ::apollo::decision::Range* release_route_s(); + ::apollo::decision::Range* mutable_route_s(); + void set_allocated_route_s(::apollo::decision::Range* route_s); + + // .apollo.decision.Range route_l = 4; + bool has_route_l() const; + void clear_route_l(); + static const int kRouteLFieldNumber = 4; + private: + const ::apollo::decision::Range& _internal_route_l() const; + public: + const ::apollo::decision::Range& route_l() const; + ::apollo::decision::Range* release_route_l(); + ::apollo::decision::Range* mutable_route_l(); + void set_allocated_route_l(::apollo::decision::Range* route_l); + + // double lane_s = 7; + void clear_lane_s(); + static const int kLaneSFieldNumber = 7; + double lane_s() const; + void set_lane_s(double value); + + // double path_speed = 9; + void clear_path_speed(); + static const int kPathSpeedFieldNumber = 9; + double path_speed() const; + void set_path_speed(double value); + + // bool on_route = 5; + void clear_on_route(); + static const int kOnRouteFieldNumber = 5; + bool on_route() const; + void set_on_route(bool value); + + // bool on_lane = 8; + void clear_on_lane(); + static const int kOnLaneFieldNumber = 8; + bool on_lane() const; + void set_on_lane(bool value); + + // @@protoc_insertion_point(class_scope:apollo.decision.ObjectDebug) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::common::Point3D > st_region_; + ::google::protobuf::internal::ArenaStringPtr id_; + ::google::protobuf::internal::ArenaStringPtr path_id_; + ::google::protobuf::internal::ArenaStringPtr lane_id_; + ::apollo::decision::Range* route_s_; + ::apollo::decision::Range* route_l_; + double lane_s_; + double path_speed_; + bool on_route_; + bool on_lane_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class LatencyStats : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.LatencyStats) */ { + public: + LatencyStats(); + virtual ~LatencyStats(); + + LatencyStats(const LatencyStats& from); + + inline LatencyStats& operator=(const LatencyStats& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + LatencyStats(LatencyStats&& from) noexcept + : LatencyStats() { + *this = ::std::move(from); + } + + inline LatencyStats& operator=(LatencyStats&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const LatencyStats& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const LatencyStats* internal_default_instance() { + return reinterpret_cast( + &_LatencyStats_default_instance_); + } + static constexpr int kIndexInFileMessages = + 26; + + void Swap(LatencyStats* other); + friend void swap(LatencyStats& a, LatencyStats& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline LatencyStats* New() const final { + return CreateMaybeMessage(NULL); + } + + LatencyStats* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const LatencyStats& from); + void MergeFrom(const LatencyStats& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(LatencyStats* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double total_time_ms = 1; + void clear_total_time_ms(); + static const int kTotalTimeMsFieldNumber = 1; + double total_time_ms() const; + void set_total_time_ms(double value); + + // double sensor_read_time_ms = 2; + void clear_sensor_read_time_ms(); + static const int kSensorReadTimeMsFieldNumber = 2; + double sensor_read_time_ms() const; + void set_sensor_read_time_ms(double value); + + // double adc_prepare_time_ms = 3; + void clear_adc_prepare_time_ms(); + static const int kAdcPrepareTimeMsFieldNumber = 3; + double adc_prepare_time_ms() const; + void set_adc_prepare_time_ms(double value); + + // double obj_prepare_time_ms = 4; + void clear_obj_prepare_time_ms(); + static const int kObjPrepareTimeMsFieldNumber = 4; + double obj_prepare_time_ms() const; + void set_obj_prepare_time_ms(double value); + + // double world_rule_time_ms = 5; + void clear_world_rule_time_ms(); + static const int kWorldRuleTimeMsFieldNumber = 5; + double world_rule_time_ms() const; + void set_world_rule_time_ms(double value); + + // double st_graph_time_ms = 6; + void clear_st_graph_time_ms(); + static const int kStGraphTimeMsFieldNumber = 6; + double st_graph_time_ms() const; + void set_st_graph_time_ms(double value); + + // double gateway_receive_delay_ms = 8; + void clear_gateway_receive_delay_ms(); + static const int kGatewayReceiveDelayMsFieldNumber = 8; + double gateway_receive_delay_ms() const; + void set_gateway_receive_delay_ms(double value); + + // double perception_receive_delay_ms = 9; + void clear_perception_receive_delay_ms(); + static const int kPerceptionReceiveDelayMsFieldNumber = 9; + double perception_receive_delay_ms() const; + void set_perception_receive_delay_ms(double value); + + // double prediction_receive_delay_ms = 10; + void clear_prediction_receive_delay_ms(); + static const int kPredictionReceiveDelayMsFieldNumber = 10; + double prediction_receive_delay_ms() const; + void set_prediction_receive_delay_ms(double value); + + // double signal_receive_delay_ms = 11; + void clear_signal_receive_delay_ms(); + static const int kSignalReceiveDelayMsFieldNumber = 11; + double signal_receive_delay_ms() const; + void set_signal_receive_delay_ms(double value); + + // double perception_interval_ms = 12; + void clear_perception_interval_ms(); + static const int kPerceptionIntervalMsFieldNumber = 12; + double perception_interval_ms() const; + void set_perception_interval_ms(double value); + + // double prediction_interval_ms = 13; + void clear_prediction_interval_ms(); + static const int kPredictionIntervalMsFieldNumber = 13; + double prediction_interval_ms() const; + void set_prediction_interval_ms(double value); + + // @@protoc_insertion_point(class_scope:apollo.decision.LatencyStats) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double total_time_ms_; + double sensor_read_time_ms_; + double adc_prepare_time_ms_; + double obj_prepare_time_ms_; + double world_rule_time_ms_; + double st_graph_time_ms_; + double gateway_receive_delay_ms_; + double perception_receive_delay_ms_; + double prediction_receive_delay_ms_; + double signal_receive_delay_ms_; + double perception_interval_ms_; + double prediction_interval_ms_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Stats : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.Stats) */ { + public: + Stats(); + virtual ~Stats(); + + Stats(const Stats& from); + + inline Stats& operator=(const Stats& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Stats(Stats&& from) noexcept + : Stats() { + *this = ::std::move(from); + } + + inline Stats& operator=(Stats&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Stats& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Stats* internal_default_instance() { + return reinterpret_cast( + &_Stats_default_instance_); + } + static constexpr int kIndexInFileMessages = + 27; + + void Swap(Stats* other); + friend void swap(Stats& a, Stats& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Stats* New() const final { + return CreateMaybeMessage(NULL); + } + + Stats* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Stats& from); + void MergeFrom(const Stats& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Stats* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.decision.LatencyStats latency_stats = 1; + bool has_latency_stats() const; + void clear_latency_stats(); + static const int kLatencyStatsFieldNumber = 1; + private: + const ::apollo::decision::LatencyStats& _internal_latency_stats() const; + public: + const ::apollo::decision::LatencyStats& latency_stats() const; + ::apollo::decision::LatencyStats* release_latency_stats(); + ::apollo::decision::LatencyStats* mutable_latency_stats(); + void set_allocated_latency_stats(::apollo::decision::LatencyStats* latency_stats); + + // @@protoc_insertion_point(class_scope:apollo.decision.Stats) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::decision::LatencyStats* latency_stats_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ModuleDebug : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.ModuleDebug) */ { + public: + ModuleDebug(); + virtual ~ModuleDebug(); + + ModuleDebug(const ModuleDebug& from); + + inline ModuleDebug& operator=(const ModuleDebug& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ModuleDebug(ModuleDebug&& from) noexcept + : ModuleDebug() { + *this = ::std::move(from); + } + + inline ModuleDebug& operator=(ModuleDebug&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ModuleDebug& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ModuleDebug* internal_default_instance() { + return reinterpret_cast( + &_ModuleDebug_default_instance_); + } + static constexpr int kIndexInFileMessages = + 28; + + void Swap(ModuleDebug* other); + friend void swap(ModuleDebug& a, ModuleDebug& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ModuleDebug* New() const final { + return CreateMaybeMessage(NULL); + } + + ModuleDebug* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ModuleDebug& from); + void MergeFrom(const ModuleDebug& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ModuleDebug* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // uint32 gateway_sequence_num = 1; + void clear_gateway_sequence_num(); + static const int kGatewaySequenceNumFieldNumber = 1; + ::google::protobuf::uint32 gateway_sequence_num() const; + void set_gateway_sequence_num(::google::protobuf::uint32 value); + + // uint32 perception_sequence_num = 2; + void clear_perception_sequence_num(); + static const int kPerceptionSequenceNumFieldNumber = 2; + ::google::protobuf::uint32 perception_sequence_num() const; + void set_perception_sequence_num(::google::protobuf::uint32 value); + + // uint32 prediction_sequence_num = 3; + void clear_prediction_sequence_num(); + static const int kPredictionSequenceNumFieldNumber = 3; + ::google::protobuf::uint32 prediction_sequence_num() const; + void set_prediction_sequence_num(::google::protobuf::uint32 value); + + // uint32 signal_sequence_num = 4; + void clear_signal_sequence_num(); + static const int kSignalSequenceNumFieldNumber = 4; + ::google::protobuf::uint32 signal_sequence_num() const; + void set_signal_sequence_num(::google::protobuf::uint32 value); + + // @@protoc_insertion_point(class_scope:apollo.decision.ModuleDebug) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::uint32 gateway_sequence_num_; + ::google::protobuf::uint32 perception_sequence_num_; + ::google::protobuf::uint32 prediction_sequence_num_; + ::google::protobuf::uint32 signal_sequence_num_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Debug : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.Debug) */ { + public: + Debug(); + virtual ~Debug(); + + Debug(const Debug& from); + + inline Debug& operator=(const Debug& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Debug(Debug&& from) noexcept + : Debug() { + *this = ::std::move(from); + } + + inline Debug& operator=(Debug&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Debug& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Debug* internal_default_instance() { + return reinterpret_cast( + &_Debug_default_instance_); + } + static constexpr int kIndexInFileMessages = + 29; + + void Swap(Debug* other); + friend void swap(Debug& a, Debug& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Debug* New() const final { + return CreateMaybeMessage(NULL); + } + + Debug* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Debug& from); + void MergeFrom(const Debug& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Debug* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.decision.ObjectDebug object = 3; + int object_size() const; + void clear_object(); + static const int kObjectFieldNumber = 3; + ::apollo::decision::ObjectDebug* mutable_object(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDebug >* + mutable_object(); + const ::apollo::decision::ObjectDebug& object(int index) const; + ::apollo::decision::ObjectDebug* add_object(); + const ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDebug >& + object() const; + + // bytes map_version = 5; + void clear_map_version(); + static const int kMapVersionFieldNumber = 5; + const ::std::string& map_version() const; + void set_map_version(const ::std::string& value); + #if LANG_CXX11 + void set_map_version(::std::string&& value); + #endif + void set_map_version(const char* value); + void set_map_version(const void* value, size_t size); + ::std::string* mutable_map_version(); + ::std::string* release_map_version(); + void set_allocated_map_version(::std::string* map_version); + + // bytes decision_version = 7; + void clear_decision_version(); + static const int kDecisionVersionFieldNumber = 7; + const ::std::string& decision_version() const; + void set_decision_version(const ::std::string& value); + #if LANG_CXX11 + void set_decision_version(::std::string&& value); + #endif + void set_decision_version(const char* value); + void set_decision_version(const void* value, size_t size); + ::std::string* mutable_decision_version(); + ::std::string* release_decision_version(); + void set_allocated_decision_version(::std::string* decision_version); + + // .apollo.decision.MasterVehicleDebug master_vehicle = 1; + bool has_master_vehicle() const; + void clear_master_vehicle(); + static const int kMasterVehicleFieldNumber = 1; + private: + const ::apollo::decision::MasterVehicleDebug& _internal_master_vehicle() const; + public: + const ::apollo::decision::MasterVehicleDebug& master_vehicle() const; + ::apollo::decision::MasterVehicleDebug* release_master_vehicle(); + ::apollo::decision::MasterVehicleDebug* mutable_master_vehicle(); + void set_allocated_master_vehicle(::apollo::decision::MasterVehicleDebug* master_vehicle); + + // .apollo.decision.MainDecision original_decision = 2; + bool has_original_decision() const; + void clear_original_decision(); + static const int kOriginalDecisionFieldNumber = 2; + private: + const ::apollo::decision::MainDecision& _internal_original_decision() const; + public: + const ::apollo::decision::MainDecision& original_decision() const; + ::apollo::decision::MainDecision* release_original_decision(); + ::apollo::decision::MainDecision* mutable_original_decision(); + void set_allocated_original_decision(::apollo::decision::MainDecision* original_decision); + + // .apollo.decision.ModuleDebug module_debug = 6; + bool has_module_debug() const; + void clear_module_debug(); + static const int kModuleDebugFieldNumber = 6; + private: + const ::apollo::decision::ModuleDebug& _internal_module_debug() const; + public: + const ::apollo::decision::ModuleDebug& module_debug() const; + ::apollo::decision::ModuleDebug* release_module_debug(); + ::apollo::decision::ModuleDebug* mutable_module_debug(); + void set_allocated_module_debug(::apollo::decision::ModuleDebug* module_debug); + + // @@protoc_insertion_point(class_scope:apollo.decision.Debug) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDebug > object_; + ::google::protobuf::internal::ArenaStringPtr map_version_; + ::google::protobuf::internal::ArenaStringPtr decision_version_; + ::apollo::decision::MasterVehicleDebug* master_vehicle_; + ::apollo::decision::MainDecision* original_decision_; + ::apollo::decision::ModuleDebug* module_debug_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class LightSignal : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.LightSignal) */ { + public: + LightSignal(); + virtual ~LightSignal(); + + LightSignal(const LightSignal& from); + + inline LightSignal& operator=(const LightSignal& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + LightSignal(LightSignal&& from) noexcept + : LightSignal() { + *this = ::std::move(from); + } + + inline LightSignal& operator=(LightSignal&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const LightSignal& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const LightSignal* internal_default_instance() { + return reinterpret_cast( + &_LightSignal_default_instance_); + } + static constexpr int kIndexInFileMessages = + 30; + + void Swap(LightSignal* other); + friend void swap(LightSignal& a, LightSignal& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline LightSignal* New() const final { + return CreateMaybeMessage(NULL); + } + + LightSignal* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const LightSignal& from); + void MergeFrom(const LightSignal& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(LightSignal* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef LightSignal_TurnSignal TurnSignal; + static const TurnSignal NO_TURN = + LightSignal_TurnSignal_NO_TURN; + static const TurnSignal LEFT_TURN = + LightSignal_TurnSignal_LEFT_TURN; + static const TurnSignal RIGHT_TURN = + LightSignal_TurnSignal_RIGHT_TURN; + static inline bool TurnSignal_IsValid(int value) { + return LightSignal_TurnSignal_IsValid(value); + } + static const TurnSignal TurnSignal_MIN = + LightSignal_TurnSignal_TurnSignal_MIN; + static const TurnSignal TurnSignal_MAX = + LightSignal_TurnSignal_TurnSignal_MAX; + static const int TurnSignal_ARRAYSIZE = + LightSignal_TurnSignal_TurnSignal_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + TurnSignal_descriptor() { + return LightSignal_TurnSignal_descriptor(); + } + static inline const ::std::string& TurnSignal_Name(TurnSignal value) { + return LightSignal_TurnSignal_Name(value); + } + static inline bool TurnSignal_Parse(const ::std::string& name, + TurnSignal* value) { + return LightSignal_TurnSignal_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // bool emergency = 1; + void clear_emergency(); + static const int kEmergencyFieldNumber = 1; + bool emergency() const; + void set_emergency(bool value); + + // .apollo.decision.LightSignal.TurnSignal turn_signal = 2; + void clear_turn_signal(); + static const int kTurnSignalFieldNumber = 2; + ::apollo::decision::LightSignal_TurnSignal turn_signal() const; + void set_turn_signal(::apollo::decision::LightSignal_TurnSignal value); + + // @@protoc_insertion_point(class_scope:apollo.decision.LightSignal) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + bool emergency_; + int turn_signal_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class DecisionResult : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.decision.DecisionResult) */ { + public: + DecisionResult(); + virtual ~DecisionResult(); + + DecisionResult(const DecisionResult& from); + + inline DecisionResult& operator=(const DecisionResult& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + DecisionResult(DecisionResult&& from) noexcept + : DecisionResult() { + *this = ::std::move(from); + } + + inline DecisionResult& operator=(DecisionResult&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const DecisionResult& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const DecisionResult* internal_default_instance() { + return reinterpret_cast( + &_DecisionResult_default_instance_); + } + static constexpr int kIndexInFileMessages = + 31; + + void Swap(DecisionResult* other); + friend void swap(DecisionResult& a, DecisionResult& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline DecisionResult* New() const final { + return CreateMaybeMessage(NULL); + } + + DecisionResult* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const DecisionResult& from); + void MergeFrom(const DecisionResult& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(DecisionResult* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.decision.ObjectDecisions object_decision = 2; + bool has_object_decision() const; + void clear_object_decision(); + static const int kObjectDecisionFieldNumber = 2; + private: + const ::apollo::decision::ObjectDecisions& _internal_object_decision() const; + public: + const ::apollo::decision::ObjectDecisions& object_decision() const; + ::apollo::decision::ObjectDecisions* release_object_decision(); + ::apollo::decision::ObjectDecisions* mutable_object_decision(); + void set_allocated_object_decision(::apollo::decision::ObjectDecisions* object_decision); + + // .apollo.decision.MainDecision main_decision = 3; + bool has_main_decision() const; + void clear_main_decision(); + static const int kMainDecisionFieldNumber = 3; + private: + const ::apollo::decision::MainDecision& _internal_main_decision() const; + public: + const ::apollo::decision::MainDecision& main_decision() const; + ::apollo::decision::MainDecision* release_main_decision(); + ::apollo::decision::MainDecision* mutable_main_decision(); + void set_allocated_main_decision(::apollo::decision::MainDecision* main_decision); + + // .apollo.decision.Debug debug = 4; + bool has_debug() const; + void clear_debug(); + static const int kDebugFieldNumber = 4; + private: + const ::apollo::decision::Debug& _internal_debug() const; + public: + const ::apollo::decision::Debug& debug() const; + ::apollo::decision::Debug* release_debug(); + ::apollo::decision::Debug* mutable_debug(); + void set_allocated_debug(::apollo::decision::Debug* debug); + + // .apollo.decision.LightSignal light_signal = 5; + bool has_light_signal() const; + void clear_light_signal(); + static const int kLightSignalFieldNumber = 5; + private: + const ::apollo::decision::LightSignal& _internal_light_signal() const; + public: + const ::apollo::decision::LightSignal& light_signal() const; + ::apollo::decision::LightSignal* release_light_signal(); + ::apollo::decision::LightSignal* mutable_light_signal(); + void set_allocated_light_signal(::apollo::decision::LightSignal* light_signal); + + // .apollo.decision.Stats stats = 6; + bool has_stats() const; + void clear_stats(); + static const int kStatsFieldNumber = 6; + private: + const ::apollo::decision::Stats& _internal_stats() const; + public: + const ::apollo::decision::Stats& stats() const; + ::apollo::decision::Stats* release_stats(); + ::apollo::decision::Stats* mutable_stats(); + void set_allocated_stats(::apollo::decision::Stats* stats); + + // .apollo.canbus.Signal signal = 7; + bool has_signal() const; + void clear_signal(); + static const int kSignalFieldNumber = 7; + private: + const ::apollo::canbus::Signal& _internal_signal() const; + public: + const ::apollo::canbus::Signal& signal() const; + ::apollo::canbus::Signal* release_signal(); + ::apollo::canbus::Signal* mutable_signal(); + void set_allocated_signal(::apollo::canbus::Signal* signal); + + // @@protoc_insertion_point(class_scope:apollo.decision.DecisionResult) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + ::apollo::decision::ObjectDecisions* object_decision_; + ::apollo::decision::MainDecision* main_decision_; + ::apollo::decision::Debug* debug_; + ::apollo::decision::LightSignal* light_signal_; + ::apollo::decision::Stats* stats_; + ::apollo::canbus::Signal* signal_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Range + +// double start = 1; +inline void Range::clear_start() { + start_ = 0; +} +inline double Range::start() const { + // @@protoc_insertion_point(field_get:apollo.decision.Range.start) + return start_; +} +inline void Range::set_start(double value) { + + start_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.Range.start) +} + +// double end = 2; +inline void Range::clear_end() { + end_ = 0; +} +inline double Range::end() const { + // @@protoc_insertion_point(field_get:apollo.decision.Range.end) + return end_; +} +inline void Range::set_end(double value) { + + end_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.Range.end) +} + +// ------------------------------------------------------------------- + +// TargetLane + +// string id = 1; +inline void TargetLane::clear_id() { + id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& TargetLane::id() const { + // @@protoc_insertion_point(field_get:apollo.decision.TargetLane.id) + return id_.GetNoArena(); +} +inline void TargetLane::set_id(const ::std::string& value) { + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.TargetLane.id) +} +#if LANG_CXX11 +inline void TargetLane::set_id(::std::string&& value) { + + id_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.TargetLane.id) +} +#endif +inline void TargetLane::set_id(const char* value) { + GOOGLE_DCHECK(value != NULL); + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.TargetLane.id) +} +inline void TargetLane::set_id(const char* value, size_t size) { + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.TargetLane.id) +} +inline ::std::string* TargetLane::mutable_id() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.TargetLane.id) + return id_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* TargetLane::release_id() { + // @@protoc_insertion_point(field_release:apollo.decision.TargetLane.id) + + return id_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void TargetLane::set_allocated_id(::std::string* id) { + if (id != NULL) { + + } else { + + } + id_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), id); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.TargetLane.id) +} + +// double start_s = 2; +inline void TargetLane::clear_start_s() { + start_s_ = 0; +} +inline double TargetLane::start_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.TargetLane.start_s) + return start_s_; +} +inline void TargetLane::set_start_s(double value) { + + start_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.TargetLane.start_s) +} + +// double end_s = 3; +inline void TargetLane::clear_end_s() { + end_s_ = 0; +} +inline double TargetLane::end_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.TargetLane.end_s) + return end_s_; +} +inline void TargetLane::set_end_s(double value) { + + end_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.TargetLane.end_s) +} + +// double speed_limit = 4; +inline void TargetLane::clear_speed_limit() { + speed_limit_ = 0; +} +inline double TargetLane::speed_limit() const { + // @@protoc_insertion_point(field_get:apollo.decision.TargetLane.speed_limit) + return speed_limit_; +} +inline void TargetLane::set_speed_limit(double value) { + + speed_limit_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.TargetLane.speed_limit) +} + +// ------------------------------------------------------------------- + +// ObjectIgnore + +// ------------------------------------------------------------------- + +// ObjectStop + +// double distance_s = 1; +inline void ObjectStop::clear_distance_s() { + distance_s_ = 0; +} +inline double ObjectStop::distance_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectStop.distance_s) + return distance_s_; +} +inline void ObjectStop::set_distance_s(double value) { + + distance_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectStop.distance_s) +} + +// .apollo.decision.Range preferred_distance_s = 2; +inline bool ObjectStop::has_preferred_distance_s() const { + return this != internal_default_instance() && preferred_distance_s_ != NULL; +} +inline void ObjectStop::clear_preferred_distance_s() { + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; +} +inline const ::apollo::decision::Range& ObjectStop::_internal_preferred_distance_s() const { + return *preferred_distance_s_; +} +inline const ::apollo::decision::Range& ObjectStop::preferred_distance_s() const { + const ::apollo::decision::Range* p = preferred_distance_s_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectStop.preferred_distance_s) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* ObjectStop::release_preferred_distance_s() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectStop.preferred_distance_s) + + ::apollo::decision::Range* temp = preferred_distance_s_; + preferred_distance_s_ = NULL; + return temp; +} +inline ::apollo::decision::Range* ObjectStop::mutable_preferred_distance_s() { + + if (preferred_distance_s_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + preferred_distance_s_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectStop.preferred_distance_s) + return preferred_distance_s_; +} +inline void ObjectStop::set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete preferred_distance_s_; + } + if (preferred_distance_s) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + preferred_distance_s = ::google::protobuf::internal::GetOwnedMessage( + message_arena, preferred_distance_s, submessage_arena); + } + + } else { + + } + preferred_distance_s_ = preferred_distance_s; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectStop.preferred_distance_s) +} + +// .apollo.decision.StopReasonCode reason_code = 3; +inline void ObjectStop::clear_reason_code() { + reason_code_ = 0; +} +inline ::apollo::decision::StopReasonCode ObjectStop::reason_code() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectStop.reason_code) + return static_cast< ::apollo::decision::StopReasonCode >(reason_code_); +} +inline void ObjectStop::set_reason_code(::apollo::decision::StopReasonCode value) { + + reason_code_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectStop.reason_code) +} + +// .apollo.common.PointENU stop_point = 4; +inline bool ObjectStop::has_stop_point() const { + return this != internal_default_instance() && stop_point_ != NULL; +} +inline const ::apollo::common::PointENU& ObjectStop::_internal_stop_point() const { + return *stop_point_; +} +inline const ::apollo::common::PointENU& ObjectStop::stop_point() const { + const ::apollo::common::PointENU* p = stop_point_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectStop.stop_point) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_PointENU_default_instance_); +} +inline ::apollo::common::PointENU* ObjectStop::release_stop_point() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectStop.stop_point) + + ::apollo::common::PointENU* temp = stop_point_; + stop_point_ = NULL; + return temp; +} +inline ::apollo::common::PointENU* ObjectStop::mutable_stop_point() { + + if (stop_point_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::PointENU>(GetArenaNoVirtual()); + stop_point_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectStop.stop_point) + return stop_point_; +} +inline void ObjectStop::set_allocated_stop_point(::apollo::common::PointENU* stop_point) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(stop_point_); + } + if (stop_point) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + stop_point = ::google::protobuf::internal::GetOwnedMessage( + message_arena, stop_point, submessage_arena); + } + + } else { + + } + stop_point_ = stop_point; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectStop.stop_point) +} + +// ------------------------------------------------------------------- + +// ObjectNudge + +// double distance_l = 1; +inline void ObjectNudge::clear_distance_l() { + distance_l_ = 0; +} +inline double ObjectNudge::distance_l() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectNudge.distance_l) + return distance_l_; +} +inline void ObjectNudge::set_distance_l(double value) { + + distance_l_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectNudge.distance_l) +} + +// .apollo.decision.ObjectNudge.Type type = 2; +inline void ObjectNudge::clear_type() { + type_ = 0; +} +inline ::apollo::decision::ObjectNudge_Type ObjectNudge::type() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectNudge.type) + return static_cast< ::apollo::decision::ObjectNudge_Type >(type_); +} +inline void ObjectNudge::set_type(::apollo::decision::ObjectNudge_Type value) { + + type_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectNudge.type) +} + +// .apollo.decision.Range preferred_distance_l = 3; +inline bool ObjectNudge::has_preferred_distance_l() const { + return this != internal_default_instance() && preferred_distance_l_ != NULL; +} +inline void ObjectNudge::clear_preferred_distance_l() { + if (GetArenaNoVirtual() == NULL && preferred_distance_l_ != NULL) { + delete preferred_distance_l_; + } + preferred_distance_l_ = NULL; +} +inline const ::apollo::decision::Range& ObjectNudge::_internal_preferred_distance_l() const { + return *preferred_distance_l_; +} +inline const ::apollo::decision::Range& ObjectNudge::preferred_distance_l() const { + const ::apollo::decision::Range* p = preferred_distance_l_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectNudge.preferred_distance_l) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* ObjectNudge::release_preferred_distance_l() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectNudge.preferred_distance_l) + + ::apollo::decision::Range* temp = preferred_distance_l_; + preferred_distance_l_ = NULL; + return temp; +} +inline ::apollo::decision::Range* ObjectNudge::mutable_preferred_distance_l() { + + if (preferred_distance_l_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + preferred_distance_l_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectNudge.preferred_distance_l) + return preferred_distance_l_; +} +inline void ObjectNudge::set_allocated_preferred_distance_l(::apollo::decision::Range* preferred_distance_l) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete preferred_distance_l_; + } + if (preferred_distance_l) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + preferred_distance_l = ::google::protobuf::internal::GetOwnedMessage( + message_arena, preferred_distance_l, submessage_arena); + } + + } else { + + } + preferred_distance_l_ = preferred_distance_l; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectNudge.preferred_distance_l) +} + +// ------------------------------------------------------------------- + +// ObjectYield + +// double distance_s = 1; +inline void ObjectYield::clear_distance_s() { + distance_s_ = 0; +} +inline double ObjectYield::distance_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectYield.distance_s) + return distance_s_; +} +inline void ObjectYield::set_distance_s(double value) { + + distance_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectYield.distance_s) +} + +// .apollo.decision.Range preferred_distance_s = 2; +inline bool ObjectYield::has_preferred_distance_s() const { + return this != internal_default_instance() && preferred_distance_s_ != NULL; +} +inline void ObjectYield::clear_preferred_distance_s() { + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; +} +inline const ::apollo::decision::Range& ObjectYield::_internal_preferred_distance_s() const { + return *preferred_distance_s_; +} +inline const ::apollo::decision::Range& ObjectYield::preferred_distance_s() const { + const ::apollo::decision::Range* p = preferred_distance_s_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectYield.preferred_distance_s) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* ObjectYield::release_preferred_distance_s() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectYield.preferred_distance_s) + + ::apollo::decision::Range* temp = preferred_distance_s_; + preferred_distance_s_ = NULL; + return temp; +} +inline ::apollo::decision::Range* ObjectYield::mutable_preferred_distance_s() { + + if (preferred_distance_s_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + preferred_distance_s_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectYield.preferred_distance_s) + return preferred_distance_s_; +} +inline void ObjectYield::set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete preferred_distance_s_; + } + if (preferred_distance_s) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + preferred_distance_s = ::google::protobuf::internal::GetOwnedMessage( + message_arena, preferred_distance_s, submessage_arena); + } + + } else { + + } + preferred_distance_s_ = preferred_distance_s; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectYield.preferred_distance_s) +} + +// .apollo.common.PointENU yield_point = 3; +inline bool ObjectYield::has_yield_point() const { + return this != internal_default_instance() && yield_point_ != NULL; +} +inline const ::apollo::common::PointENU& ObjectYield::_internal_yield_point() const { + return *yield_point_; +} +inline const ::apollo::common::PointENU& ObjectYield::yield_point() const { + const ::apollo::common::PointENU* p = yield_point_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectYield.yield_point) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_PointENU_default_instance_); +} +inline ::apollo::common::PointENU* ObjectYield::release_yield_point() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectYield.yield_point) + + ::apollo::common::PointENU* temp = yield_point_; + yield_point_ = NULL; + return temp; +} +inline ::apollo::common::PointENU* ObjectYield::mutable_yield_point() { + + if (yield_point_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::PointENU>(GetArenaNoVirtual()); + yield_point_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectYield.yield_point) + return yield_point_; +} +inline void ObjectYield::set_allocated_yield_point(::apollo::common::PointENU* yield_point) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(yield_point_); + } + if (yield_point) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + yield_point = ::google::protobuf::internal::GetOwnedMessage( + message_arena, yield_point, submessage_arena); + } + + } else { + + } + yield_point_ = yield_point; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectYield.yield_point) +} + +// ------------------------------------------------------------------- + +// ObjectFollow + +// double distance_s = 1; +inline void ObjectFollow::clear_distance_s() { + distance_s_ = 0; +} +inline double ObjectFollow::distance_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectFollow.distance_s) + return distance_s_; +} +inline void ObjectFollow::set_distance_s(double value) { + + distance_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectFollow.distance_s) +} + +// .apollo.decision.Range preferred_distance_s = 2; +inline bool ObjectFollow::has_preferred_distance_s() const { + return this != internal_default_instance() && preferred_distance_s_ != NULL; +} +inline void ObjectFollow::clear_preferred_distance_s() { + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; +} +inline const ::apollo::decision::Range& ObjectFollow::_internal_preferred_distance_s() const { + return *preferred_distance_s_; +} +inline const ::apollo::decision::Range& ObjectFollow::preferred_distance_s() const { + const ::apollo::decision::Range* p = preferred_distance_s_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectFollow.preferred_distance_s) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* ObjectFollow::release_preferred_distance_s() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectFollow.preferred_distance_s) + + ::apollo::decision::Range* temp = preferred_distance_s_; + preferred_distance_s_ = NULL; + return temp; +} +inline ::apollo::decision::Range* ObjectFollow::mutable_preferred_distance_s() { + + if (preferred_distance_s_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + preferred_distance_s_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectFollow.preferred_distance_s) + return preferred_distance_s_; +} +inline void ObjectFollow::set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete preferred_distance_s_; + } + if (preferred_distance_s) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + preferred_distance_s = ::google::protobuf::internal::GetOwnedMessage( + message_arena, preferred_distance_s, submessage_arena); + } + + } else { + + } + preferred_distance_s_ = preferred_distance_s; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectFollow.preferred_distance_s) +} + +// .apollo.common.PointENU follow_point = 3; +inline bool ObjectFollow::has_follow_point() const { + return this != internal_default_instance() && follow_point_ != NULL; +} +inline const ::apollo::common::PointENU& ObjectFollow::_internal_follow_point() const { + return *follow_point_; +} +inline const ::apollo::common::PointENU& ObjectFollow::follow_point() const { + const ::apollo::common::PointENU* p = follow_point_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectFollow.follow_point) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_PointENU_default_instance_); +} +inline ::apollo::common::PointENU* ObjectFollow::release_follow_point() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectFollow.follow_point) + + ::apollo::common::PointENU* temp = follow_point_; + follow_point_ = NULL; + return temp; +} +inline ::apollo::common::PointENU* ObjectFollow::mutable_follow_point() { + + if (follow_point_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::PointENU>(GetArenaNoVirtual()); + follow_point_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectFollow.follow_point) + return follow_point_; +} +inline void ObjectFollow::set_allocated_follow_point(::apollo::common::PointENU* follow_point) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(follow_point_); + } + if (follow_point) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + follow_point = ::google::protobuf::internal::GetOwnedMessage( + message_arena, follow_point, submessage_arena); + } + + } else { + + } + follow_point_ = follow_point; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectFollow.follow_point) +} + +// ------------------------------------------------------------------- + +// ObjectOvertake + +// double distance_s = 1; +inline void ObjectOvertake::clear_distance_s() { + distance_s_ = 0; +} +inline double ObjectOvertake::distance_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectOvertake.distance_s) + return distance_s_; +} +inline void ObjectOvertake::set_distance_s(double value) { + + distance_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectOvertake.distance_s) +} + +// .apollo.decision.Range preferred_distance_s = 2; +inline bool ObjectOvertake::has_preferred_distance_s() const { + return this != internal_default_instance() && preferred_distance_s_ != NULL; +} +inline void ObjectOvertake::clear_preferred_distance_s() { + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; +} +inline const ::apollo::decision::Range& ObjectOvertake::_internal_preferred_distance_s() const { + return *preferred_distance_s_; +} +inline const ::apollo::decision::Range& ObjectOvertake::preferred_distance_s() const { + const ::apollo::decision::Range* p = preferred_distance_s_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectOvertake.preferred_distance_s) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* ObjectOvertake::release_preferred_distance_s() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectOvertake.preferred_distance_s) + + ::apollo::decision::Range* temp = preferred_distance_s_; + preferred_distance_s_ = NULL; + return temp; +} +inline ::apollo::decision::Range* ObjectOvertake::mutable_preferred_distance_s() { + + if (preferred_distance_s_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + preferred_distance_s_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectOvertake.preferred_distance_s) + return preferred_distance_s_; +} +inline void ObjectOvertake::set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete preferred_distance_s_; + } + if (preferred_distance_s) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + preferred_distance_s = ::google::protobuf::internal::GetOwnedMessage( + message_arena, preferred_distance_s, submessage_arena); + } + + } else { + + } + preferred_distance_s_ = preferred_distance_s; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectOvertake.preferred_distance_s) +} + +// .apollo.common.PointENU overtake_point = 3; +inline bool ObjectOvertake::has_overtake_point() const { + return this != internal_default_instance() && overtake_point_ != NULL; +} +inline const ::apollo::common::PointENU& ObjectOvertake::_internal_overtake_point() const { + return *overtake_point_; +} +inline const ::apollo::common::PointENU& ObjectOvertake::overtake_point() const { + const ::apollo::common::PointENU* p = overtake_point_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectOvertake.overtake_point) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_PointENU_default_instance_); +} +inline ::apollo::common::PointENU* ObjectOvertake::release_overtake_point() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectOvertake.overtake_point) + + ::apollo::common::PointENU* temp = overtake_point_; + overtake_point_ = NULL; + return temp; +} +inline ::apollo::common::PointENU* ObjectOvertake::mutable_overtake_point() { + + if (overtake_point_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::PointENU>(GetArenaNoVirtual()); + overtake_point_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectOvertake.overtake_point) + return overtake_point_; +} +inline void ObjectOvertake::set_allocated_overtake_point(::apollo::common::PointENU* overtake_point) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(overtake_point_); + } + if (overtake_point) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + overtake_point = ::google::protobuf::internal::GetOwnedMessage( + message_arena, overtake_point, submessage_arena); + } + + } else { + + } + overtake_point_ = overtake_point; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectOvertake.overtake_point) +} + +// ------------------------------------------------------------------- + +// ObjectSidePass + +// double distance_s = 1; +inline void ObjectSidePass::clear_distance_s() { + distance_s_ = 0; +} +inline double ObjectSidePass::distance_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectSidePass.distance_s) + return distance_s_; +} +inline void ObjectSidePass::set_distance_s(double value) { + + distance_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectSidePass.distance_s) +} + +// .apollo.decision.Range preferred_distance_s = 2; +inline bool ObjectSidePass::has_preferred_distance_s() const { + return this != internal_default_instance() && preferred_distance_s_ != NULL; +} +inline void ObjectSidePass::clear_preferred_distance_s() { + if (GetArenaNoVirtual() == NULL && preferred_distance_s_ != NULL) { + delete preferred_distance_s_; + } + preferred_distance_s_ = NULL; +} +inline const ::apollo::decision::Range& ObjectSidePass::_internal_preferred_distance_s() const { + return *preferred_distance_s_; +} +inline const ::apollo::decision::Range& ObjectSidePass::preferred_distance_s() const { + const ::apollo::decision::Range* p = preferred_distance_s_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectSidePass.preferred_distance_s) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* ObjectSidePass::release_preferred_distance_s() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectSidePass.preferred_distance_s) + + ::apollo::decision::Range* temp = preferred_distance_s_; + preferred_distance_s_ = NULL; + return temp; +} +inline ::apollo::decision::Range* ObjectSidePass::mutable_preferred_distance_s() { + + if (preferred_distance_s_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + preferred_distance_s_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectSidePass.preferred_distance_s) + return preferred_distance_s_; +} +inline void ObjectSidePass::set_allocated_preferred_distance_s(::apollo::decision::Range* preferred_distance_s) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete preferred_distance_s_; + } + if (preferred_distance_s) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + preferred_distance_s = ::google::protobuf::internal::GetOwnedMessage( + message_arena, preferred_distance_s, submessage_arena); + } + + } else { + + } + preferred_distance_s_ = preferred_distance_s; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectSidePass.preferred_distance_s) +} + +// .apollo.decision.ObjectSidePass.Type type = 3; +inline void ObjectSidePass::clear_type() { + type_ = 0; +} +inline ::apollo::decision::ObjectSidePass_Type ObjectSidePass::type() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectSidePass.type) + return static_cast< ::apollo::decision::ObjectSidePass_Type >(type_); +} +inline void ObjectSidePass::set_type(::apollo::decision::ObjectSidePass_Type value) { + + type_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectSidePass.type) +} + +// ------------------------------------------------------------------- + +// ObjectAvoid + +// ------------------------------------------------------------------- + +// ObjectDecisionType + +// .apollo.decision.ObjectIgnore ignore = 1; +inline bool ObjectDecisionType::has_ignore() const { + return object_tag_case() == kIgnore; +} +inline void ObjectDecisionType::set_has_ignore() { + _oneof_case_[0] = kIgnore; +} +inline void ObjectDecisionType::clear_ignore() { + if (has_ignore()) { + delete object_tag_.ignore_; + clear_has_object_tag(); + } +} +inline const ::apollo::decision::ObjectIgnore& ObjectDecisionType::_internal_ignore() const { + return *object_tag_.ignore_; +} +inline ::apollo::decision::ObjectIgnore* ObjectDecisionType::release_ignore() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecisionType.ignore) + if (has_ignore()) { + clear_has_object_tag(); + ::apollo::decision::ObjectIgnore* temp = object_tag_.ignore_; + object_tag_.ignore_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::ObjectIgnore& ObjectDecisionType::ignore() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecisionType.ignore) + return has_ignore() + ? *object_tag_.ignore_ + : *reinterpret_cast< ::apollo::decision::ObjectIgnore*>(&::apollo::decision::_ObjectIgnore_default_instance_); +} +inline ::apollo::decision::ObjectIgnore* ObjectDecisionType::mutable_ignore() { + if (!has_ignore()) { + clear_object_tag(); + set_has_ignore(); + object_tag_.ignore_ = CreateMaybeMessage< ::apollo::decision::ObjectIgnore >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecisionType.ignore) + return object_tag_.ignore_; +} + +// .apollo.decision.ObjectStop stop = 2; +inline bool ObjectDecisionType::has_stop() const { + return object_tag_case() == kStop; +} +inline void ObjectDecisionType::set_has_stop() { + _oneof_case_[0] = kStop; +} +inline void ObjectDecisionType::clear_stop() { + if (has_stop()) { + delete object_tag_.stop_; + clear_has_object_tag(); + } +} +inline const ::apollo::decision::ObjectStop& ObjectDecisionType::_internal_stop() const { + return *object_tag_.stop_; +} +inline ::apollo::decision::ObjectStop* ObjectDecisionType::release_stop() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecisionType.stop) + if (has_stop()) { + clear_has_object_tag(); + ::apollo::decision::ObjectStop* temp = object_tag_.stop_; + object_tag_.stop_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::ObjectStop& ObjectDecisionType::stop() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecisionType.stop) + return has_stop() + ? *object_tag_.stop_ + : *reinterpret_cast< ::apollo::decision::ObjectStop*>(&::apollo::decision::_ObjectStop_default_instance_); +} +inline ::apollo::decision::ObjectStop* ObjectDecisionType::mutable_stop() { + if (!has_stop()) { + clear_object_tag(); + set_has_stop(); + object_tag_.stop_ = CreateMaybeMessage< ::apollo::decision::ObjectStop >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecisionType.stop) + return object_tag_.stop_; +} + +// .apollo.decision.ObjectFollow follow = 3; +inline bool ObjectDecisionType::has_follow() const { + return object_tag_case() == kFollow; +} +inline void ObjectDecisionType::set_has_follow() { + _oneof_case_[0] = kFollow; +} +inline void ObjectDecisionType::clear_follow() { + if (has_follow()) { + delete object_tag_.follow_; + clear_has_object_tag(); + } +} +inline const ::apollo::decision::ObjectFollow& ObjectDecisionType::_internal_follow() const { + return *object_tag_.follow_; +} +inline ::apollo::decision::ObjectFollow* ObjectDecisionType::release_follow() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecisionType.follow) + if (has_follow()) { + clear_has_object_tag(); + ::apollo::decision::ObjectFollow* temp = object_tag_.follow_; + object_tag_.follow_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::ObjectFollow& ObjectDecisionType::follow() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecisionType.follow) + return has_follow() + ? *object_tag_.follow_ + : *reinterpret_cast< ::apollo::decision::ObjectFollow*>(&::apollo::decision::_ObjectFollow_default_instance_); +} +inline ::apollo::decision::ObjectFollow* ObjectDecisionType::mutable_follow() { + if (!has_follow()) { + clear_object_tag(); + set_has_follow(); + object_tag_.follow_ = CreateMaybeMessage< ::apollo::decision::ObjectFollow >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecisionType.follow) + return object_tag_.follow_; +} + +// .apollo.decision.ObjectYield yield = 4; +inline bool ObjectDecisionType::has_yield() const { + return object_tag_case() == kYield; +} +inline void ObjectDecisionType::set_has_yield() { + _oneof_case_[0] = kYield; +} +inline void ObjectDecisionType::clear_yield() { + if (has_yield()) { + delete object_tag_.yield_; + clear_has_object_tag(); + } +} +inline const ::apollo::decision::ObjectYield& ObjectDecisionType::_internal_yield() const { + return *object_tag_.yield_; +} +inline ::apollo::decision::ObjectYield* ObjectDecisionType::release_yield() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecisionType.yield) + if (has_yield()) { + clear_has_object_tag(); + ::apollo::decision::ObjectYield* temp = object_tag_.yield_; + object_tag_.yield_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::ObjectYield& ObjectDecisionType::yield() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecisionType.yield) + return has_yield() + ? *object_tag_.yield_ + : *reinterpret_cast< ::apollo::decision::ObjectYield*>(&::apollo::decision::_ObjectYield_default_instance_); +} +inline ::apollo::decision::ObjectYield* ObjectDecisionType::mutable_yield() { + if (!has_yield()) { + clear_object_tag(); + set_has_yield(); + object_tag_.yield_ = CreateMaybeMessage< ::apollo::decision::ObjectYield >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecisionType.yield) + return object_tag_.yield_; +} + +// .apollo.decision.ObjectOvertake overtake = 5; +inline bool ObjectDecisionType::has_overtake() const { + return object_tag_case() == kOvertake; +} +inline void ObjectDecisionType::set_has_overtake() { + _oneof_case_[0] = kOvertake; +} +inline void ObjectDecisionType::clear_overtake() { + if (has_overtake()) { + delete object_tag_.overtake_; + clear_has_object_tag(); + } +} +inline const ::apollo::decision::ObjectOvertake& ObjectDecisionType::_internal_overtake() const { + return *object_tag_.overtake_; +} +inline ::apollo::decision::ObjectOvertake* ObjectDecisionType::release_overtake() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecisionType.overtake) + if (has_overtake()) { + clear_has_object_tag(); + ::apollo::decision::ObjectOvertake* temp = object_tag_.overtake_; + object_tag_.overtake_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::ObjectOvertake& ObjectDecisionType::overtake() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecisionType.overtake) + return has_overtake() + ? *object_tag_.overtake_ + : *reinterpret_cast< ::apollo::decision::ObjectOvertake*>(&::apollo::decision::_ObjectOvertake_default_instance_); +} +inline ::apollo::decision::ObjectOvertake* ObjectDecisionType::mutable_overtake() { + if (!has_overtake()) { + clear_object_tag(); + set_has_overtake(); + object_tag_.overtake_ = CreateMaybeMessage< ::apollo::decision::ObjectOvertake >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecisionType.overtake) + return object_tag_.overtake_; +} + +// .apollo.decision.ObjectNudge nudge = 6; +inline bool ObjectDecisionType::has_nudge() const { + return object_tag_case() == kNudge; +} +inline void ObjectDecisionType::set_has_nudge() { + _oneof_case_[0] = kNudge; +} +inline void ObjectDecisionType::clear_nudge() { + if (has_nudge()) { + delete object_tag_.nudge_; + clear_has_object_tag(); + } +} +inline const ::apollo::decision::ObjectNudge& ObjectDecisionType::_internal_nudge() const { + return *object_tag_.nudge_; +} +inline ::apollo::decision::ObjectNudge* ObjectDecisionType::release_nudge() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecisionType.nudge) + if (has_nudge()) { + clear_has_object_tag(); + ::apollo::decision::ObjectNudge* temp = object_tag_.nudge_; + object_tag_.nudge_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::ObjectNudge& ObjectDecisionType::nudge() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecisionType.nudge) + return has_nudge() + ? *object_tag_.nudge_ + : *reinterpret_cast< ::apollo::decision::ObjectNudge*>(&::apollo::decision::_ObjectNudge_default_instance_); +} +inline ::apollo::decision::ObjectNudge* ObjectDecisionType::mutable_nudge() { + if (!has_nudge()) { + clear_object_tag(); + set_has_nudge(); + object_tag_.nudge_ = CreateMaybeMessage< ::apollo::decision::ObjectNudge >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecisionType.nudge) + return object_tag_.nudge_; +} + +// .apollo.decision.ObjectSidePass sidepass = 7; +inline bool ObjectDecisionType::has_sidepass() const { + return object_tag_case() == kSidepass; +} +inline void ObjectDecisionType::set_has_sidepass() { + _oneof_case_[0] = kSidepass; +} +inline void ObjectDecisionType::clear_sidepass() { + if (has_sidepass()) { + delete object_tag_.sidepass_; + clear_has_object_tag(); + } +} +inline const ::apollo::decision::ObjectSidePass& ObjectDecisionType::_internal_sidepass() const { + return *object_tag_.sidepass_; +} +inline ::apollo::decision::ObjectSidePass* ObjectDecisionType::release_sidepass() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecisionType.sidepass) + if (has_sidepass()) { + clear_has_object_tag(); + ::apollo::decision::ObjectSidePass* temp = object_tag_.sidepass_; + object_tag_.sidepass_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::ObjectSidePass& ObjectDecisionType::sidepass() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecisionType.sidepass) + return has_sidepass() + ? *object_tag_.sidepass_ + : *reinterpret_cast< ::apollo::decision::ObjectSidePass*>(&::apollo::decision::_ObjectSidePass_default_instance_); +} +inline ::apollo::decision::ObjectSidePass* ObjectDecisionType::mutable_sidepass() { + if (!has_sidepass()) { + clear_object_tag(); + set_has_sidepass(); + object_tag_.sidepass_ = CreateMaybeMessage< ::apollo::decision::ObjectSidePass >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecisionType.sidepass) + return object_tag_.sidepass_; +} + +// .apollo.decision.ObjectAvoid avoid = 8; +inline bool ObjectDecisionType::has_avoid() const { + return object_tag_case() == kAvoid; +} +inline void ObjectDecisionType::set_has_avoid() { + _oneof_case_[0] = kAvoid; +} +inline void ObjectDecisionType::clear_avoid() { + if (has_avoid()) { + delete object_tag_.avoid_; + clear_has_object_tag(); + } +} +inline const ::apollo::decision::ObjectAvoid& ObjectDecisionType::_internal_avoid() const { + return *object_tag_.avoid_; +} +inline ::apollo::decision::ObjectAvoid* ObjectDecisionType::release_avoid() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecisionType.avoid) + if (has_avoid()) { + clear_has_object_tag(); + ::apollo::decision::ObjectAvoid* temp = object_tag_.avoid_; + object_tag_.avoid_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::ObjectAvoid& ObjectDecisionType::avoid() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecisionType.avoid) + return has_avoid() + ? *object_tag_.avoid_ + : *reinterpret_cast< ::apollo::decision::ObjectAvoid*>(&::apollo::decision::_ObjectAvoid_default_instance_); +} +inline ::apollo::decision::ObjectAvoid* ObjectDecisionType::mutable_avoid() { + if (!has_avoid()) { + clear_object_tag(); + set_has_avoid(); + object_tag_.avoid_ = CreateMaybeMessage< ::apollo::decision::ObjectAvoid >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecisionType.avoid) + return object_tag_.avoid_; +} + +inline bool ObjectDecisionType::has_object_tag() const { + return object_tag_case() != OBJECT_TAG_NOT_SET; +} +inline void ObjectDecisionType::clear_has_object_tag() { + _oneof_case_[0] = OBJECT_TAG_NOT_SET; +} +inline ObjectDecisionType::ObjectTagCase ObjectDecisionType::object_tag_case() const { + return ObjectDecisionType::ObjectTagCase(_oneof_case_[0]); +} +// ------------------------------------------------------------------- + +// ObjectDecision + +// .apollo.prediction.PredictionObstacle prediction = 1; +inline bool ObjectDecision::has_prediction() const { + return this != internal_default_instance() && prediction_ != NULL; +} +inline const ::apollo::prediction::PredictionObstacle& ObjectDecision::_internal_prediction() const { + return *prediction_; +} +inline const ::apollo::prediction::PredictionObstacle& ObjectDecision::prediction() const { + const ::apollo::prediction::PredictionObstacle* p = prediction_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecision.prediction) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::prediction::_PredictionObstacle_default_instance_); +} +inline ::apollo::prediction::PredictionObstacle* ObjectDecision::release_prediction() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecision.prediction) + + ::apollo::prediction::PredictionObstacle* temp = prediction_; + prediction_ = NULL; + return temp; +} +inline ::apollo::prediction::PredictionObstacle* ObjectDecision::mutable_prediction() { + + if (prediction_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::prediction::PredictionObstacle>(GetArenaNoVirtual()); + prediction_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecision.prediction) + return prediction_; +} +inline void ObjectDecision::set_allocated_prediction(::apollo::prediction::PredictionObstacle* prediction) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(prediction_); + } + if (prediction) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + prediction = ::google::protobuf::internal::GetOwnedMessage( + message_arena, prediction, submessage_arena); + } + + } else { + + } + prediction_ = prediction; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecision.prediction) +} + +// string id = 2; +inline void ObjectDecision::clear_id() { + id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& ObjectDecision::id() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecision.id) + return id_.GetNoArena(); +} +inline void ObjectDecision::set_id(const ::std::string& value) { + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.ObjectDecision.id) +} +#if LANG_CXX11 +inline void ObjectDecision::set_id(::std::string&& value) { + + id_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.ObjectDecision.id) +} +#endif +inline void ObjectDecision::set_id(const char* value) { + GOOGLE_DCHECK(value != NULL); + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.ObjectDecision.id) +} +inline void ObjectDecision::set_id(const char* value, size_t size) { + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.ObjectDecision.id) +} +inline ::std::string* ObjectDecision::mutable_id() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecision.id) + return id_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* ObjectDecision::release_id() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecision.id) + + return id_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void ObjectDecision::set_allocated_id(::std::string* id) { + if (id != NULL) { + + } else { + + } + id_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), id); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecision.id) +} + +// .apollo.decision.ObjectDecision.ObjectType type = 3; +inline void ObjectDecision::clear_type() { + type_ = 0; +} +inline ::apollo::decision::ObjectDecision_ObjectType ObjectDecision::type() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecision.type) + return static_cast< ::apollo::decision::ObjectDecision_ObjectType >(type_); +} +inline void ObjectDecision::set_type(::apollo::decision::ObjectDecision_ObjectType value) { + + type_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectDecision.type) +} + +// .apollo.decision.ObjectDecisionType decision = 4; +inline bool ObjectDecision::has_decision() const { + return this != internal_default_instance() && decision_ != NULL; +} +inline void ObjectDecision::clear_decision() { + if (GetArenaNoVirtual() == NULL && decision_ != NULL) { + delete decision_; + } + decision_ = NULL; +} +inline const ::apollo::decision::ObjectDecisionType& ObjectDecision::_internal_decision() const { + return *decision_; +} +inline const ::apollo::decision::ObjectDecisionType& ObjectDecision::decision() const { + const ::apollo::decision::ObjectDecisionType* p = decision_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecision.decision) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_ObjectDecisionType_default_instance_); +} +inline ::apollo::decision::ObjectDecisionType* ObjectDecision::release_decision() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDecision.decision) + + ::apollo::decision::ObjectDecisionType* temp = decision_; + decision_ = NULL; + return temp; +} +inline ::apollo::decision::ObjectDecisionType* ObjectDecision::mutable_decision() { + + if (decision_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::ObjectDecisionType>(GetArenaNoVirtual()); + decision_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecision.decision) + return decision_; +} +inline void ObjectDecision::set_allocated_decision(::apollo::decision::ObjectDecisionType* decision) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete decision_; + } + if (decision) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + decision = ::google::protobuf::internal::GetOwnedMessage( + message_arena, decision, submessage_arena); + } + + } else { + + } + decision_ = decision; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDecision.decision) +} + +// repeated .apollo.decision.ObjectDecisionType object_decision = 5; +inline int ObjectDecision::object_decision_size() const { + return object_decision_.size(); +} +inline void ObjectDecision::clear_object_decision() { + object_decision_.Clear(); +} +inline ::apollo::decision::ObjectDecisionType* ObjectDecision::mutable_object_decision(int index) { + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecision.object_decision) + return object_decision_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType >* +ObjectDecision::mutable_object_decision() { + // @@protoc_insertion_point(field_mutable_list:apollo.decision.ObjectDecision.object_decision) + return &object_decision_; +} +inline const ::apollo::decision::ObjectDecisionType& ObjectDecision::object_decision(int index) const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecision.object_decision) + return object_decision_.Get(index); +} +inline ::apollo::decision::ObjectDecisionType* ObjectDecision::add_object_decision() { + // @@protoc_insertion_point(field_add:apollo.decision.ObjectDecision.object_decision) + return object_decision_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType >& +ObjectDecision::object_decision() const { + // @@protoc_insertion_point(field_list:apollo.decision.ObjectDecision.object_decision) + return object_decision_; +} + +// ------------------------------------------------------------------- + +// ObjectDecisions + +// repeated .apollo.decision.ObjectDecision decision = 1; +inline int ObjectDecisions::decision_size() const { + return decision_.size(); +} +inline void ObjectDecisions::clear_decision() { + decision_.Clear(); +} +inline ::apollo::decision::ObjectDecision* ObjectDecisions::mutable_decision(int index) { + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDecisions.decision) + return decision_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecision >* +ObjectDecisions::mutable_decision() { + // @@protoc_insertion_point(field_mutable_list:apollo.decision.ObjectDecisions.decision) + return &decision_; +} +inline const ::apollo::decision::ObjectDecision& ObjectDecisions::decision(int index) const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDecisions.decision) + return decision_.Get(index); +} +inline ::apollo::decision::ObjectDecision* ObjectDecisions::add_decision() { + // @@protoc_insertion_point(field_add:apollo.decision.ObjectDecisions.decision) + return decision_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecision >& +ObjectDecisions::decision() const { + // @@protoc_insertion_point(field_list:apollo.decision.ObjectDecisions.decision) + return decision_; +} + +// ------------------------------------------------------------------- + +// StopLine + +// string lane_id = 1; +inline void StopLine::clear_lane_id() { + lane_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& StopLine::lane_id() const { + // @@protoc_insertion_point(field_get:apollo.decision.StopLine.lane_id) + return lane_id_.GetNoArena(); +} +inline void StopLine::set_lane_id(const ::std::string& value) { + + lane_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.StopLine.lane_id) +} +#if LANG_CXX11 +inline void StopLine::set_lane_id(::std::string&& value) { + + lane_id_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.StopLine.lane_id) +} +#endif +inline void StopLine::set_lane_id(const char* value) { + GOOGLE_DCHECK(value != NULL); + + lane_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.StopLine.lane_id) +} +inline void StopLine::set_lane_id(const char* value, size_t size) { + + lane_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.StopLine.lane_id) +} +inline ::std::string* StopLine::mutable_lane_id() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.StopLine.lane_id) + return lane_id_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* StopLine::release_lane_id() { + // @@protoc_insertion_point(field_release:apollo.decision.StopLine.lane_id) + + return lane_id_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void StopLine::set_allocated_lane_id(::std::string* lane_id) { + if (lane_id != NULL) { + + } else { + + } + lane_id_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), lane_id); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.StopLine.lane_id) +} + +// double distance_s = 2; +inline void StopLine::clear_distance_s() { + distance_s_ = 0; +} +inline double StopLine::distance_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.StopLine.distance_s) + return distance_s_; +} +inline void StopLine::set_distance_s(double value) { + + distance_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.StopLine.distance_s) +} + +// ------------------------------------------------------------------- + +// MainStop + +// .apollo.decision.StopLine enforced_line = 1; +inline bool MainStop::has_enforced_line() const { + return this != internal_default_instance() && enforced_line_ != NULL; +} +inline void MainStop::clear_enforced_line() { + if (GetArenaNoVirtual() == NULL && enforced_line_ != NULL) { + delete enforced_line_; + } + enforced_line_ = NULL; +} +inline const ::apollo::decision::StopLine& MainStop::_internal_enforced_line() const { + return *enforced_line_; +} +inline const ::apollo::decision::StopLine& MainStop::enforced_line() const { + const ::apollo::decision::StopLine* p = enforced_line_; + // @@protoc_insertion_point(field_get:apollo.decision.MainStop.enforced_line) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_StopLine_default_instance_); +} +inline ::apollo::decision::StopLine* MainStop::release_enforced_line() { + // @@protoc_insertion_point(field_release:apollo.decision.MainStop.enforced_line) + + ::apollo::decision::StopLine* temp = enforced_line_; + enforced_line_ = NULL; + return temp; +} +inline ::apollo::decision::StopLine* MainStop::mutable_enforced_line() { + + if (enforced_line_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::StopLine>(GetArenaNoVirtual()); + enforced_line_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainStop.enforced_line) + return enforced_line_; +} +inline void MainStop::set_allocated_enforced_line(::apollo::decision::StopLine* enforced_line) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete enforced_line_; + } + if (enforced_line) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + enforced_line = ::google::protobuf::internal::GetOwnedMessage( + message_arena, enforced_line, submessage_arena); + } + + } else { + + } + enforced_line_ = enforced_line; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainStop.enforced_line) +} + +// .apollo.decision.StopLine preferred_start = 2; +inline bool MainStop::has_preferred_start() const { + return this != internal_default_instance() && preferred_start_ != NULL; +} +inline void MainStop::clear_preferred_start() { + if (GetArenaNoVirtual() == NULL && preferred_start_ != NULL) { + delete preferred_start_; + } + preferred_start_ = NULL; +} +inline const ::apollo::decision::StopLine& MainStop::_internal_preferred_start() const { + return *preferred_start_; +} +inline const ::apollo::decision::StopLine& MainStop::preferred_start() const { + const ::apollo::decision::StopLine* p = preferred_start_; + // @@protoc_insertion_point(field_get:apollo.decision.MainStop.preferred_start) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_StopLine_default_instance_); +} +inline ::apollo::decision::StopLine* MainStop::release_preferred_start() { + // @@protoc_insertion_point(field_release:apollo.decision.MainStop.preferred_start) + + ::apollo::decision::StopLine* temp = preferred_start_; + preferred_start_ = NULL; + return temp; +} +inline ::apollo::decision::StopLine* MainStop::mutable_preferred_start() { + + if (preferred_start_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::StopLine>(GetArenaNoVirtual()); + preferred_start_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainStop.preferred_start) + return preferred_start_; +} +inline void MainStop::set_allocated_preferred_start(::apollo::decision::StopLine* preferred_start) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete preferred_start_; + } + if (preferred_start) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + preferred_start = ::google::protobuf::internal::GetOwnedMessage( + message_arena, preferred_start, submessage_arena); + } + + } else { + + } + preferred_start_ = preferred_start; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainStop.preferred_start) +} + +// .apollo.decision.StopLine preferred_end = 3; +inline bool MainStop::has_preferred_end() const { + return this != internal_default_instance() && preferred_end_ != NULL; +} +inline void MainStop::clear_preferred_end() { + if (GetArenaNoVirtual() == NULL && preferred_end_ != NULL) { + delete preferred_end_; + } + preferred_end_ = NULL; +} +inline const ::apollo::decision::StopLine& MainStop::_internal_preferred_end() const { + return *preferred_end_; +} +inline const ::apollo::decision::StopLine& MainStop::preferred_end() const { + const ::apollo::decision::StopLine* p = preferred_end_; + // @@protoc_insertion_point(field_get:apollo.decision.MainStop.preferred_end) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_StopLine_default_instance_); +} +inline ::apollo::decision::StopLine* MainStop::release_preferred_end() { + // @@protoc_insertion_point(field_release:apollo.decision.MainStop.preferred_end) + + ::apollo::decision::StopLine* temp = preferred_end_; + preferred_end_ = NULL; + return temp; +} +inline ::apollo::decision::StopLine* MainStop::mutable_preferred_end() { + + if (preferred_end_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::StopLine>(GetArenaNoVirtual()); + preferred_end_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainStop.preferred_end) + return preferred_end_; +} +inline void MainStop::set_allocated_preferred_end(::apollo::decision::StopLine* preferred_end) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete preferred_end_; + } + if (preferred_end) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + preferred_end = ::google::protobuf::internal::GetOwnedMessage( + message_arena, preferred_end, submessage_arena); + } + + } else { + + } + preferred_end_ = preferred_end; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainStop.preferred_end) +} + +// string reason = 4; +inline void MainStop::clear_reason() { + reason_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& MainStop::reason() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainStop.reason) + return reason_.GetNoArena(); +} +inline void MainStop::set_reason(const ::std::string& value) { + + reason_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.MainStop.reason) +} +#if LANG_CXX11 +inline void MainStop::set_reason(::std::string&& value) { + + reason_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.MainStop.reason) +} +#endif +inline void MainStop::set_reason(const char* value) { + GOOGLE_DCHECK(value != NULL); + + reason_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.MainStop.reason) +} +inline void MainStop::set_reason(const char* value, size_t size) { + + reason_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.MainStop.reason) +} +inline ::std::string* MainStop::mutable_reason() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.MainStop.reason) + return reason_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* MainStop::release_reason() { + // @@protoc_insertion_point(field_release:apollo.decision.MainStop.reason) + + return reason_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void MainStop::set_allocated_reason(::std::string* reason) { + if (reason != NULL) { + + } else { + + } + reason_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), reason); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainStop.reason) +} + +// .apollo.decision.StopReasonCode reason_code = 5; +inline void MainStop::clear_reason_code() { + reason_code_ = 0; +} +inline ::apollo::decision::StopReasonCode MainStop::reason_code() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainStop.reason_code) + return static_cast< ::apollo::decision::StopReasonCode >(reason_code_); +} +inline void MainStop::set_reason_code(::apollo::decision::StopReasonCode value) { + + reason_code_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MainStop.reason_code) +} + +// .apollo.common.PointENU stop_point = 6; +inline bool MainStop::has_stop_point() const { + return this != internal_default_instance() && stop_point_ != NULL; +} +inline const ::apollo::common::PointENU& MainStop::_internal_stop_point() const { + return *stop_point_; +} +inline const ::apollo::common::PointENU& MainStop::stop_point() const { + const ::apollo::common::PointENU* p = stop_point_; + // @@protoc_insertion_point(field_get:apollo.decision.MainStop.stop_point) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_PointENU_default_instance_); +} +inline ::apollo::common::PointENU* MainStop::release_stop_point() { + // @@protoc_insertion_point(field_release:apollo.decision.MainStop.stop_point) + + ::apollo::common::PointENU* temp = stop_point_; + stop_point_ = NULL; + return temp; +} +inline ::apollo::common::PointENU* MainStop::mutable_stop_point() { + + if (stop_point_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::PointENU>(GetArenaNoVirtual()); + stop_point_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainStop.stop_point) + return stop_point_; +} +inline void MainStop::set_allocated_stop_point(::apollo::common::PointENU* stop_point) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(stop_point_); + } + if (stop_point) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + stop_point = ::google::protobuf::internal::GetOwnedMessage( + message_arena, stop_point, submessage_arena); + } + + } else { + + } + stop_point_ = stop_point; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainStop.stop_point) +} + +// double stop_heading = 7; +inline void MainStop::clear_stop_heading() { + stop_heading_ = 0; +} +inline double MainStop::stop_heading() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainStop.stop_heading) + return stop_heading_; +} +inline void MainStop::set_stop_heading(double value) { + + stop_heading_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MainStop.stop_heading) +} + +// ------------------------------------------------------------------- + +// EmergencyStopHardBrake + +// ------------------------------------------------------------------- + +// EmergencyStopCruiseToStop + +// ------------------------------------------------------------------- + +// MainEmergencyStop + +// string reason = 1; +inline void MainEmergencyStop::clear_reason() { + reason_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& MainEmergencyStop::reason() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainEmergencyStop.reason) + return reason_.GetNoArena(); +} +inline void MainEmergencyStop::set_reason(const ::std::string& value) { + + reason_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.MainEmergencyStop.reason) +} +#if LANG_CXX11 +inline void MainEmergencyStop::set_reason(::std::string&& value) { + + reason_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.MainEmergencyStop.reason) +} +#endif +inline void MainEmergencyStop::set_reason(const char* value) { + GOOGLE_DCHECK(value != NULL); + + reason_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.MainEmergencyStop.reason) +} +inline void MainEmergencyStop::set_reason(const char* value, size_t size) { + + reason_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.MainEmergencyStop.reason) +} +inline ::std::string* MainEmergencyStop::mutable_reason() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.MainEmergencyStop.reason) + return reason_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* MainEmergencyStop::release_reason() { + // @@protoc_insertion_point(field_release:apollo.decision.MainEmergencyStop.reason) + + return reason_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void MainEmergencyStop::set_allocated_reason(::std::string* reason) { + if (reason != NULL) { + + } else { + + } + reason_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), reason); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainEmergencyStop.reason) +} + +// .apollo.decision.MainEmergencyStop.ReasonCode reason_code = 2; +inline void MainEmergencyStop::clear_reason_code() { + reason_code_ = 0; +} +inline ::apollo::decision::MainEmergencyStop_ReasonCode MainEmergencyStop::reason_code() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainEmergencyStop.reason_code) + return static_cast< ::apollo::decision::MainEmergencyStop_ReasonCode >(reason_code_); +} +inline void MainEmergencyStop::set_reason_code(::apollo::decision::MainEmergencyStop_ReasonCode value) { + + reason_code_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MainEmergencyStop.reason_code) +} + +// .apollo.decision.EmergencyStopHardBrake hard_brake = 3; +inline bool MainEmergencyStop::has_hard_brake() const { + return task_case() == kHardBrake; +} +inline void MainEmergencyStop::set_has_hard_brake() { + _oneof_case_[0] = kHardBrake; +} +inline void MainEmergencyStop::clear_hard_brake() { + if (has_hard_brake()) { + delete task_.hard_brake_; + clear_has_task(); + } +} +inline const ::apollo::decision::EmergencyStopHardBrake& MainEmergencyStop::_internal_hard_brake() const { + return *task_.hard_brake_; +} +inline ::apollo::decision::EmergencyStopHardBrake* MainEmergencyStop::release_hard_brake() { + // @@protoc_insertion_point(field_release:apollo.decision.MainEmergencyStop.hard_brake) + if (has_hard_brake()) { + clear_has_task(); + ::apollo::decision::EmergencyStopHardBrake* temp = task_.hard_brake_; + task_.hard_brake_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::EmergencyStopHardBrake& MainEmergencyStop::hard_brake() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainEmergencyStop.hard_brake) + return has_hard_brake() + ? *task_.hard_brake_ + : *reinterpret_cast< ::apollo::decision::EmergencyStopHardBrake*>(&::apollo::decision::_EmergencyStopHardBrake_default_instance_); +} +inline ::apollo::decision::EmergencyStopHardBrake* MainEmergencyStop::mutable_hard_brake() { + if (!has_hard_brake()) { + clear_task(); + set_has_hard_brake(); + task_.hard_brake_ = CreateMaybeMessage< ::apollo::decision::EmergencyStopHardBrake >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainEmergencyStop.hard_brake) + return task_.hard_brake_; +} + +// .apollo.decision.EmergencyStopCruiseToStop cruise_to_stop = 4; +inline bool MainEmergencyStop::has_cruise_to_stop() const { + return task_case() == kCruiseToStop; +} +inline void MainEmergencyStop::set_has_cruise_to_stop() { + _oneof_case_[0] = kCruiseToStop; +} +inline void MainEmergencyStop::clear_cruise_to_stop() { + if (has_cruise_to_stop()) { + delete task_.cruise_to_stop_; + clear_has_task(); + } +} +inline const ::apollo::decision::EmergencyStopCruiseToStop& MainEmergencyStop::_internal_cruise_to_stop() const { + return *task_.cruise_to_stop_; +} +inline ::apollo::decision::EmergencyStopCruiseToStop* MainEmergencyStop::release_cruise_to_stop() { + // @@protoc_insertion_point(field_release:apollo.decision.MainEmergencyStop.cruise_to_stop) + if (has_cruise_to_stop()) { + clear_has_task(); + ::apollo::decision::EmergencyStopCruiseToStop* temp = task_.cruise_to_stop_; + task_.cruise_to_stop_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::EmergencyStopCruiseToStop& MainEmergencyStop::cruise_to_stop() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainEmergencyStop.cruise_to_stop) + return has_cruise_to_stop() + ? *task_.cruise_to_stop_ + : *reinterpret_cast< ::apollo::decision::EmergencyStopCruiseToStop*>(&::apollo::decision::_EmergencyStopCruiseToStop_default_instance_); +} +inline ::apollo::decision::EmergencyStopCruiseToStop* MainEmergencyStop::mutable_cruise_to_stop() { + if (!has_cruise_to_stop()) { + clear_task(); + set_has_cruise_to_stop(); + task_.cruise_to_stop_ = CreateMaybeMessage< ::apollo::decision::EmergencyStopCruiseToStop >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainEmergencyStop.cruise_to_stop) + return task_.cruise_to_stop_; +} + +inline bool MainEmergencyStop::has_task() const { + return task_case() != TASK_NOT_SET; +} +inline void MainEmergencyStop::clear_has_task() { + _oneof_case_[0] = TASK_NOT_SET; +} +inline MainEmergencyStop::TaskCase MainEmergencyStop::task_case() const { + return MainEmergencyStop::TaskCase(_oneof_case_[0]); +} +// ------------------------------------------------------------------- + +// MainCruise + +// ------------------------------------------------------------------- + +// MainChangeLane + +// .apollo.decision.MainChangeLane.Type type = 1; +inline void MainChangeLane::clear_type() { + type_ = 0; +} +inline ::apollo::decision::MainChangeLane_Type MainChangeLane::type() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainChangeLane.type) + return static_cast< ::apollo::decision::MainChangeLane_Type >(type_); +} +inline void MainChangeLane::set_type(::apollo::decision::MainChangeLane_Type value) { + + type_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MainChangeLane.type) +} + +// repeated .apollo.decision.TargetLane default_lane = 2; +inline int MainChangeLane::default_lane_size() const { + return default_lane_.size(); +} +inline void MainChangeLane::clear_default_lane() { + default_lane_.Clear(); +} +inline ::apollo::decision::TargetLane* MainChangeLane::mutable_default_lane(int index) { + // @@protoc_insertion_point(field_mutable:apollo.decision.MainChangeLane.default_lane) + return default_lane_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane >* +MainChangeLane::mutable_default_lane() { + // @@protoc_insertion_point(field_mutable_list:apollo.decision.MainChangeLane.default_lane) + return &default_lane_; +} +inline const ::apollo::decision::TargetLane& MainChangeLane::default_lane(int index) const { + // @@protoc_insertion_point(field_get:apollo.decision.MainChangeLane.default_lane) + return default_lane_.Get(index); +} +inline ::apollo::decision::TargetLane* MainChangeLane::add_default_lane() { + // @@protoc_insertion_point(field_add:apollo.decision.MainChangeLane.default_lane) + return default_lane_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane >& +MainChangeLane::default_lane() const { + // @@protoc_insertion_point(field_list:apollo.decision.MainChangeLane.default_lane) + return default_lane_; +} + +// .apollo.decision.MainStop default_lane_stop = 3; +inline bool MainChangeLane::has_default_lane_stop() const { + return this != internal_default_instance() && default_lane_stop_ != NULL; +} +inline void MainChangeLane::clear_default_lane_stop() { + if (GetArenaNoVirtual() == NULL && default_lane_stop_ != NULL) { + delete default_lane_stop_; + } + default_lane_stop_ = NULL; +} +inline const ::apollo::decision::MainStop& MainChangeLane::_internal_default_lane_stop() const { + return *default_lane_stop_; +} +inline const ::apollo::decision::MainStop& MainChangeLane::default_lane_stop() const { + const ::apollo::decision::MainStop* p = default_lane_stop_; + // @@protoc_insertion_point(field_get:apollo.decision.MainChangeLane.default_lane_stop) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_MainStop_default_instance_); +} +inline ::apollo::decision::MainStop* MainChangeLane::release_default_lane_stop() { + // @@protoc_insertion_point(field_release:apollo.decision.MainChangeLane.default_lane_stop) + + ::apollo::decision::MainStop* temp = default_lane_stop_; + default_lane_stop_ = NULL; + return temp; +} +inline ::apollo::decision::MainStop* MainChangeLane::mutable_default_lane_stop() { + + if (default_lane_stop_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::MainStop>(GetArenaNoVirtual()); + default_lane_stop_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainChangeLane.default_lane_stop) + return default_lane_stop_; +} +inline void MainChangeLane::set_allocated_default_lane_stop(::apollo::decision::MainStop* default_lane_stop) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete default_lane_stop_; + } + if (default_lane_stop) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + default_lane_stop = ::google::protobuf::internal::GetOwnedMessage( + message_arena, default_lane_stop, submessage_arena); + } + + } else { + + } + default_lane_stop_ = default_lane_stop; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainChangeLane.default_lane_stop) +} + +// .apollo.decision.MainStop target_lane_stop = 4; +inline bool MainChangeLane::has_target_lane_stop() const { + return this != internal_default_instance() && target_lane_stop_ != NULL; +} +inline void MainChangeLane::clear_target_lane_stop() { + if (GetArenaNoVirtual() == NULL && target_lane_stop_ != NULL) { + delete target_lane_stop_; + } + target_lane_stop_ = NULL; +} +inline const ::apollo::decision::MainStop& MainChangeLane::_internal_target_lane_stop() const { + return *target_lane_stop_; +} +inline const ::apollo::decision::MainStop& MainChangeLane::target_lane_stop() const { + const ::apollo::decision::MainStop* p = target_lane_stop_; + // @@protoc_insertion_point(field_get:apollo.decision.MainChangeLane.target_lane_stop) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_MainStop_default_instance_); +} +inline ::apollo::decision::MainStop* MainChangeLane::release_target_lane_stop() { + // @@protoc_insertion_point(field_release:apollo.decision.MainChangeLane.target_lane_stop) + + ::apollo::decision::MainStop* temp = target_lane_stop_; + target_lane_stop_ = NULL; + return temp; +} +inline ::apollo::decision::MainStop* MainChangeLane::mutable_target_lane_stop() { + + if (target_lane_stop_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::MainStop>(GetArenaNoVirtual()); + target_lane_stop_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainChangeLane.target_lane_stop) + return target_lane_stop_; +} +inline void MainChangeLane::set_allocated_target_lane_stop(::apollo::decision::MainStop* target_lane_stop) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete target_lane_stop_; + } + if (target_lane_stop) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + target_lane_stop = ::google::protobuf::internal::GetOwnedMessage( + message_arena, target_lane_stop, submessage_arena); + } + + } else { + + } + target_lane_stop_ = target_lane_stop; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainChangeLane.target_lane_stop) +} + +// ------------------------------------------------------------------- + +// MainMissionComplete + +// ------------------------------------------------------------------- + +// MainNotReady + +// string reason = 1; +inline void MainNotReady::clear_reason() { + reason_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& MainNotReady::reason() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainNotReady.reason) + return reason_.GetNoArena(); +} +inline void MainNotReady::set_reason(const ::std::string& value) { + + reason_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.MainNotReady.reason) +} +#if LANG_CXX11 +inline void MainNotReady::set_reason(::std::string&& value) { + + reason_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.MainNotReady.reason) +} +#endif +inline void MainNotReady::set_reason(const char* value) { + GOOGLE_DCHECK(value != NULL); + + reason_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.MainNotReady.reason) +} +inline void MainNotReady::set_reason(const char* value, size_t size) { + + reason_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.MainNotReady.reason) +} +inline ::std::string* MainNotReady::mutable_reason() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.MainNotReady.reason) + return reason_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* MainNotReady::release_reason() { + // @@protoc_insertion_point(field_release:apollo.decision.MainNotReady.reason) + + return reason_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void MainNotReady::set_allocated_reason(::std::string* reason) { + if (reason != NULL) { + + } else { + + } + reason_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), reason); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainNotReady.reason) +} + +// ------------------------------------------------------------------- + +// MainParking + +// .apollo.decision.MainParking.Type type = 1; +inline void MainParking::clear_type() { + type_ = 0; +} +inline ::apollo::decision::MainParking_Type MainParking::type() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainParking.type) + return static_cast< ::apollo::decision::MainParking_Type >(type_); +} +inline void MainParking::set_type(::apollo::decision::MainParking_Type value) { + + type_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MainParking.type) +} + +// double heading = 2; +inline void MainParking::clear_heading() { + heading_ = 0; +} +inline double MainParking::heading() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainParking.heading) + return heading_; +} +inline void MainParking::set_heading(double value) { + + heading_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MainParking.heading) +} + +// .apollo.common.PointENU stop_point = 3; +inline bool MainParking::has_stop_point() const { + return this != internal_default_instance() && stop_point_ != NULL; +} +inline const ::apollo::common::PointENU& MainParking::_internal_stop_point() const { + return *stop_point_; +} +inline const ::apollo::common::PointENU& MainParking::stop_point() const { + const ::apollo::common::PointENU* p = stop_point_; + // @@protoc_insertion_point(field_get:apollo.decision.MainParking.stop_point) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_PointENU_default_instance_); +} +inline ::apollo::common::PointENU* MainParking::release_stop_point() { + // @@protoc_insertion_point(field_release:apollo.decision.MainParking.stop_point) + + ::apollo::common::PointENU* temp = stop_point_; + stop_point_ = NULL; + return temp; +} +inline ::apollo::common::PointENU* MainParking::mutable_stop_point() { + + if (stop_point_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::PointENU>(GetArenaNoVirtual()); + stop_point_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainParking.stop_point) + return stop_point_; +} +inline void MainParking::set_allocated_stop_point(::apollo::common::PointENU* stop_point) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(stop_point_); + } + if (stop_point) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + stop_point = ::google::protobuf::internal::GetOwnedMessage( + message_arena, stop_point, submessage_arena); + } + + } else { + + } + stop_point_ = stop_point; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MainParking.stop_point) +} + +// repeated .apollo.common.PointENU parking_polygon = 4; +inline int MainParking::parking_polygon_size() const { + return parking_polygon_.size(); +} +inline ::apollo::common::PointENU* MainParking::mutable_parking_polygon(int index) { + // @@protoc_insertion_point(field_mutable:apollo.decision.MainParking.parking_polygon) + return parking_polygon_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::common::PointENU >* +MainParking::mutable_parking_polygon() { + // @@protoc_insertion_point(field_mutable_list:apollo.decision.MainParking.parking_polygon) + return &parking_polygon_; +} +inline const ::apollo::common::PointENU& MainParking::parking_polygon(int index) const { + // @@protoc_insertion_point(field_get:apollo.decision.MainParking.parking_polygon) + return parking_polygon_.Get(index); +} +inline ::apollo::common::PointENU* MainParking::add_parking_polygon() { + // @@protoc_insertion_point(field_add:apollo.decision.MainParking.parking_polygon) + return parking_polygon_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::common::PointENU >& +MainParking::parking_polygon() const { + // @@protoc_insertion_point(field_list:apollo.decision.MainParking.parking_polygon) + return parking_polygon_; +} + +// ------------------------------------------------------------------- + +// MainDecision + +// .apollo.decision.MainCruise cruise = 1; +inline bool MainDecision::has_cruise() const { + return task_case() == kCruise; +} +inline void MainDecision::set_has_cruise() { + _oneof_case_[0] = kCruise; +} +inline void MainDecision::clear_cruise() { + if (has_cruise()) { + delete task_.cruise_; + clear_has_task(); + } +} +inline const ::apollo::decision::MainCruise& MainDecision::_internal_cruise() const { + return *task_.cruise_; +} +inline ::apollo::decision::MainCruise* MainDecision::release_cruise() { + // @@protoc_insertion_point(field_release:apollo.decision.MainDecision.cruise) + if (has_cruise()) { + clear_has_task(); + ::apollo::decision::MainCruise* temp = task_.cruise_; + task_.cruise_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::MainCruise& MainDecision::cruise() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainDecision.cruise) + return has_cruise() + ? *task_.cruise_ + : *reinterpret_cast< ::apollo::decision::MainCruise*>(&::apollo::decision::_MainCruise_default_instance_); +} +inline ::apollo::decision::MainCruise* MainDecision::mutable_cruise() { + if (!has_cruise()) { + clear_task(); + set_has_cruise(); + task_.cruise_ = CreateMaybeMessage< ::apollo::decision::MainCruise >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainDecision.cruise) + return task_.cruise_; +} + +// .apollo.decision.MainStop stop = 2; +inline bool MainDecision::has_stop() const { + return task_case() == kStop; +} +inline void MainDecision::set_has_stop() { + _oneof_case_[0] = kStop; +} +inline void MainDecision::clear_stop() { + if (has_stop()) { + delete task_.stop_; + clear_has_task(); + } +} +inline const ::apollo::decision::MainStop& MainDecision::_internal_stop() const { + return *task_.stop_; +} +inline ::apollo::decision::MainStop* MainDecision::release_stop() { + // @@protoc_insertion_point(field_release:apollo.decision.MainDecision.stop) + if (has_stop()) { + clear_has_task(); + ::apollo::decision::MainStop* temp = task_.stop_; + task_.stop_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::MainStop& MainDecision::stop() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainDecision.stop) + return has_stop() + ? *task_.stop_ + : *reinterpret_cast< ::apollo::decision::MainStop*>(&::apollo::decision::_MainStop_default_instance_); +} +inline ::apollo::decision::MainStop* MainDecision::mutable_stop() { + if (!has_stop()) { + clear_task(); + set_has_stop(); + task_.stop_ = CreateMaybeMessage< ::apollo::decision::MainStop >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainDecision.stop) + return task_.stop_; +} + +// .apollo.decision.MainEmergencyStop estop = 3; +inline bool MainDecision::has_estop() const { + return task_case() == kEstop; +} +inline void MainDecision::set_has_estop() { + _oneof_case_[0] = kEstop; +} +inline void MainDecision::clear_estop() { + if (has_estop()) { + delete task_.estop_; + clear_has_task(); + } +} +inline const ::apollo::decision::MainEmergencyStop& MainDecision::_internal_estop() const { + return *task_.estop_; +} +inline ::apollo::decision::MainEmergencyStop* MainDecision::release_estop() { + // @@protoc_insertion_point(field_release:apollo.decision.MainDecision.estop) + if (has_estop()) { + clear_has_task(); + ::apollo::decision::MainEmergencyStop* temp = task_.estop_; + task_.estop_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::MainEmergencyStop& MainDecision::estop() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainDecision.estop) + return has_estop() + ? *task_.estop_ + : *reinterpret_cast< ::apollo::decision::MainEmergencyStop*>(&::apollo::decision::_MainEmergencyStop_default_instance_); +} +inline ::apollo::decision::MainEmergencyStop* MainDecision::mutable_estop() { + if (!has_estop()) { + clear_task(); + set_has_estop(); + task_.estop_ = CreateMaybeMessage< ::apollo::decision::MainEmergencyStop >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainDecision.estop) + return task_.estop_; +} + +// .apollo.decision.MainChangeLane change_lane = 4; +inline bool MainDecision::has_change_lane() const { + return task_case() == kChangeLane; +} +inline void MainDecision::set_has_change_lane() { + _oneof_case_[0] = kChangeLane; +} +inline void MainDecision::clear_change_lane() { + if (has_change_lane()) { + delete task_.change_lane_; + clear_has_task(); + } +} +inline const ::apollo::decision::MainChangeLane& MainDecision::_internal_change_lane() const { + return *task_.change_lane_; +} +inline ::apollo::decision::MainChangeLane* MainDecision::release_change_lane() { + // @@protoc_insertion_point(field_release:apollo.decision.MainDecision.change_lane) + if (has_change_lane()) { + clear_has_task(); + ::apollo::decision::MainChangeLane* temp = task_.change_lane_; + task_.change_lane_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::MainChangeLane& MainDecision::change_lane() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainDecision.change_lane) + return has_change_lane() + ? *task_.change_lane_ + : *reinterpret_cast< ::apollo::decision::MainChangeLane*>(&::apollo::decision::_MainChangeLane_default_instance_); +} +inline ::apollo::decision::MainChangeLane* MainDecision::mutable_change_lane() { + if (!has_change_lane()) { + clear_task(); + set_has_change_lane(); + task_.change_lane_ = CreateMaybeMessage< ::apollo::decision::MainChangeLane >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainDecision.change_lane) + return task_.change_lane_; +} + +// .apollo.decision.MainMissionComplete mission_complete = 6; +inline bool MainDecision::has_mission_complete() const { + return task_case() == kMissionComplete; +} +inline void MainDecision::set_has_mission_complete() { + _oneof_case_[0] = kMissionComplete; +} +inline void MainDecision::clear_mission_complete() { + if (has_mission_complete()) { + delete task_.mission_complete_; + clear_has_task(); + } +} +inline const ::apollo::decision::MainMissionComplete& MainDecision::_internal_mission_complete() const { + return *task_.mission_complete_; +} +inline ::apollo::decision::MainMissionComplete* MainDecision::release_mission_complete() { + // @@protoc_insertion_point(field_release:apollo.decision.MainDecision.mission_complete) + if (has_mission_complete()) { + clear_has_task(); + ::apollo::decision::MainMissionComplete* temp = task_.mission_complete_; + task_.mission_complete_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::MainMissionComplete& MainDecision::mission_complete() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainDecision.mission_complete) + return has_mission_complete() + ? *task_.mission_complete_ + : *reinterpret_cast< ::apollo::decision::MainMissionComplete*>(&::apollo::decision::_MainMissionComplete_default_instance_); +} +inline ::apollo::decision::MainMissionComplete* MainDecision::mutable_mission_complete() { + if (!has_mission_complete()) { + clear_task(); + set_has_mission_complete(); + task_.mission_complete_ = CreateMaybeMessage< ::apollo::decision::MainMissionComplete >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainDecision.mission_complete) + return task_.mission_complete_; +} + +// .apollo.decision.MainNotReady not_ready = 7; +inline bool MainDecision::has_not_ready() const { + return task_case() == kNotReady; +} +inline void MainDecision::set_has_not_ready() { + _oneof_case_[0] = kNotReady; +} +inline void MainDecision::clear_not_ready() { + if (has_not_ready()) { + delete task_.not_ready_; + clear_has_task(); + } +} +inline const ::apollo::decision::MainNotReady& MainDecision::_internal_not_ready() const { + return *task_.not_ready_; +} +inline ::apollo::decision::MainNotReady* MainDecision::release_not_ready() { + // @@protoc_insertion_point(field_release:apollo.decision.MainDecision.not_ready) + if (has_not_ready()) { + clear_has_task(); + ::apollo::decision::MainNotReady* temp = task_.not_ready_; + task_.not_ready_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::MainNotReady& MainDecision::not_ready() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainDecision.not_ready) + return has_not_ready() + ? *task_.not_ready_ + : *reinterpret_cast< ::apollo::decision::MainNotReady*>(&::apollo::decision::_MainNotReady_default_instance_); +} +inline ::apollo::decision::MainNotReady* MainDecision::mutable_not_ready() { + if (!has_not_ready()) { + clear_task(); + set_has_not_ready(); + task_.not_ready_ = CreateMaybeMessage< ::apollo::decision::MainNotReady >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainDecision.not_ready) + return task_.not_ready_; +} + +// .apollo.decision.MainParking parking = 8; +inline bool MainDecision::has_parking() const { + return task_case() == kParking; +} +inline void MainDecision::set_has_parking() { + _oneof_case_[0] = kParking; +} +inline void MainDecision::clear_parking() { + if (has_parking()) { + delete task_.parking_; + clear_has_task(); + } +} +inline const ::apollo::decision::MainParking& MainDecision::_internal_parking() const { + return *task_.parking_; +} +inline ::apollo::decision::MainParking* MainDecision::release_parking() { + // @@protoc_insertion_point(field_release:apollo.decision.MainDecision.parking) + if (has_parking()) { + clear_has_task(); + ::apollo::decision::MainParking* temp = task_.parking_; + task_.parking_ = NULL; + return temp; + } else { + return NULL; + } +} +inline const ::apollo::decision::MainParking& MainDecision::parking() const { + // @@protoc_insertion_point(field_get:apollo.decision.MainDecision.parking) + return has_parking() + ? *task_.parking_ + : *reinterpret_cast< ::apollo::decision::MainParking*>(&::apollo::decision::_MainParking_default_instance_); +} +inline ::apollo::decision::MainParking* MainDecision::mutable_parking() { + if (!has_parking()) { + clear_task(); + set_has_parking(); + task_.parking_ = CreateMaybeMessage< ::apollo::decision::MainParking >( + GetArenaNoVirtual()); + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MainDecision.parking) + return task_.parking_; +} + +// repeated .apollo.decision.TargetLane target_lane = 5; +inline int MainDecision::target_lane_size() const { + return target_lane_.size(); +} +inline void MainDecision::clear_target_lane() { + target_lane_.Clear(); +} +inline ::apollo::decision::TargetLane* MainDecision::mutable_target_lane(int index) { + // @@protoc_insertion_point(field_mutable:apollo.decision.MainDecision.target_lane) + return target_lane_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane >* +MainDecision::mutable_target_lane() { + // @@protoc_insertion_point(field_mutable_list:apollo.decision.MainDecision.target_lane) + return &target_lane_; +} +inline const ::apollo::decision::TargetLane& MainDecision::target_lane(int index) const { + // @@protoc_insertion_point(field_get:apollo.decision.MainDecision.target_lane) + return target_lane_.Get(index); +} +inline ::apollo::decision::TargetLane* MainDecision::add_target_lane() { + // @@protoc_insertion_point(field_add:apollo.decision.MainDecision.target_lane) + return target_lane_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::decision::TargetLane >& +MainDecision::target_lane() const { + // @@protoc_insertion_point(field_list:apollo.decision.MainDecision.target_lane) + return target_lane_; +} + +inline bool MainDecision::has_task() const { + return task_case() != TASK_NOT_SET; +} +inline void MainDecision::clear_has_task() { + _oneof_case_[0] = TASK_NOT_SET; +} +inline MainDecision::TaskCase MainDecision::task_case() const { + return MainDecision::TaskCase(_oneof_case_[0]); +} +// ------------------------------------------------------------------- + +// MasterVehicleDebug + +// .apollo.common.PointENU position = 1; +inline bool MasterVehicleDebug::has_position() const { + return this != internal_default_instance() && position_ != NULL; +} +inline const ::apollo::common::PointENU& MasterVehicleDebug::_internal_position() const { + return *position_; +} +inline const ::apollo::common::PointENU& MasterVehicleDebug::position() const { + const ::apollo::common::PointENU* p = position_; + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.position) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_PointENU_default_instance_); +} +inline ::apollo::common::PointENU* MasterVehicleDebug::release_position() { + // @@protoc_insertion_point(field_release:apollo.decision.MasterVehicleDebug.position) + + ::apollo::common::PointENU* temp = position_; + position_ = NULL; + return temp; +} +inline ::apollo::common::PointENU* MasterVehicleDebug::mutable_position() { + + if (position_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::PointENU>(GetArenaNoVirtual()); + position_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MasterVehicleDebug.position) + return position_; +} +inline void MasterVehicleDebug::set_allocated_position(::apollo::common::PointENU* position) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(position_); + } + if (position) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + position = ::google::protobuf::internal::GetOwnedMessage( + message_arena, position, submessage_arena); + } + + } else { + + } + position_ = position; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MasterVehicleDebug.position) +} + +// string current_lane_id = 2; +inline void MasterVehicleDebug::clear_current_lane_id() { + current_lane_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& MasterVehicleDebug::current_lane_id() const { + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.current_lane_id) + return current_lane_id_.GetNoArena(); +} +inline void MasterVehicleDebug::set_current_lane_id(const ::std::string& value) { + + current_lane_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.MasterVehicleDebug.current_lane_id) +} +#if LANG_CXX11 +inline void MasterVehicleDebug::set_current_lane_id(::std::string&& value) { + + current_lane_id_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.MasterVehicleDebug.current_lane_id) +} +#endif +inline void MasterVehicleDebug::set_current_lane_id(const char* value) { + GOOGLE_DCHECK(value != NULL); + + current_lane_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.MasterVehicleDebug.current_lane_id) +} +inline void MasterVehicleDebug::set_current_lane_id(const char* value, size_t size) { + + current_lane_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.MasterVehicleDebug.current_lane_id) +} +inline ::std::string* MasterVehicleDebug::mutable_current_lane_id() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.MasterVehicleDebug.current_lane_id) + return current_lane_id_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* MasterVehicleDebug::release_current_lane_id() { + // @@protoc_insertion_point(field_release:apollo.decision.MasterVehicleDebug.current_lane_id) + + return current_lane_id_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void MasterVehicleDebug::set_allocated_current_lane_id(::std::string* current_lane_id) { + if (current_lane_id != NULL) { + + } else { + + } + current_lane_id_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), current_lane_id); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MasterVehicleDebug.current_lane_id) +} + +// double lane_s = 3; +inline void MasterVehicleDebug::clear_lane_s() { + lane_s_ = 0; +} +inline double MasterVehicleDebug::lane_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.lane_s) + return lane_s_; +} +inline void MasterVehicleDebug::set_lane_s(double value) { + + lane_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MasterVehicleDebug.lane_s) +} + +// double lane_l = 4; +inline void MasterVehicleDebug::clear_lane_l() { + lane_l_ = 0; +} +inline double MasterVehicleDebug::lane_l() const { + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.lane_l) + return lane_l_; +} +inline void MasterVehicleDebug::set_lane_l(double value) { + + lane_l_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MasterVehicleDebug.lane_l) +} + +// double route_s = 5; +inline void MasterVehicleDebug::clear_route_s() { + route_s_ = 0; +} +inline double MasterVehicleDebug::route_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.route_s) + return route_s_; +} +inline void MasterVehicleDebug::set_route_s(double value) { + + route_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MasterVehicleDebug.route_s) +} + +// double route_l = 6; +inline void MasterVehicleDebug::clear_route_l() { + route_l_ = 0; +} +inline double MasterVehicleDebug::route_l() const { + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.route_l) + return route_l_; +} +inline void MasterVehicleDebug::set_route_l(double value) { + + route_l_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MasterVehicleDebug.route_l) +} + +// double heading = 7; +inline void MasterVehicleDebug::clear_heading() { + heading_ = 0; +} +inline double MasterVehicleDebug::heading() const { + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.heading) + return heading_; +} +inline void MasterVehicleDebug::set_heading(double value) { + + heading_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MasterVehicleDebug.heading) +} + +// double heading_speed = 8; +inline void MasterVehicleDebug::clear_heading_speed() { + heading_speed_ = 0; +} +inline double MasterVehicleDebug::heading_speed() const { + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.heading_speed) + return heading_speed_; +} +inline void MasterVehicleDebug::set_heading_speed(double value) { + + heading_speed_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MasterVehicleDebug.heading_speed) +} + +// double heading_acceleration = 9; +inline void MasterVehicleDebug::clear_heading_acceleration() { + heading_acceleration_ = 0; +} +inline double MasterVehicleDebug::heading_acceleration() const { + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.heading_acceleration) + return heading_acceleration_; +} +inline void MasterVehicleDebug::set_heading_acceleration(double value) { + + heading_acceleration_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.MasterVehicleDebug.heading_acceleration) +} + +// .apollo.decision.Range route_s_range = 10; +inline bool MasterVehicleDebug::has_route_s_range() const { + return this != internal_default_instance() && route_s_range_ != NULL; +} +inline void MasterVehicleDebug::clear_route_s_range() { + if (GetArenaNoVirtual() == NULL && route_s_range_ != NULL) { + delete route_s_range_; + } + route_s_range_ = NULL; +} +inline const ::apollo::decision::Range& MasterVehicleDebug::_internal_route_s_range() const { + return *route_s_range_; +} +inline const ::apollo::decision::Range& MasterVehicleDebug::route_s_range() const { + const ::apollo::decision::Range* p = route_s_range_; + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.route_s_range) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* MasterVehicleDebug::release_route_s_range() { + // @@protoc_insertion_point(field_release:apollo.decision.MasterVehicleDebug.route_s_range) + + ::apollo::decision::Range* temp = route_s_range_; + route_s_range_ = NULL; + return temp; +} +inline ::apollo::decision::Range* MasterVehicleDebug::mutable_route_s_range() { + + if (route_s_range_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + route_s_range_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MasterVehicleDebug.route_s_range) + return route_s_range_; +} +inline void MasterVehicleDebug::set_allocated_route_s_range(::apollo::decision::Range* route_s_range) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete route_s_range_; + } + if (route_s_range) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + route_s_range = ::google::protobuf::internal::GetOwnedMessage( + message_arena, route_s_range, submessage_arena); + } + + } else { + + } + route_s_range_ = route_s_range; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MasterVehicleDebug.route_s_range) +} + +// .apollo.decision.Range route_l_range = 11; +inline bool MasterVehicleDebug::has_route_l_range() const { + return this != internal_default_instance() && route_l_range_ != NULL; +} +inline void MasterVehicleDebug::clear_route_l_range() { + if (GetArenaNoVirtual() == NULL && route_l_range_ != NULL) { + delete route_l_range_; + } + route_l_range_ = NULL; +} +inline const ::apollo::decision::Range& MasterVehicleDebug::_internal_route_l_range() const { + return *route_l_range_; +} +inline const ::apollo::decision::Range& MasterVehicleDebug::route_l_range() const { + const ::apollo::decision::Range* p = route_l_range_; + // @@protoc_insertion_point(field_get:apollo.decision.MasterVehicleDebug.route_l_range) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* MasterVehicleDebug::release_route_l_range() { + // @@protoc_insertion_point(field_release:apollo.decision.MasterVehicleDebug.route_l_range) + + ::apollo::decision::Range* temp = route_l_range_; + route_l_range_ = NULL; + return temp; +} +inline ::apollo::decision::Range* MasterVehicleDebug::mutable_route_l_range() { + + if (route_l_range_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + route_l_range_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.MasterVehicleDebug.route_l_range) + return route_l_range_; +} +inline void MasterVehicleDebug::set_allocated_route_l_range(::apollo::decision::Range* route_l_range) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete route_l_range_; + } + if (route_l_range) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + route_l_range = ::google::protobuf::internal::GetOwnedMessage( + message_arena, route_l_range, submessage_arena); + } + + } else { + + } + route_l_range_ = route_l_range; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.MasterVehicleDebug.route_l_range) +} + +// ------------------------------------------------------------------- + +// ObjectDebug + +// string id = 1; +inline void ObjectDebug::clear_id() { + id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& ObjectDebug::id() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.id) + return id_.GetNoArena(); +} +inline void ObjectDebug::set_id(const ::std::string& value) { + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.ObjectDebug.id) +} +#if LANG_CXX11 +inline void ObjectDebug::set_id(::std::string&& value) { + + id_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.ObjectDebug.id) +} +#endif +inline void ObjectDebug::set_id(const char* value) { + GOOGLE_DCHECK(value != NULL); + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.ObjectDebug.id) +} +inline void ObjectDebug::set_id(const char* value, size_t size) { + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.ObjectDebug.id) +} +inline ::std::string* ObjectDebug::mutable_id() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDebug.id) + return id_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* ObjectDebug::release_id() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDebug.id) + + return id_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void ObjectDebug::set_allocated_id(::std::string* id) { + if (id != NULL) { + + } else { + + } + id_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), id); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDebug.id) +} + +// string path_id = 2; +inline void ObjectDebug::clear_path_id() { + path_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& ObjectDebug::path_id() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.path_id) + return path_id_.GetNoArena(); +} +inline void ObjectDebug::set_path_id(const ::std::string& value) { + + path_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.ObjectDebug.path_id) +} +#if LANG_CXX11 +inline void ObjectDebug::set_path_id(::std::string&& value) { + + path_id_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.ObjectDebug.path_id) +} +#endif +inline void ObjectDebug::set_path_id(const char* value) { + GOOGLE_DCHECK(value != NULL); + + path_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.ObjectDebug.path_id) +} +inline void ObjectDebug::set_path_id(const char* value, size_t size) { + + path_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.ObjectDebug.path_id) +} +inline ::std::string* ObjectDebug::mutable_path_id() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDebug.path_id) + return path_id_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* ObjectDebug::release_path_id() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDebug.path_id) + + return path_id_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void ObjectDebug::set_allocated_path_id(::std::string* path_id) { + if (path_id != NULL) { + + } else { + + } + path_id_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), path_id); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDebug.path_id) +} + +// .apollo.decision.Range route_s = 3; +inline bool ObjectDebug::has_route_s() const { + return this != internal_default_instance() && route_s_ != NULL; +} +inline void ObjectDebug::clear_route_s() { + if (GetArenaNoVirtual() == NULL && route_s_ != NULL) { + delete route_s_; + } + route_s_ = NULL; +} +inline const ::apollo::decision::Range& ObjectDebug::_internal_route_s() const { + return *route_s_; +} +inline const ::apollo::decision::Range& ObjectDebug::route_s() const { + const ::apollo::decision::Range* p = route_s_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.route_s) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* ObjectDebug::release_route_s() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDebug.route_s) + + ::apollo::decision::Range* temp = route_s_; + route_s_ = NULL; + return temp; +} +inline ::apollo::decision::Range* ObjectDebug::mutable_route_s() { + + if (route_s_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + route_s_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDebug.route_s) + return route_s_; +} +inline void ObjectDebug::set_allocated_route_s(::apollo::decision::Range* route_s) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete route_s_; + } + if (route_s) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + route_s = ::google::protobuf::internal::GetOwnedMessage( + message_arena, route_s, submessage_arena); + } + + } else { + + } + route_s_ = route_s; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDebug.route_s) +} + +// .apollo.decision.Range route_l = 4; +inline bool ObjectDebug::has_route_l() const { + return this != internal_default_instance() && route_l_ != NULL; +} +inline void ObjectDebug::clear_route_l() { + if (GetArenaNoVirtual() == NULL && route_l_ != NULL) { + delete route_l_; + } + route_l_ = NULL; +} +inline const ::apollo::decision::Range& ObjectDebug::_internal_route_l() const { + return *route_l_; +} +inline const ::apollo::decision::Range& ObjectDebug::route_l() const { + const ::apollo::decision::Range* p = route_l_; + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.route_l) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Range_default_instance_); +} +inline ::apollo::decision::Range* ObjectDebug::release_route_l() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDebug.route_l) + + ::apollo::decision::Range* temp = route_l_; + route_l_ = NULL; + return temp; +} +inline ::apollo::decision::Range* ObjectDebug::mutable_route_l() { + + if (route_l_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Range>(GetArenaNoVirtual()); + route_l_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDebug.route_l) + return route_l_; +} +inline void ObjectDebug::set_allocated_route_l(::apollo::decision::Range* route_l) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete route_l_; + } + if (route_l) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + route_l = ::google::protobuf::internal::GetOwnedMessage( + message_arena, route_l, submessage_arena); + } + + } else { + + } + route_l_ = route_l; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDebug.route_l) +} + +// bool on_route = 5; +inline void ObjectDebug::clear_on_route() { + on_route_ = false; +} +inline bool ObjectDebug::on_route() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.on_route) + return on_route_; +} +inline void ObjectDebug::set_on_route(bool value) { + + on_route_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectDebug.on_route) +} + +// string lane_id = 6; +inline void ObjectDebug::clear_lane_id() { + lane_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& ObjectDebug::lane_id() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.lane_id) + return lane_id_.GetNoArena(); +} +inline void ObjectDebug::set_lane_id(const ::std::string& value) { + + lane_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.ObjectDebug.lane_id) +} +#if LANG_CXX11 +inline void ObjectDebug::set_lane_id(::std::string&& value) { + + lane_id_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.ObjectDebug.lane_id) +} +#endif +inline void ObjectDebug::set_lane_id(const char* value) { + GOOGLE_DCHECK(value != NULL); + + lane_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.ObjectDebug.lane_id) +} +inline void ObjectDebug::set_lane_id(const char* value, size_t size) { + + lane_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.ObjectDebug.lane_id) +} +inline ::std::string* ObjectDebug::mutable_lane_id() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDebug.lane_id) + return lane_id_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* ObjectDebug::release_lane_id() { + // @@protoc_insertion_point(field_release:apollo.decision.ObjectDebug.lane_id) + + return lane_id_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void ObjectDebug::set_allocated_lane_id(::std::string* lane_id) { + if (lane_id != NULL) { + + } else { + + } + lane_id_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), lane_id); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.ObjectDebug.lane_id) +} + +// double lane_s = 7; +inline void ObjectDebug::clear_lane_s() { + lane_s_ = 0; +} +inline double ObjectDebug::lane_s() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.lane_s) + return lane_s_; +} +inline void ObjectDebug::set_lane_s(double value) { + + lane_s_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectDebug.lane_s) +} + +// bool on_lane = 8; +inline void ObjectDebug::clear_on_lane() { + on_lane_ = false; +} +inline bool ObjectDebug::on_lane() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.on_lane) + return on_lane_; +} +inline void ObjectDebug::set_on_lane(bool value) { + + on_lane_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectDebug.on_lane) +} + +// double path_speed = 9; +inline void ObjectDebug::clear_path_speed() { + path_speed_ = 0; +} +inline double ObjectDebug::path_speed() const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.path_speed) + return path_speed_; +} +inline void ObjectDebug::set_path_speed(double value) { + + path_speed_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ObjectDebug.path_speed) +} + +// repeated .apollo.common.Point3D st_region = 10; +inline int ObjectDebug::st_region_size() const { + return st_region_.size(); +} +inline ::apollo::common::Point3D* ObjectDebug::mutable_st_region(int index) { + // @@protoc_insertion_point(field_mutable:apollo.decision.ObjectDebug.st_region) + return st_region_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::common::Point3D >* +ObjectDebug::mutable_st_region() { + // @@protoc_insertion_point(field_mutable_list:apollo.decision.ObjectDebug.st_region) + return &st_region_; +} +inline const ::apollo::common::Point3D& ObjectDebug::st_region(int index) const { + // @@protoc_insertion_point(field_get:apollo.decision.ObjectDebug.st_region) + return st_region_.Get(index); +} +inline ::apollo::common::Point3D* ObjectDebug::add_st_region() { + // @@protoc_insertion_point(field_add:apollo.decision.ObjectDebug.st_region) + return st_region_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::common::Point3D >& +ObjectDebug::st_region() const { + // @@protoc_insertion_point(field_list:apollo.decision.ObjectDebug.st_region) + return st_region_; +} + +// ------------------------------------------------------------------- + +// LatencyStats + +// double total_time_ms = 1; +inline void LatencyStats::clear_total_time_ms() { + total_time_ms_ = 0; +} +inline double LatencyStats::total_time_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.total_time_ms) + return total_time_ms_; +} +inline void LatencyStats::set_total_time_ms(double value) { + + total_time_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.total_time_ms) +} + +// double sensor_read_time_ms = 2; +inline void LatencyStats::clear_sensor_read_time_ms() { + sensor_read_time_ms_ = 0; +} +inline double LatencyStats::sensor_read_time_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.sensor_read_time_ms) + return sensor_read_time_ms_; +} +inline void LatencyStats::set_sensor_read_time_ms(double value) { + + sensor_read_time_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.sensor_read_time_ms) +} + +// double adc_prepare_time_ms = 3; +inline void LatencyStats::clear_adc_prepare_time_ms() { + adc_prepare_time_ms_ = 0; +} +inline double LatencyStats::adc_prepare_time_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.adc_prepare_time_ms) + return adc_prepare_time_ms_; +} +inline void LatencyStats::set_adc_prepare_time_ms(double value) { + + adc_prepare_time_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.adc_prepare_time_ms) +} + +// double obj_prepare_time_ms = 4; +inline void LatencyStats::clear_obj_prepare_time_ms() { + obj_prepare_time_ms_ = 0; +} +inline double LatencyStats::obj_prepare_time_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.obj_prepare_time_ms) + return obj_prepare_time_ms_; +} +inline void LatencyStats::set_obj_prepare_time_ms(double value) { + + obj_prepare_time_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.obj_prepare_time_ms) +} + +// double world_rule_time_ms = 5; +inline void LatencyStats::clear_world_rule_time_ms() { + world_rule_time_ms_ = 0; +} +inline double LatencyStats::world_rule_time_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.world_rule_time_ms) + return world_rule_time_ms_; +} +inline void LatencyStats::set_world_rule_time_ms(double value) { + + world_rule_time_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.world_rule_time_ms) +} + +// double st_graph_time_ms = 6; +inline void LatencyStats::clear_st_graph_time_ms() { + st_graph_time_ms_ = 0; +} +inline double LatencyStats::st_graph_time_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.st_graph_time_ms) + return st_graph_time_ms_; +} +inline void LatencyStats::set_st_graph_time_ms(double value) { + + st_graph_time_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.st_graph_time_ms) +} + +// double gateway_receive_delay_ms = 8; +inline void LatencyStats::clear_gateway_receive_delay_ms() { + gateway_receive_delay_ms_ = 0; +} +inline double LatencyStats::gateway_receive_delay_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.gateway_receive_delay_ms) + return gateway_receive_delay_ms_; +} +inline void LatencyStats::set_gateway_receive_delay_ms(double value) { + + gateway_receive_delay_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.gateway_receive_delay_ms) +} + +// double perception_receive_delay_ms = 9; +inline void LatencyStats::clear_perception_receive_delay_ms() { + perception_receive_delay_ms_ = 0; +} +inline double LatencyStats::perception_receive_delay_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.perception_receive_delay_ms) + return perception_receive_delay_ms_; +} +inline void LatencyStats::set_perception_receive_delay_ms(double value) { + + perception_receive_delay_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.perception_receive_delay_ms) +} + +// double prediction_receive_delay_ms = 10; +inline void LatencyStats::clear_prediction_receive_delay_ms() { + prediction_receive_delay_ms_ = 0; +} +inline double LatencyStats::prediction_receive_delay_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.prediction_receive_delay_ms) + return prediction_receive_delay_ms_; +} +inline void LatencyStats::set_prediction_receive_delay_ms(double value) { + + prediction_receive_delay_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.prediction_receive_delay_ms) +} + +// double signal_receive_delay_ms = 11; +inline void LatencyStats::clear_signal_receive_delay_ms() { + signal_receive_delay_ms_ = 0; +} +inline double LatencyStats::signal_receive_delay_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.signal_receive_delay_ms) + return signal_receive_delay_ms_; +} +inline void LatencyStats::set_signal_receive_delay_ms(double value) { + + signal_receive_delay_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.signal_receive_delay_ms) +} + +// double perception_interval_ms = 12; +inline void LatencyStats::clear_perception_interval_ms() { + perception_interval_ms_ = 0; +} +inline double LatencyStats::perception_interval_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.perception_interval_ms) + return perception_interval_ms_; +} +inline void LatencyStats::set_perception_interval_ms(double value) { + + perception_interval_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.perception_interval_ms) +} + +// double prediction_interval_ms = 13; +inline void LatencyStats::clear_prediction_interval_ms() { + prediction_interval_ms_ = 0; +} +inline double LatencyStats::prediction_interval_ms() const { + // @@protoc_insertion_point(field_get:apollo.decision.LatencyStats.prediction_interval_ms) + return prediction_interval_ms_; +} +inline void LatencyStats::set_prediction_interval_ms(double value) { + + prediction_interval_ms_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LatencyStats.prediction_interval_ms) +} + +// ------------------------------------------------------------------- + +// Stats + +// .apollo.decision.LatencyStats latency_stats = 1; +inline bool Stats::has_latency_stats() const { + return this != internal_default_instance() && latency_stats_ != NULL; +} +inline void Stats::clear_latency_stats() { + if (GetArenaNoVirtual() == NULL && latency_stats_ != NULL) { + delete latency_stats_; + } + latency_stats_ = NULL; +} +inline const ::apollo::decision::LatencyStats& Stats::_internal_latency_stats() const { + return *latency_stats_; +} +inline const ::apollo::decision::LatencyStats& Stats::latency_stats() const { + const ::apollo::decision::LatencyStats* p = latency_stats_; + // @@protoc_insertion_point(field_get:apollo.decision.Stats.latency_stats) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_LatencyStats_default_instance_); +} +inline ::apollo::decision::LatencyStats* Stats::release_latency_stats() { + // @@protoc_insertion_point(field_release:apollo.decision.Stats.latency_stats) + + ::apollo::decision::LatencyStats* temp = latency_stats_; + latency_stats_ = NULL; + return temp; +} +inline ::apollo::decision::LatencyStats* Stats::mutable_latency_stats() { + + if (latency_stats_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::LatencyStats>(GetArenaNoVirtual()); + latency_stats_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.Stats.latency_stats) + return latency_stats_; +} +inline void Stats::set_allocated_latency_stats(::apollo::decision::LatencyStats* latency_stats) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete latency_stats_; + } + if (latency_stats) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + latency_stats = ::google::protobuf::internal::GetOwnedMessage( + message_arena, latency_stats, submessage_arena); + } + + } else { + + } + latency_stats_ = latency_stats; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.Stats.latency_stats) +} + +// ------------------------------------------------------------------- + +// ModuleDebug + +// uint32 gateway_sequence_num = 1; +inline void ModuleDebug::clear_gateway_sequence_num() { + gateway_sequence_num_ = 0u; +} +inline ::google::protobuf::uint32 ModuleDebug::gateway_sequence_num() const { + // @@protoc_insertion_point(field_get:apollo.decision.ModuleDebug.gateway_sequence_num) + return gateway_sequence_num_; +} +inline void ModuleDebug::set_gateway_sequence_num(::google::protobuf::uint32 value) { + + gateway_sequence_num_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ModuleDebug.gateway_sequence_num) +} + +// uint32 perception_sequence_num = 2; +inline void ModuleDebug::clear_perception_sequence_num() { + perception_sequence_num_ = 0u; +} +inline ::google::protobuf::uint32 ModuleDebug::perception_sequence_num() const { + // @@protoc_insertion_point(field_get:apollo.decision.ModuleDebug.perception_sequence_num) + return perception_sequence_num_; +} +inline void ModuleDebug::set_perception_sequence_num(::google::protobuf::uint32 value) { + + perception_sequence_num_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ModuleDebug.perception_sequence_num) +} + +// uint32 prediction_sequence_num = 3; +inline void ModuleDebug::clear_prediction_sequence_num() { + prediction_sequence_num_ = 0u; +} +inline ::google::protobuf::uint32 ModuleDebug::prediction_sequence_num() const { + // @@protoc_insertion_point(field_get:apollo.decision.ModuleDebug.prediction_sequence_num) + return prediction_sequence_num_; +} +inline void ModuleDebug::set_prediction_sequence_num(::google::protobuf::uint32 value) { + + prediction_sequence_num_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ModuleDebug.prediction_sequence_num) +} + +// uint32 signal_sequence_num = 4; +inline void ModuleDebug::clear_signal_sequence_num() { + signal_sequence_num_ = 0u; +} +inline ::google::protobuf::uint32 ModuleDebug::signal_sequence_num() const { + // @@protoc_insertion_point(field_get:apollo.decision.ModuleDebug.signal_sequence_num) + return signal_sequence_num_; +} +inline void ModuleDebug::set_signal_sequence_num(::google::protobuf::uint32 value) { + + signal_sequence_num_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.ModuleDebug.signal_sequence_num) +} + +// ------------------------------------------------------------------- + +// Debug + +// .apollo.decision.MasterVehicleDebug master_vehicle = 1; +inline bool Debug::has_master_vehicle() const { + return this != internal_default_instance() && master_vehicle_ != NULL; +} +inline void Debug::clear_master_vehicle() { + if (GetArenaNoVirtual() == NULL && master_vehicle_ != NULL) { + delete master_vehicle_; + } + master_vehicle_ = NULL; +} +inline const ::apollo::decision::MasterVehicleDebug& Debug::_internal_master_vehicle() const { + return *master_vehicle_; +} +inline const ::apollo::decision::MasterVehicleDebug& Debug::master_vehicle() const { + const ::apollo::decision::MasterVehicleDebug* p = master_vehicle_; + // @@protoc_insertion_point(field_get:apollo.decision.Debug.master_vehicle) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_MasterVehicleDebug_default_instance_); +} +inline ::apollo::decision::MasterVehicleDebug* Debug::release_master_vehicle() { + // @@protoc_insertion_point(field_release:apollo.decision.Debug.master_vehicle) + + ::apollo::decision::MasterVehicleDebug* temp = master_vehicle_; + master_vehicle_ = NULL; + return temp; +} +inline ::apollo::decision::MasterVehicleDebug* Debug::mutable_master_vehicle() { + + if (master_vehicle_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::MasterVehicleDebug>(GetArenaNoVirtual()); + master_vehicle_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.Debug.master_vehicle) + return master_vehicle_; +} +inline void Debug::set_allocated_master_vehicle(::apollo::decision::MasterVehicleDebug* master_vehicle) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete master_vehicle_; + } + if (master_vehicle) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + master_vehicle = ::google::protobuf::internal::GetOwnedMessage( + message_arena, master_vehicle, submessage_arena); + } + + } else { + + } + master_vehicle_ = master_vehicle; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.Debug.master_vehicle) +} + +// .apollo.decision.MainDecision original_decision = 2; +inline bool Debug::has_original_decision() const { + return this != internal_default_instance() && original_decision_ != NULL; +} +inline void Debug::clear_original_decision() { + if (GetArenaNoVirtual() == NULL && original_decision_ != NULL) { + delete original_decision_; + } + original_decision_ = NULL; +} +inline const ::apollo::decision::MainDecision& Debug::_internal_original_decision() const { + return *original_decision_; +} +inline const ::apollo::decision::MainDecision& Debug::original_decision() const { + const ::apollo::decision::MainDecision* p = original_decision_; + // @@protoc_insertion_point(field_get:apollo.decision.Debug.original_decision) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_MainDecision_default_instance_); +} +inline ::apollo::decision::MainDecision* Debug::release_original_decision() { + // @@protoc_insertion_point(field_release:apollo.decision.Debug.original_decision) + + ::apollo::decision::MainDecision* temp = original_decision_; + original_decision_ = NULL; + return temp; +} +inline ::apollo::decision::MainDecision* Debug::mutable_original_decision() { + + if (original_decision_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::MainDecision>(GetArenaNoVirtual()); + original_decision_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.Debug.original_decision) + return original_decision_; +} +inline void Debug::set_allocated_original_decision(::apollo::decision::MainDecision* original_decision) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete original_decision_; + } + if (original_decision) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + original_decision = ::google::protobuf::internal::GetOwnedMessage( + message_arena, original_decision, submessage_arena); + } + + } else { + + } + original_decision_ = original_decision; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.Debug.original_decision) +} + +// repeated .apollo.decision.ObjectDebug object = 3; +inline int Debug::object_size() const { + return object_.size(); +} +inline void Debug::clear_object() { + object_.Clear(); +} +inline ::apollo::decision::ObjectDebug* Debug::mutable_object(int index) { + // @@protoc_insertion_point(field_mutable:apollo.decision.Debug.object) + return object_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDebug >* +Debug::mutable_object() { + // @@protoc_insertion_point(field_mutable_list:apollo.decision.Debug.object) + return &object_; +} +inline const ::apollo::decision::ObjectDebug& Debug::object(int index) const { + // @@protoc_insertion_point(field_get:apollo.decision.Debug.object) + return object_.Get(index); +} +inline ::apollo::decision::ObjectDebug* Debug::add_object() { + // @@protoc_insertion_point(field_add:apollo.decision.Debug.object) + return object_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDebug >& +Debug::object() const { + // @@protoc_insertion_point(field_list:apollo.decision.Debug.object) + return object_; +} + +// bytes map_version = 5; +inline void Debug::clear_map_version() { + map_version_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& Debug::map_version() const { + // @@protoc_insertion_point(field_get:apollo.decision.Debug.map_version) + return map_version_.GetNoArena(); +} +inline void Debug::set_map_version(const ::std::string& value) { + + map_version_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.Debug.map_version) +} +#if LANG_CXX11 +inline void Debug::set_map_version(::std::string&& value) { + + map_version_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.Debug.map_version) +} +#endif +inline void Debug::set_map_version(const char* value) { + GOOGLE_DCHECK(value != NULL); + + map_version_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.Debug.map_version) +} +inline void Debug::set_map_version(const void* value, size_t size) { + + map_version_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.Debug.map_version) +} +inline ::std::string* Debug::mutable_map_version() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.Debug.map_version) + return map_version_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Debug::release_map_version() { + // @@protoc_insertion_point(field_release:apollo.decision.Debug.map_version) + + return map_version_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void Debug::set_allocated_map_version(::std::string* map_version) { + if (map_version != NULL) { + + } else { + + } + map_version_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), map_version); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.Debug.map_version) +} + +// bytes decision_version = 7; +inline void Debug::clear_decision_version() { + decision_version_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& Debug::decision_version() const { + // @@protoc_insertion_point(field_get:apollo.decision.Debug.decision_version) + return decision_version_.GetNoArena(); +} +inline void Debug::set_decision_version(const ::std::string& value) { + + decision_version_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.decision.Debug.decision_version) +} +#if LANG_CXX11 +inline void Debug::set_decision_version(::std::string&& value) { + + decision_version_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.decision.Debug.decision_version) +} +#endif +inline void Debug::set_decision_version(const char* value) { + GOOGLE_DCHECK(value != NULL); + + decision_version_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.decision.Debug.decision_version) +} +inline void Debug::set_decision_version(const void* value, size_t size) { + + decision_version_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.decision.Debug.decision_version) +} +inline ::std::string* Debug::mutable_decision_version() { + + // @@protoc_insertion_point(field_mutable:apollo.decision.Debug.decision_version) + return decision_version_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Debug::release_decision_version() { + // @@protoc_insertion_point(field_release:apollo.decision.Debug.decision_version) + + return decision_version_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void Debug::set_allocated_decision_version(::std::string* decision_version) { + if (decision_version != NULL) { + + } else { + + } + decision_version_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), decision_version); + // @@protoc_insertion_point(field_set_allocated:apollo.decision.Debug.decision_version) +} + +// .apollo.decision.ModuleDebug module_debug = 6; +inline bool Debug::has_module_debug() const { + return this != internal_default_instance() && module_debug_ != NULL; +} +inline void Debug::clear_module_debug() { + if (GetArenaNoVirtual() == NULL && module_debug_ != NULL) { + delete module_debug_; + } + module_debug_ = NULL; +} +inline const ::apollo::decision::ModuleDebug& Debug::_internal_module_debug() const { + return *module_debug_; +} +inline const ::apollo::decision::ModuleDebug& Debug::module_debug() const { + const ::apollo::decision::ModuleDebug* p = module_debug_; + // @@protoc_insertion_point(field_get:apollo.decision.Debug.module_debug) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_ModuleDebug_default_instance_); +} +inline ::apollo::decision::ModuleDebug* Debug::release_module_debug() { + // @@protoc_insertion_point(field_release:apollo.decision.Debug.module_debug) + + ::apollo::decision::ModuleDebug* temp = module_debug_; + module_debug_ = NULL; + return temp; +} +inline ::apollo::decision::ModuleDebug* Debug::mutable_module_debug() { + + if (module_debug_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::ModuleDebug>(GetArenaNoVirtual()); + module_debug_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.Debug.module_debug) + return module_debug_; +} +inline void Debug::set_allocated_module_debug(::apollo::decision::ModuleDebug* module_debug) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete module_debug_; + } + if (module_debug) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + module_debug = ::google::protobuf::internal::GetOwnedMessage( + message_arena, module_debug, submessage_arena); + } + + } else { + + } + module_debug_ = module_debug; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.Debug.module_debug) +} + +// ------------------------------------------------------------------- + +// LightSignal + +// bool emergency = 1; +inline void LightSignal::clear_emergency() { + emergency_ = false; +} +inline bool LightSignal::emergency() const { + // @@protoc_insertion_point(field_get:apollo.decision.LightSignal.emergency) + return emergency_; +} +inline void LightSignal::set_emergency(bool value) { + + emergency_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LightSignal.emergency) +} + +// .apollo.decision.LightSignal.TurnSignal turn_signal = 2; +inline void LightSignal::clear_turn_signal() { + turn_signal_ = 0; +} +inline ::apollo::decision::LightSignal_TurnSignal LightSignal::turn_signal() const { + // @@protoc_insertion_point(field_get:apollo.decision.LightSignal.turn_signal) + return static_cast< ::apollo::decision::LightSignal_TurnSignal >(turn_signal_); +} +inline void LightSignal::set_turn_signal(::apollo::decision::LightSignal_TurnSignal value) { + + turn_signal_ = value; + // @@protoc_insertion_point(field_set:apollo.decision.LightSignal.turn_signal) +} + +// ------------------------------------------------------------------- + +// DecisionResult + +// .apollo.common.Header header = 1; +inline bool DecisionResult::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& DecisionResult::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& DecisionResult::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.decision.DecisionResult.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* DecisionResult::release_header() { + // @@protoc_insertion_point(field_release:apollo.decision.DecisionResult.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* DecisionResult::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.DecisionResult.header) + return header_; +} +inline void DecisionResult::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.DecisionResult.header) +} + +// .apollo.decision.ObjectDecisions object_decision = 2; +inline bool DecisionResult::has_object_decision() const { + return this != internal_default_instance() && object_decision_ != NULL; +} +inline void DecisionResult::clear_object_decision() { + if (GetArenaNoVirtual() == NULL && object_decision_ != NULL) { + delete object_decision_; + } + object_decision_ = NULL; +} +inline const ::apollo::decision::ObjectDecisions& DecisionResult::_internal_object_decision() const { + return *object_decision_; +} +inline const ::apollo::decision::ObjectDecisions& DecisionResult::object_decision() const { + const ::apollo::decision::ObjectDecisions* p = object_decision_; + // @@protoc_insertion_point(field_get:apollo.decision.DecisionResult.object_decision) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_ObjectDecisions_default_instance_); +} +inline ::apollo::decision::ObjectDecisions* DecisionResult::release_object_decision() { + // @@protoc_insertion_point(field_release:apollo.decision.DecisionResult.object_decision) + + ::apollo::decision::ObjectDecisions* temp = object_decision_; + object_decision_ = NULL; + return temp; +} +inline ::apollo::decision::ObjectDecisions* DecisionResult::mutable_object_decision() { + + if (object_decision_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::ObjectDecisions>(GetArenaNoVirtual()); + object_decision_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.DecisionResult.object_decision) + return object_decision_; +} +inline void DecisionResult::set_allocated_object_decision(::apollo::decision::ObjectDecisions* object_decision) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete object_decision_; + } + if (object_decision) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + object_decision = ::google::protobuf::internal::GetOwnedMessage( + message_arena, object_decision, submessage_arena); + } + + } else { + + } + object_decision_ = object_decision; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.DecisionResult.object_decision) +} + +// .apollo.decision.MainDecision main_decision = 3; +inline bool DecisionResult::has_main_decision() const { + return this != internal_default_instance() && main_decision_ != NULL; +} +inline void DecisionResult::clear_main_decision() { + if (GetArenaNoVirtual() == NULL && main_decision_ != NULL) { + delete main_decision_; + } + main_decision_ = NULL; +} +inline const ::apollo::decision::MainDecision& DecisionResult::_internal_main_decision() const { + return *main_decision_; +} +inline const ::apollo::decision::MainDecision& DecisionResult::main_decision() const { + const ::apollo::decision::MainDecision* p = main_decision_; + // @@protoc_insertion_point(field_get:apollo.decision.DecisionResult.main_decision) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_MainDecision_default_instance_); +} +inline ::apollo::decision::MainDecision* DecisionResult::release_main_decision() { + // @@protoc_insertion_point(field_release:apollo.decision.DecisionResult.main_decision) + + ::apollo::decision::MainDecision* temp = main_decision_; + main_decision_ = NULL; + return temp; +} +inline ::apollo::decision::MainDecision* DecisionResult::mutable_main_decision() { + + if (main_decision_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::MainDecision>(GetArenaNoVirtual()); + main_decision_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.DecisionResult.main_decision) + return main_decision_; +} +inline void DecisionResult::set_allocated_main_decision(::apollo::decision::MainDecision* main_decision) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete main_decision_; + } + if (main_decision) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + main_decision = ::google::protobuf::internal::GetOwnedMessage( + message_arena, main_decision, submessage_arena); + } + + } else { + + } + main_decision_ = main_decision; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.DecisionResult.main_decision) +} + +// .apollo.decision.Debug debug = 4; +inline bool DecisionResult::has_debug() const { + return this != internal_default_instance() && debug_ != NULL; +} +inline void DecisionResult::clear_debug() { + if (GetArenaNoVirtual() == NULL && debug_ != NULL) { + delete debug_; + } + debug_ = NULL; +} +inline const ::apollo::decision::Debug& DecisionResult::_internal_debug() const { + return *debug_; +} +inline const ::apollo::decision::Debug& DecisionResult::debug() const { + const ::apollo::decision::Debug* p = debug_; + // @@protoc_insertion_point(field_get:apollo.decision.DecisionResult.debug) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Debug_default_instance_); +} +inline ::apollo::decision::Debug* DecisionResult::release_debug() { + // @@protoc_insertion_point(field_release:apollo.decision.DecisionResult.debug) + + ::apollo::decision::Debug* temp = debug_; + debug_ = NULL; + return temp; +} +inline ::apollo::decision::Debug* DecisionResult::mutable_debug() { + + if (debug_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Debug>(GetArenaNoVirtual()); + debug_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.DecisionResult.debug) + return debug_; +} +inline void DecisionResult::set_allocated_debug(::apollo::decision::Debug* debug) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete debug_; + } + if (debug) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + debug = ::google::protobuf::internal::GetOwnedMessage( + message_arena, debug, submessage_arena); + } + + } else { + + } + debug_ = debug; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.DecisionResult.debug) +} + +// .apollo.decision.Stats stats = 6; +inline bool DecisionResult::has_stats() const { + return this != internal_default_instance() && stats_ != NULL; +} +inline void DecisionResult::clear_stats() { + if (GetArenaNoVirtual() == NULL && stats_ != NULL) { + delete stats_; + } + stats_ = NULL; +} +inline const ::apollo::decision::Stats& DecisionResult::_internal_stats() const { + return *stats_; +} +inline const ::apollo::decision::Stats& DecisionResult::stats() const { + const ::apollo::decision::Stats* p = stats_; + // @@protoc_insertion_point(field_get:apollo.decision.DecisionResult.stats) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_Stats_default_instance_); +} +inline ::apollo::decision::Stats* DecisionResult::release_stats() { + // @@protoc_insertion_point(field_release:apollo.decision.DecisionResult.stats) + + ::apollo::decision::Stats* temp = stats_; + stats_ = NULL; + return temp; +} +inline ::apollo::decision::Stats* DecisionResult::mutable_stats() { + + if (stats_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::Stats>(GetArenaNoVirtual()); + stats_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.DecisionResult.stats) + return stats_; +} +inline void DecisionResult::set_allocated_stats(::apollo::decision::Stats* stats) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete stats_; + } + if (stats) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + stats = ::google::protobuf::internal::GetOwnedMessage( + message_arena, stats, submessage_arena); + } + + } else { + + } + stats_ = stats; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.DecisionResult.stats) +} + +// .apollo.canbus.Signal signal = 7; +inline bool DecisionResult::has_signal() const { + return this != internal_default_instance() && signal_ != NULL; +} +inline const ::apollo::canbus::Signal& DecisionResult::_internal_signal() const { + return *signal_; +} +inline const ::apollo::canbus::Signal& DecisionResult::signal() const { + const ::apollo::canbus::Signal* p = signal_; + // @@protoc_insertion_point(field_get:apollo.decision.DecisionResult.signal) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Signal_default_instance_); +} +inline ::apollo::canbus::Signal* DecisionResult::release_signal() { + // @@protoc_insertion_point(field_release:apollo.decision.DecisionResult.signal) + + ::apollo::canbus::Signal* temp = signal_; + signal_ = NULL; + return temp; +} +inline ::apollo::canbus::Signal* DecisionResult::mutable_signal() { + + if (signal_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Signal>(GetArenaNoVirtual()); + signal_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.DecisionResult.signal) + return signal_; +} +inline void DecisionResult::set_allocated_signal(::apollo::canbus::Signal* signal) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(signal_); + } + if (signal) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + signal = ::google::protobuf::internal::GetOwnedMessage( + message_arena, signal, submessage_arena); + } + + } else { + + } + signal_ = signal; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.DecisionResult.signal) +} + +// .apollo.decision.LightSignal light_signal = 5; +inline bool DecisionResult::has_light_signal() const { + return this != internal_default_instance() && light_signal_ != NULL; +} +inline void DecisionResult::clear_light_signal() { + if (GetArenaNoVirtual() == NULL && light_signal_ != NULL) { + delete light_signal_; + } + light_signal_ = NULL; +} +inline const ::apollo::decision::LightSignal& DecisionResult::_internal_light_signal() const { + return *light_signal_; +} +inline const ::apollo::decision::LightSignal& DecisionResult::light_signal() const { + const ::apollo::decision::LightSignal* p = light_signal_; + // @@protoc_insertion_point(field_get:apollo.decision.DecisionResult.light_signal) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_LightSignal_default_instance_); +} +inline ::apollo::decision::LightSignal* DecisionResult::release_light_signal() { + // @@protoc_insertion_point(field_release:apollo.decision.DecisionResult.light_signal) + + ::apollo::decision::LightSignal* temp = light_signal_; + light_signal_ = NULL; + return temp; +} +inline ::apollo::decision::LightSignal* DecisionResult::mutable_light_signal() { + + if (light_signal_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::LightSignal>(GetArenaNoVirtual()); + light_signal_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.decision.DecisionResult.light_signal) + return light_signal_; +} +inline void DecisionResult::set_allocated_light_signal(::apollo::decision::LightSignal* light_signal) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete light_signal_; + } + if (light_signal) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + light_signal = ::google::protobuf::internal::GetOwnedMessage( + message_arena, light_signal, submessage_arena); + } + + } else { + + } + light_signal_ = light_signal; + // @@protoc_insertion_point(field_set_allocated:apollo.decision.DecisionResult.light_signal) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace decision +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::decision::ObjectNudge_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::decision::ObjectNudge_Type>() { + return ::apollo::decision::ObjectNudge_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::decision::ObjectSidePass_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::decision::ObjectSidePass_Type>() { + return ::apollo::decision::ObjectSidePass_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::decision::ObjectDecision_ObjectType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::decision::ObjectDecision_ObjectType>() { + return ::apollo::decision::ObjectDecision_ObjectType_descriptor(); +} +template <> struct is_proto_enum< ::apollo::decision::MainEmergencyStop_ReasonCode> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::decision::MainEmergencyStop_ReasonCode>() { + return ::apollo::decision::MainEmergencyStop_ReasonCode_descriptor(); +} +template <> struct is_proto_enum< ::apollo::decision::MainChangeLane_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::decision::MainChangeLane_Type>() { + return ::apollo::decision::MainChangeLane_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::decision::MainParking_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::decision::MainParking_Type>() { + return ::apollo::decision::MainParking_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::decision::LightSignal_TurnSignal> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::decision::LightSignal_TurnSignal>() { + return ::apollo::decision::LightSignal_TurnSignal_descriptor(); +} +template <> struct is_proto_enum< ::apollo::decision::StopReasonCode> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::decision::StopReasonCode>() { + return ::apollo::decision::StopReasonCode_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/camera.pb.cc b/apollo_msgs/include/apollo_msgs/proto/localization/camera.pb.cc new file mode 100644 index 0000000..ba25fed --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/camera.pb.cc @@ -0,0 +1,501 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/camera.proto + +#include "apollo_msgs/proto/localization/camera.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace apollo { +namespace localization { +class CameraDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Camera_default_instance_; +} // namespace localization +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto { +static void InitDefaultsCamera() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_Camera_default_instance_; + new (ptr) ::apollo::localization::Camera(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::Camera::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_Camera = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsCamera}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Camera.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Camera, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Camera, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Camera, image_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Camera, width_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Camera, height_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::localization::Camera)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::localization::_Camera_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/localization/camera.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n+apollo_msgs/proto/localization/camera." + "proto\022\023apollo.localization\032%apollo_msgs/" + "proto/common/header.proto\"]\n\006Camera\022%\n\006h" + "eader\030\001 \001(\0132\025.apollo.common.Header\022\r\n\005im" + "age\030\002 \001(\014\022\r\n\005width\030\003 \001(\r\022\016\n\006height\030\004 \001(\r" + "b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 208); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/localization/camera.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto +namespace apollo { +namespace localization { + +// =================================================================== + +void Camera::InitAsDefaultInstance() { + ::apollo::localization::_Camera_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void Camera::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Camera::kHeaderFieldNumber; +const int Camera::kImageFieldNumber; +const int Camera::kWidthFieldNumber; +const int Camera::kHeightFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Camera::Camera() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto::scc_info_Camera.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.Camera) +} +Camera::Camera(const Camera& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + image_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.image().size() > 0) { + image_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.image_); + } + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + ::memcpy(&width_, &from.width_, + static_cast(reinterpret_cast(&height_) - + reinterpret_cast(&width_)) + sizeof(height_)); + // @@protoc_insertion_point(copy_constructor:apollo.localization.Camera) +} + +void Camera::SharedCtor() { + image_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&header_, 0, static_cast( + reinterpret_cast(&height_) - + reinterpret_cast(&header_)) + sizeof(height_)); +} + +Camera::~Camera() { + // @@protoc_insertion_point(destructor:apollo.localization.Camera) + SharedDtor(); +} + +void Camera::SharedDtor() { + image_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (this != internal_default_instance()) delete header_; +} + +void Camera::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Camera::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Camera& Camera::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto::scc_info_Camera.base); + return *internal_default_instance(); +} + + +void Camera::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.Camera) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + image_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + ::memset(&width_, 0, static_cast( + reinterpret_cast(&height_) - + reinterpret_cast(&width_)) + sizeof(height_)); + _internal_metadata_.Clear(); +} + +bool Camera::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.Camera) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // bytes image = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadBytes( + input, this->mutable_image())); + } else { + goto handle_unusual; + } + break; + } + + // uint32 width = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &width_))); + } else { + goto handle_unusual; + } + break; + } + + // uint32 height = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(32u /* 32 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>( + input, &height_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.Camera) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.Camera) + return false; +#undef DO_ +} + +void Camera::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.Camera) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // bytes image = 2; + if (this->image().size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteBytesMaybeAliased( + 2, this->image(), output); + } + + // uint32 width = 3; + if (this->width() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(3, this->width(), output); + } + + // uint32 height = 4; + if (this->height() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteUInt32(4, this->height(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.Camera) +} + +::google::protobuf::uint8* Camera::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.Camera) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // bytes image = 2; + if (this->image().size() > 0) { + target = + ::google::protobuf::internal::WireFormatLite::WriteBytesToArray( + 2, this->image(), target); + } + + // uint32 width = 3; + if (this->width() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(3, this->width(), target); + } + + // uint32 height = 4; + if (this->height() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(4, this->height(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.Camera) + return target; +} + +size_t Camera::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.Camera) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // bytes image = 2; + if (this->image().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::BytesSize( + this->image()); + } + + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // uint32 width = 3; + if (this->width() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->width()); + } + + // uint32 height = 4; + if (this->height() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::UInt32Size( + this->height()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Camera::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.Camera) + GOOGLE_DCHECK_NE(&from, this); + const Camera* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.Camera) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.Camera) + MergeFrom(*source); + } +} + +void Camera::MergeFrom(const Camera& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.Camera) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.image().size() > 0) { + + image_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.image_); + } + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.width() != 0) { + set_width(from.width()); + } + if (from.height() != 0) { + set_height(from.height()); + } +} + +void Camera::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.Camera) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Camera::CopyFrom(const Camera& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.Camera) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Camera::IsInitialized() const { + return true; +} + +void Camera::Swap(Camera* other) { + if (other == this) return; + InternalSwap(other); +} +void Camera::InternalSwap(Camera* other) { + using std::swap; + image_.Swap(&other->image_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(header_, other->header_); + swap(width_, other->width_); + swap(height_, other->height_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Camera::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::Camera* Arena::CreateMaybeMessage< ::apollo::localization::Camera >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::Camera >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/camera.pb.h b/apollo_msgs/include/apollo_msgs/proto/localization/camera.pb.h new file mode 100644 index 0000000..9504670 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/camera.pb.h @@ -0,0 +1,353 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/camera.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/common/header.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto +namespace apollo { +namespace localization { +class Camera; +class CameraDefaultTypeInternal; +extern CameraDefaultTypeInternal _Camera_default_instance_; +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::localization::Camera* Arena::CreateMaybeMessage<::apollo::localization::Camera>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace localization { + +// =================================================================== + +class Camera : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.Camera) */ { + public: + Camera(); + virtual ~Camera(); + + Camera(const Camera& from); + + inline Camera& operator=(const Camera& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Camera(Camera&& from) noexcept + : Camera() { + *this = ::std::move(from); + } + + inline Camera& operator=(Camera&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Camera& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Camera* internal_default_instance() { + return reinterpret_cast( + &_Camera_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Camera* other); + friend void swap(Camera& a, Camera& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Camera* New() const final { + return CreateMaybeMessage(NULL); + } + + Camera* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Camera& from); + void MergeFrom(const Camera& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Camera* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // bytes image = 2; + void clear_image(); + static const int kImageFieldNumber = 2; + const ::std::string& image() const; + void set_image(const ::std::string& value); + #if LANG_CXX11 + void set_image(::std::string&& value); + #endif + void set_image(const char* value); + void set_image(const void* value, size_t size); + ::std::string* mutable_image(); + ::std::string* release_image(); + void set_allocated_image(::std::string* image); + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // uint32 width = 3; + void clear_width(); + static const int kWidthFieldNumber = 3; + ::google::protobuf::uint32 width() const; + void set_width(::google::protobuf::uint32 value); + + // uint32 height = 4; + void clear_height(); + static const int kHeightFieldNumber = 4; + ::google::protobuf::uint32 height() const; + void set_height(::google::protobuf::uint32 value); + + // @@protoc_insertion_point(class_scope:apollo.localization.Camera) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr image_; + ::apollo::common::Header* header_; + ::google::protobuf::uint32 width_; + ::google::protobuf::uint32 height_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Camera + +// .apollo.common.Header header = 1; +inline bool Camera::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& Camera::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& Camera::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.localization.Camera.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* Camera::release_header() { + // @@protoc_insertion_point(field_release:apollo.localization.Camera.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* Camera::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Camera.header) + return header_; +} +inline void Camera::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Camera.header) +} + +// bytes image = 2; +inline void Camera::clear_image() { + image_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& Camera::image() const { + // @@protoc_insertion_point(field_get:apollo.localization.Camera.image) + return image_.GetNoArena(); +} +inline void Camera::set_image(const ::std::string& value) { + + image_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.localization.Camera.image) +} +#if LANG_CXX11 +inline void Camera::set_image(::std::string&& value) { + + image_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.localization.Camera.image) +} +#endif +inline void Camera::set_image(const char* value) { + GOOGLE_DCHECK(value != NULL); + + image_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.localization.Camera.image) +} +inline void Camera::set_image(const void* value, size_t size) { + + image_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.localization.Camera.image) +} +inline ::std::string* Camera::mutable_image() { + + // @@protoc_insertion_point(field_mutable:apollo.localization.Camera.image) + return image_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Camera::release_image() { + // @@protoc_insertion_point(field_release:apollo.localization.Camera.image) + + return image_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void Camera::set_allocated_image(::std::string* image) { + if (image != NULL) { + + } else { + + } + image_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), image); + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Camera.image) +} + +// uint32 width = 3; +inline void Camera::clear_width() { + width_ = 0u; +} +inline ::google::protobuf::uint32 Camera::width() const { + // @@protoc_insertion_point(field_get:apollo.localization.Camera.width) + return width_; +} +inline void Camera::set_width(::google::protobuf::uint32 value) { + + width_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.Camera.width) +} + +// uint32 height = 4; +inline void Camera::clear_height() { + height_ = 0u; +} +inline ::google::protobuf::uint32 Camera::height() const { + // @@protoc_insertion_point(field_get:apollo.localization.Camera.height) + return height_; +} +inline void Camera::set_height(::google::protobuf::uint32 value) { + + height_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.Camera.height) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace localization +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fcamera_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/camera_parameter.pb.cc b/apollo_msgs/include/apollo_msgs/proto/localization/camera_parameter.pb.cc new file mode 100644 index 0000000..fe4adda --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/camera_parameter.pb.cc @@ -0,0 +1,1220 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/camera_parameter.proto + +#include "apollo_msgs/proto/localization/camera_parameter.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_CameraExtrinsicParameter; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_CameraIntrinsicParameter; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto +namespace apollo { +namespace localization { +class CameraIntrinsicParameterDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _CameraIntrinsicParameter_default_instance_; +class CameraExtrinsicParameterDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _CameraExtrinsicParameter_default_instance_; +class CameraParameterDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _CameraParameter_default_instance_; +} // namespace localization +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto { +static void InitDefaultsCameraIntrinsicParameter() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_CameraIntrinsicParameter_default_instance_; + new (ptr) ::apollo::localization::CameraIntrinsicParameter(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::CameraIntrinsicParameter::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_CameraIntrinsicParameter = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsCameraIntrinsicParameter}, {}}; + +static void InitDefaultsCameraExtrinsicParameter() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_CameraExtrinsicParameter_default_instance_; + new (ptr) ::apollo::localization::CameraExtrinsicParameter(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::CameraExtrinsicParameter::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_CameraExtrinsicParameter = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsCameraExtrinsicParameter}, {}}; + +static void InitDefaultsCameraParameter() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_CameraParameter_default_instance_; + new (ptr) ::apollo::localization::CameraParameter(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::CameraParameter::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_CameraParameter = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsCameraParameter}, { + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::scc_info_CameraIntrinsicParameter.base, + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::scc_info_CameraExtrinsicParameter.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_CameraIntrinsicParameter.base); + ::google::protobuf::internal::InitSCC(&scc_info_CameraExtrinsicParameter.base); + ::google::protobuf::internal::InitSCC(&scc_info_CameraParameter.base); +} + +::google::protobuf::Metadata file_level_metadata[3]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraIntrinsicParameter, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraIntrinsicParameter, fx_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraIntrinsicParameter, fy_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraIntrinsicParameter, cx_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraIntrinsicParameter, cy_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraExtrinsicParameter, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraExtrinsicParameter, roll_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraExtrinsicParameter, pitch_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraExtrinsicParameter, yaw_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraExtrinsicParameter, tx_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraExtrinsicParameter, ty_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraExtrinsicParameter, tz_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraParameter, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraParameter, intrisic_parameter_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::CameraParameter, extrisic_parameter_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::localization::CameraIntrinsicParameter)}, + { 9, -1, sizeof(::apollo::localization::CameraExtrinsicParameter)}, + { 20, -1, sizeof(::apollo::localization::CameraParameter)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::localization::_CameraIntrinsicParameter_default_instance_), + reinterpret_cast(&::apollo::localization::_CameraExtrinsicParameter_default_instance_), + reinterpret_cast(&::apollo::localization::_CameraParameter_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/localization/camera_parameter.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 3); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n5apollo_msgs/proto/localization/camera_" + "parameter.proto\022\023apollo.localization\"J\n\030" + "CameraIntrinsicParameter\022\n\n\002fx\030\001 \001(\001\022\n\n\002" + "fy\030\002 \001(\001\022\n\n\002cx\030\003 \001(\001\022\n\n\002cy\030\004 \001(\001\"h\n\030Came" + "raExtrinsicParameter\022\014\n\004roll\030\001 \001(\001\022\r\n\005pi" + "tch\030\002 \001(\001\022\013\n\003yaw\030\003 \001(\001\022\n\n\002tx\030\004 \001(\001\022\n\n\002ty" + "\030\005 \001(\001\022\n\n\002tz\030\006 \001(\001\"\247\001\n\017CameraParameter\022I" + "\n\022intrisic_parameter\030\001 \001(\0132-.apollo.loca" + "lization.CameraIntrinsicParameter\022I\n\022ext" + "risic_parameter\030\002 \001(\0132-.apollo.localizat" + "ion.CameraExtrinsicParameterb\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 436); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/localization/camera_parameter.proto", &protobuf_RegisterTypes); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto +namespace apollo { +namespace localization { + +// =================================================================== + +void CameraIntrinsicParameter::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int CameraIntrinsicParameter::kFxFieldNumber; +const int CameraIntrinsicParameter::kFyFieldNumber; +const int CameraIntrinsicParameter::kCxFieldNumber; +const int CameraIntrinsicParameter::kCyFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +CameraIntrinsicParameter::CameraIntrinsicParameter() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::scc_info_CameraIntrinsicParameter.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.CameraIntrinsicParameter) +} +CameraIntrinsicParameter::CameraIntrinsicParameter(const CameraIntrinsicParameter& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&fx_, &from.fx_, + static_cast(reinterpret_cast(&cy_) - + reinterpret_cast(&fx_)) + sizeof(cy_)); + // @@protoc_insertion_point(copy_constructor:apollo.localization.CameraIntrinsicParameter) +} + +void CameraIntrinsicParameter::SharedCtor() { + ::memset(&fx_, 0, static_cast( + reinterpret_cast(&cy_) - + reinterpret_cast(&fx_)) + sizeof(cy_)); +} + +CameraIntrinsicParameter::~CameraIntrinsicParameter() { + // @@protoc_insertion_point(destructor:apollo.localization.CameraIntrinsicParameter) + SharedDtor(); +} + +void CameraIntrinsicParameter::SharedDtor() { +} + +void CameraIntrinsicParameter::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* CameraIntrinsicParameter::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const CameraIntrinsicParameter& CameraIntrinsicParameter::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::scc_info_CameraIntrinsicParameter.base); + return *internal_default_instance(); +} + + +void CameraIntrinsicParameter::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.CameraIntrinsicParameter) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&fx_, 0, static_cast( + reinterpret_cast(&cy_) - + reinterpret_cast(&fx_)) + sizeof(cy_)); + _internal_metadata_.Clear(); +} + +bool CameraIntrinsicParameter::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.CameraIntrinsicParameter) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double fx = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &fx_))); + } else { + goto handle_unusual; + } + break; + } + + // double fy = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &fy_))); + } else { + goto handle_unusual; + } + break; + } + + // double cx = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &cx_))); + } else { + goto handle_unusual; + } + break; + } + + // double cy = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &cy_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.CameraIntrinsicParameter) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.CameraIntrinsicParameter) + return false; +#undef DO_ +} + +void CameraIntrinsicParameter::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.CameraIntrinsicParameter) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double fx = 1; + if (this->fx() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->fx(), output); + } + + // double fy = 2; + if (this->fy() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->fy(), output); + } + + // double cx = 3; + if (this->cx() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->cx(), output); + } + + // double cy = 4; + if (this->cy() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->cy(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.CameraIntrinsicParameter) +} + +::google::protobuf::uint8* CameraIntrinsicParameter::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.CameraIntrinsicParameter) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double fx = 1; + if (this->fx() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->fx(), target); + } + + // double fy = 2; + if (this->fy() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->fy(), target); + } + + // double cx = 3; + if (this->cx() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->cx(), target); + } + + // double cy = 4; + if (this->cy() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->cy(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.CameraIntrinsicParameter) + return target; +} + +size_t CameraIntrinsicParameter::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.CameraIntrinsicParameter) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double fx = 1; + if (this->fx() != 0) { + total_size += 1 + 8; + } + + // double fy = 2; + if (this->fy() != 0) { + total_size += 1 + 8; + } + + // double cx = 3; + if (this->cx() != 0) { + total_size += 1 + 8; + } + + // double cy = 4; + if (this->cy() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void CameraIntrinsicParameter::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.CameraIntrinsicParameter) + GOOGLE_DCHECK_NE(&from, this); + const CameraIntrinsicParameter* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.CameraIntrinsicParameter) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.CameraIntrinsicParameter) + MergeFrom(*source); + } +} + +void CameraIntrinsicParameter::MergeFrom(const CameraIntrinsicParameter& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.CameraIntrinsicParameter) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.fx() != 0) { + set_fx(from.fx()); + } + if (from.fy() != 0) { + set_fy(from.fy()); + } + if (from.cx() != 0) { + set_cx(from.cx()); + } + if (from.cy() != 0) { + set_cy(from.cy()); + } +} + +void CameraIntrinsicParameter::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.CameraIntrinsicParameter) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void CameraIntrinsicParameter::CopyFrom(const CameraIntrinsicParameter& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.CameraIntrinsicParameter) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool CameraIntrinsicParameter::IsInitialized() const { + return true; +} + +void CameraIntrinsicParameter::Swap(CameraIntrinsicParameter* other) { + if (other == this) return; + InternalSwap(other); +} +void CameraIntrinsicParameter::InternalSwap(CameraIntrinsicParameter* other) { + using std::swap; + swap(fx_, other->fx_); + swap(fy_, other->fy_); + swap(cx_, other->cx_); + swap(cy_, other->cy_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata CameraIntrinsicParameter::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void CameraExtrinsicParameter::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int CameraExtrinsicParameter::kRollFieldNumber; +const int CameraExtrinsicParameter::kPitchFieldNumber; +const int CameraExtrinsicParameter::kYawFieldNumber; +const int CameraExtrinsicParameter::kTxFieldNumber; +const int CameraExtrinsicParameter::kTyFieldNumber; +const int CameraExtrinsicParameter::kTzFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +CameraExtrinsicParameter::CameraExtrinsicParameter() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::scc_info_CameraExtrinsicParameter.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.CameraExtrinsicParameter) +} +CameraExtrinsicParameter::CameraExtrinsicParameter(const CameraExtrinsicParameter& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&roll_, &from.roll_, + static_cast(reinterpret_cast(&tz_) - + reinterpret_cast(&roll_)) + sizeof(tz_)); + // @@protoc_insertion_point(copy_constructor:apollo.localization.CameraExtrinsicParameter) +} + +void CameraExtrinsicParameter::SharedCtor() { + ::memset(&roll_, 0, static_cast( + reinterpret_cast(&tz_) - + reinterpret_cast(&roll_)) + sizeof(tz_)); +} + +CameraExtrinsicParameter::~CameraExtrinsicParameter() { + // @@protoc_insertion_point(destructor:apollo.localization.CameraExtrinsicParameter) + SharedDtor(); +} + +void CameraExtrinsicParameter::SharedDtor() { +} + +void CameraExtrinsicParameter::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* CameraExtrinsicParameter::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const CameraExtrinsicParameter& CameraExtrinsicParameter::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::scc_info_CameraExtrinsicParameter.base); + return *internal_default_instance(); +} + + +void CameraExtrinsicParameter::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.CameraExtrinsicParameter) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&roll_, 0, static_cast( + reinterpret_cast(&tz_) - + reinterpret_cast(&roll_)) + sizeof(tz_)); + _internal_metadata_.Clear(); +} + +bool CameraExtrinsicParameter::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.CameraExtrinsicParameter) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double roll = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &roll_))); + } else { + goto handle_unusual; + } + break; + } + + // double pitch = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &pitch_))); + } else { + goto handle_unusual; + } + break; + } + + // double yaw = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &yaw_))); + } else { + goto handle_unusual; + } + break; + } + + // double tx = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &tx_))); + } else { + goto handle_unusual; + } + break; + } + + // double ty = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &ty_))); + } else { + goto handle_unusual; + } + break; + } + + // double tz = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &tz_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.CameraExtrinsicParameter) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.CameraExtrinsicParameter) + return false; +#undef DO_ +} + +void CameraExtrinsicParameter::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.CameraExtrinsicParameter) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double roll = 1; + if (this->roll() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->roll(), output); + } + + // double pitch = 2; + if (this->pitch() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->pitch(), output); + } + + // double yaw = 3; + if (this->yaw() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->yaw(), output); + } + + // double tx = 4; + if (this->tx() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->tx(), output); + } + + // double ty = 5; + if (this->ty() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->ty(), output); + } + + // double tz = 6; + if (this->tz() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->tz(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.CameraExtrinsicParameter) +} + +::google::protobuf::uint8* CameraExtrinsicParameter::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.CameraExtrinsicParameter) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double roll = 1; + if (this->roll() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->roll(), target); + } + + // double pitch = 2; + if (this->pitch() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->pitch(), target); + } + + // double yaw = 3; + if (this->yaw() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->yaw(), target); + } + + // double tx = 4; + if (this->tx() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->tx(), target); + } + + // double ty = 5; + if (this->ty() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->ty(), target); + } + + // double tz = 6; + if (this->tz() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->tz(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.CameraExtrinsicParameter) + return target; +} + +size_t CameraExtrinsicParameter::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.CameraExtrinsicParameter) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double roll = 1; + if (this->roll() != 0) { + total_size += 1 + 8; + } + + // double pitch = 2; + if (this->pitch() != 0) { + total_size += 1 + 8; + } + + // double yaw = 3; + if (this->yaw() != 0) { + total_size += 1 + 8; + } + + // double tx = 4; + if (this->tx() != 0) { + total_size += 1 + 8; + } + + // double ty = 5; + if (this->ty() != 0) { + total_size += 1 + 8; + } + + // double tz = 6; + if (this->tz() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void CameraExtrinsicParameter::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.CameraExtrinsicParameter) + GOOGLE_DCHECK_NE(&from, this); + const CameraExtrinsicParameter* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.CameraExtrinsicParameter) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.CameraExtrinsicParameter) + MergeFrom(*source); + } +} + +void CameraExtrinsicParameter::MergeFrom(const CameraExtrinsicParameter& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.CameraExtrinsicParameter) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.roll() != 0) { + set_roll(from.roll()); + } + if (from.pitch() != 0) { + set_pitch(from.pitch()); + } + if (from.yaw() != 0) { + set_yaw(from.yaw()); + } + if (from.tx() != 0) { + set_tx(from.tx()); + } + if (from.ty() != 0) { + set_ty(from.ty()); + } + if (from.tz() != 0) { + set_tz(from.tz()); + } +} + +void CameraExtrinsicParameter::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.CameraExtrinsicParameter) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void CameraExtrinsicParameter::CopyFrom(const CameraExtrinsicParameter& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.CameraExtrinsicParameter) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool CameraExtrinsicParameter::IsInitialized() const { + return true; +} + +void CameraExtrinsicParameter::Swap(CameraExtrinsicParameter* other) { + if (other == this) return; + InternalSwap(other); +} +void CameraExtrinsicParameter::InternalSwap(CameraExtrinsicParameter* other) { + using std::swap; + swap(roll_, other->roll_); + swap(pitch_, other->pitch_); + swap(yaw_, other->yaw_); + swap(tx_, other->tx_); + swap(ty_, other->ty_); + swap(tz_, other->tz_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata CameraExtrinsicParameter::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void CameraParameter::InitAsDefaultInstance() { + ::apollo::localization::_CameraParameter_default_instance_._instance.get_mutable()->intrisic_parameter_ = const_cast< ::apollo::localization::CameraIntrinsicParameter*>( + ::apollo::localization::CameraIntrinsicParameter::internal_default_instance()); + ::apollo::localization::_CameraParameter_default_instance_._instance.get_mutable()->extrisic_parameter_ = const_cast< ::apollo::localization::CameraExtrinsicParameter*>( + ::apollo::localization::CameraExtrinsicParameter::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int CameraParameter::kIntrisicParameterFieldNumber; +const int CameraParameter::kExtrisicParameterFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +CameraParameter::CameraParameter() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::scc_info_CameraParameter.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.CameraParameter) +} +CameraParameter::CameraParameter(const CameraParameter& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_intrisic_parameter()) { + intrisic_parameter_ = new ::apollo::localization::CameraIntrinsicParameter(*from.intrisic_parameter_); + } else { + intrisic_parameter_ = NULL; + } + if (from.has_extrisic_parameter()) { + extrisic_parameter_ = new ::apollo::localization::CameraExtrinsicParameter(*from.extrisic_parameter_); + } else { + extrisic_parameter_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.localization.CameraParameter) +} + +void CameraParameter::SharedCtor() { + ::memset(&intrisic_parameter_, 0, static_cast( + reinterpret_cast(&extrisic_parameter_) - + reinterpret_cast(&intrisic_parameter_)) + sizeof(extrisic_parameter_)); +} + +CameraParameter::~CameraParameter() { + // @@protoc_insertion_point(destructor:apollo.localization.CameraParameter) + SharedDtor(); +} + +void CameraParameter::SharedDtor() { + if (this != internal_default_instance()) delete intrisic_parameter_; + if (this != internal_default_instance()) delete extrisic_parameter_; +} + +void CameraParameter::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* CameraParameter::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const CameraParameter& CameraParameter::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::scc_info_CameraParameter.base); + return *internal_default_instance(); +} + + +void CameraParameter::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.CameraParameter) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && intrisic_parameter_ != NULL) { + delete intrisic_parameter_; + } + intrisic_parameter_ = NULL; + if (GetArenaNoVirtual() == NULL && extrisic_parameter_ != NULL) { + delete extrisic_parameter_; + } + extrisic_parameter_ = NULL; + _internal_metadata_.Clear(); +} + +bool CameraParameter::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.CameraParameter) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.localization.CameraIntrinsicParameter intrisic_parameter = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_intrisic_parameter())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.localization.CameraExtrinsicParameter extrisic_parameter = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_extrisic_parameter())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.CameraParameter) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.CameraParameter) + return false; +#undef DO_ +} + +void CameraParameter::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.CameraParameter) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.localization.CameraIntrinsicParameter intrisic_parameter = 1; + if (this->has_intrisic_parameter()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_intrisic_parameter(), output); + } + + // .apollo.localization.CameraExtrinsicParameter extrisic_parameter = 2; + if (this->has_extrisic_parameter()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_extrisic_parameter(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.CameraParameter) +} + +::google::protobuf::uint8* CameraParameter::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.CameraParameter) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.localization.CameraIntrinsicParameter intrisic_parameter = 1; + if (this->has_intrisic_parameter()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_intrisic_parameter(), deterministic, target); + } + + // .apollo.localization.CameraExtrinsicParameter extrisic_parameter = 2; + if (this->has_extrisic_parameter()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_extrisic_parameter(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.CameraParameter) + return target; +} + +size_t CameraParameter::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.CameraParameter) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.localization.CameraIntrinsicParameter intrisic_parameter = 1; + if (this->has_intrisic_parameter()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *intrisic_parameter_); + } + + // .apollo.localization.CameraExtrinsicParameter extrisic_parameter = 2; + if (this->has_extrisic_parameter()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *extrisic_parameter_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void CameraParameter::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.CameraParameter) + GOOGLE_DCHECK_NE(&from, this); + const CameraParameter* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.CameraParameter) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.CameraParameter) + MergeFrom(*source); + } +} + +void CameraParameter::MergeFrom(const CameraParameter& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.CameraParameter) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_intrisic_parameter()) { + mutable_intrisic_parameter()->::apollo::localization::CameraIntrinsicParameter::MergeFrom(from.intrisic_parameter()); + } + if (from.has_extrisic_parameter()) { + mutable_extrisic_parameter()->::apollo::localization::CameraExtrinsicParameter::MergeFrom(from.extrisic_parameter()); + } +} + +void CameraParameter::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.CameraParameter) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void CameraParameter::CopyFrom(const CameraParameter& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.CameraParameter) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool CameraParameter::IsInitialized() const { + return true; +} + +void CameraParameter::Swap(CameraParameter* other) { + if (other == this) return; + InternalSwap(other); +} +void CameraParameter::InternalSwap(CameraParameter* other) { + using std::swap; + swap(intrisic_parameter_, other->intrisic_parameter_); + swap(extrisic_parameter_, other->extrisic_parameter_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata CameraParameter::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::CameraIntrinsicParameter* Arena::CreateMaybeMessage< ::apollo::localization::CameraIntrinsicParameter >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::CameraIntrinsicParameter >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::CameraExtrinsicParameter* Arena::CreateMaybeMessage< ::apollo::localization::CameraExtrinsicParameter >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::CameraExtrinsicParameter >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::CameraParameter* Arena::CreateMaybeMessage< ::apollo::localization::CameraParameter >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::CameraParameter >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/camera_parameter.pb.h b/apollo_msgs/include/apollo_msgs/proto/localization/camera_parameter.pb.h new file mode 100644 index 0000000..015c06f --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/camera_parameter.pb.h @@ -0,0 +1,737 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/camera_parameter.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[3]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto +namespace apollo { +namespace localization { +class CameraExtrinsicParameter; +class CameraExtrinsicParameterDefaultTypeInternal; +extern CameraExtrinsicParameterDefaultTypeInternal _CameraExtrinsicParameter_default_instance_; +class CameraIntrinsicParameter; +class CameraIntrinsicParameterDefaultTypeInternal; +extern CameraIntrinsicParameterDefaultTypeInternal _CameraIntrinsicParameter_default_instance_; +class CameraParameter; +class CameraParameterDefaultTypeInternal; +extern CameraParameterDefaultTypeInternal _CameraParameter_default_instance_; +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::localization::CameraExtrinsicParameter* Arena::CreateMaybeMessage<::apollo::localization::CameraExtrinsicParameter>(Arena*); +template<> ::apollo::localization::CameraIntrinsicParameter* Arena::CreateMaybeMessage<::apollo::localization::CameraIntrinsicParameter>(Arena*); +template<> ::apollo::localization::CameraParameter* Arena::CreateMaybeMessage<::apollo::localization::CameraParameter>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace localization { + +// =================================================================== + +class CameraIntrinsicParameter : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.CameraIntrinsicParameter) */ { + public: + CameraIntrinsicParameter(); + virtual ~CameraIntrinsicParameter(); + + CameraIntrinsicParameter(const CameraIntrinsicParameter& from); + + inline CameraIntrinsicParameter& operator=(const CameraIntrinsicParameter& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + CameraIntrinsicParameter(CameraIntrinsicParameter&& from) noexcept + : CameraIntrinsicParameter() { + *this = ::std::move(from); + } + + inline CameraIntrinsicParameter& operator=(CameraIntrinsicParameter&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const CameraIntrinsicParameter& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const CameraIntrinsicParameter* internal_default_instance() { + return reinterpret_cast( + &_CameraIntrinsicParameter_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(CameraIntrinsicParameter* other); + friend void swap(CameraIntrinsicParameter& a, CameraIntrinsicParameter& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline CameraIntrinsicParameter* New() const final { + return CreateMaybeMessage(NULL); + } + + CameraIntrinsicParameter* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const CameraIntrinsicParameter& from); + void MergeFrom(const CameraIntrinsicParameter& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(CameraIntrinsicParameter* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double fx = 1; + void clear_fx(); + static const int kFxFieldNumber = 1; + double fx() const; + void set_fx(double value); + + // double fy = 2; + void clear_fy(); + static const int kFyFieldNumber = 2; + double fy() const; + void set_fy(double value); + + // double cx = 3; + void clear_cx(); + static const int kCxFieldNumber = 3; + double cx() const; + void set_cx(double value); + + // double cy = 4; + void clear_cy(); + static const int kCyFieldNumber = 4; + double cy() const; + void set_cy(double value); + + // @@protoc_insertion_point(class_scope:apollo.localization.CameraIntrinsicParameter) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double fx_; + double fy_; + double cx_; + double cy_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class CameraExtrinsicParameter : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.CameraExtrinsicParameter) */ { + public: + CameraExtrinsicParameter(); + virtual ~CameraExtrinsicParameter(); + + CameraExtrinsicParameter(const CameraExtrinsicParameter& from); + + inline CameraExtrinsicParameter& operator=(const CameraExtrinsicParameter& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + CameraExtrinsicParameter(CameraExtrinsicParameter&& from) noexcept + : CameraExtrinsicParameter() { + *this = ::std::move(from); + } + + inline CameraExtrinsicParameter& operator=(CameraExtrinsicParameter&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const CameraExtrinsicParameter& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const CameraExtrinsicParameter* internal_default_instance() { + return reinterpret_cast( + &_CameraExtrinsicParameter_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(CameraExtrinsicParameter* other); + friend void swap(CameraExtrinsicParameter& a, CameraExtrinsicParameter& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline CameraExtrinsicParameter* New() const final { + return CreateMaybeMessage(NULL); + } + + CameraExtrinsicParameter* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const CameraExtrinsicParameter& from); + void MergeFrom(const CameraExtrinsicParameter& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(CameraExtrinsicParameter* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double roll = 1; + void clear_roll(); + static const int kRollFieldNumber = 1; + double roll() const; + void set_roll(double value); + + // double pitch = 2; + void clear_pitch(); + static const int kPitchFieldNumber = 2; + double pitch() const; + void set_pitch(double value); + + // double yaw = 3; + void clear_yaw(); + static const int kYawFieldNumber = 3; + double yaw() const; + void set_yaw(double value); + + // double tx = 4; + void clear_tx(); + static const int kTxFieldNumber = 4; + double tx() const; + void set_tx(double value); + + // double ty = 5; + void clear_ty(); + static const int kTyFieldNumber = 5; + double ty() const; + void set_ty(double value); + + // double tz = 6; + void clear_tz(); + static const int kTzFieldNumber = 6; + double tz() const; + void set_tz(double value); + + // @@protoc_insertion_point(class_scope:apollo.localization.CameraExtrinsicParameter) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double roll_; + double pitch_; + double yaw_; + double tx_; + double ty_; + double tz_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class CameraParameter : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.CameraParameter) */ { + public: + CameraParameter(); + virtual ~CameraParameter(); + + CameraParameter(const CameraParameter& from); + + inline CameraParameter& operator=(const CameraParameter& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + CameraParameter(CameraParameter&& from) noexcept + : CameraParameter() { + *this = ::std::move(from); + } + + inline CameraParameter& operator=(CameraParameter&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const CameraParameter& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const CameraParameter* internal_default_instance() { + return reinterpret_cast( + &_CameraParameter_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(CameraParameter* other); + friend void swap(CameraParameter& a, CameraParameter& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline CameraParameter* New() const final { + return CreateMaybeMessage(NULL); + } + + CameraParameter* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const CameraParameter& from); + void MergeFrom(const CameraParameter& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(CameraParameter* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.localization.CameraIntrinsicParameter intrisic_parameter = 1; + bool has_intrisic_parameter() const; + void clear_intrisic_parameter(); + static const int kIntrisicParameterFieldNumber = 1; + private: + const ::apollo::localization::CameraIntrinsicParameter& _internal_intrisic_parameter() const; + public: + const ::apollo::localization::CameraIntrinsicParameter& intrisic_parameter() const; + ::apollo::localization::CameraIntrinsicParameter* release_intrisic_parameter(); + ::apollo::localization::CameraIntrinsicParameter* mutable_intrisic_parameter(); + void set_allocated_intrisic_parameter(::apollo::localization::CameraIntrinsicParameter* intrisic_parameter); + + // .apollo.localization.CameraExtrinsicParameter extrisic_parameter = 2; + bool has_extrisic_parameter() const; + void clear_extrisic_parameter(); + static const int kExtrisicParameterFieldNumber = 2; + private: + const ::apollo::localization::CameraExtrinsicParameter& _internal_extrisic_parameter() const; + public: + const ::apollo::localization::CameraExtrinsicParameter& extrisic_parameter() const; + ::apollo::localization::CameraExtrinsicParameter* release_extrisic_parameter(); + ::apollo::localization::CameraExtrinsicParameter* mutable_extrisic_parameter(); + void set_allocated_extrisic_parameter(::apollo::localization::CameraExtrinsicParameter* extrisic_parameter); + + // @@protoc_insertion_point(class_scope:apollo.localization.CameraParameter) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::localization::CameraIntrinsicParameter* intrisic_parameter_; + ::apollo::localization::CameraExtrinsicParameter* extrisic_parameter_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// CameraIntrinsicParameter + +// double fx = 1; +inline void CameraIntrinsicParameter::clear_fx() { + fx_ = 0; +} +inline double CameraIntrinsicParameter::fx() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraIntrinsicParameter.fx) + return fx_; +} +inline void CameraIntrinsicParameter::set_fx(double value) { + + fx_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraIntrinsicParameter.fx) +} + +// double fy = 2; +inline void CameraIntrinsicParameter::clear_fy() { + fy_ = 0; +} +inline double CameraIntrinsicParameter::fy() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraIntrinsicParameter.fy) + return fy_; +} +inline void CameraIntrinsicParameter::set_fy(double value) { + + fy_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraIntrinsicParameter.fy) +} + +// double cx = 3; +inline void CameraIntrinsicParameter::clear_cx() { + cx_ = 0; +} +inline double CameraIntrinsicParameter::cx() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraIntrinsicParameter.cx) + return cx_; +} +inline void CameraIntrinsicParameter::set_cx(double value) { + + cx_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraIntrinsicParameter.cx) +} + +// double cy = 4; +inline void CameraIntrinsicParameter::clear_cy() { + cy_ = 0; +} +inline double CameraIntrinsicParameter::cy() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraIntrinsicParameter.cy) + return cy_; +} +inline void CameraIntrinsicParameter::set_cy(double value) { + + cy_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraIntrinsicParameter.cy) +} + +// ------------------------------------------------------------------- + +// CameraExtrinsicParameter + +// double roll = 1; +inline void CameraExtrinsicParameter::clear_roll() { + roll_ = 0; +} +inline double CameraExtrinsicParameter::roll() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraExtrinsicParameter.roll) + return roll_; +} +inline void CameraExtrinsicParameter::set_roll(double value) { + + roll_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraExtrinsicParameter.roll) +} + +// double pitch = 2; +inline void CameraExtrinsicParameter::clear_pitch() { + pitch_ = 0; +} +inline double CameraExtrinsicParameter::pitch() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraExtrinsicParameter.pitch) + return pitch_; +} +inline void CameraExtrinsicParameter::set_pitch(double value) { + + pitch_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraExtrinsicParameter.pitch) +} + +// double yaw = 3; +inline void CameraExtrinsicParameter::clear_yaw() { + yaw_ = 0; +} +inline double CameraExtrinsicParameter::yaw() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraExtrinsicParameter.yaw) + return yaw_; +} +inline void CameraExtrinsicParameter::set_yaw(double value) { + + yaw_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraExtrinsicParameter.yaw) +} + +// double tx = 4; +inline void CameraExtrinsicParameter::clear_tx() { + tx_ = 0; +} +inline double CameraExtrinsicParameter::tx() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraExtrinsicParameter.tx) + return tx_; +} +inline void CameraExtrinsicParameter::set_tx(double value) { + + tx_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraExtrinsicParameter.tx) +} + +// double ty = 5; +inline void CameraExtrinsicParameter::clear_ty() { + ty_ = 0; +} +inline double CameraExtrinsicParameter::ty() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraExtrinsicParameter.ty) + return ty_; +} +inline void CameraExtrinsicParameter::set_ty(double value) { + + ty_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraExtrinsicParameter.ty) +} + +// double tz = 6; +inline void CameraExtrinsicParameter::clear_tz() { + tz_ = 0; +} +inline double CameraExtrinsicParameter::tz() const { + // @@protoc_insertion_point(field_get:apollo.localization.CameraExtrinsicParameter.tz) + return tz_; +} +inline void CameraExtrinsicParameter::set_tz(double value) { + + tz_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.CameraExtrinsicParameter.tz) +} + +// ------------------------------------------------------------------- + +// CameraParameter + +// .apollo.localization.CameraIntrinsicParameter intrisic_parameter = 1; +inline bool CameraParameter::has_intrisic_parameter() const { + return this != internal_default_instance() && intrisic_parameter_ != NULL; +} +inline void CameraParameter::clear_intrisic_parameter() { + if (GetArenaNoVirtual() == NULL && intrisic_parameter_ != NULL) { + delete intrisic_parameter_; + } + intrisic_parameter_ = NULL; +} +inline const ::apollo::localization::CameraIntrinsicParameter& CameraParameter::_internal_intrisic_parameter() const { + return *intrisic_parameter_; +} +inline const ::apollo::localization::CameraIntrinsicParameter& CameraParameter::intrisic_parameter() const { + const ::apollo::localization::CameraIntrinsicParameter* p = intrisic_parameter_; + // @@protoc_insertion_point(field_get:apollo.localization.CameraParameter.intrisic_parameter) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::localization::_CameraIntrinsicParameter_default_instance_); +} +inline ::apollo::localization::CameraIntrinsicParameter* CameraParameter::release_intrisic_parameter() { + // @@protoc_insertion_point(field_release:apollo.localization.CameraParameter.intrisic_parameter) + + ::apollo::localization::CameraIntrinsicParameter* temp = intrisic_parameter_; + intrisic_parameter_ = NULL; + return temp; +} +inline ::apollo::localization::CameraIntrinsicParameter* CameraParameter::mutable_intrisic_parameter() { + + if (intrisic_parameter_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::localization::CameraIntrinsicParameter>(GetArenaNoVirtual()); + intrisic_parameter_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.CameraParameter.intrisic_parameter) + return intrisic_parameter_; +} +inline void CameraParameter::set_allocated_intrisic_parameter(::apollo::localization::CameraIntrinsicParameter* intrisic_parameter) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete intrisic_parameter_; + } + if (intrisic_parameter) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + intrisic_parameter = ::google::protobuf::internal::GetOwnedMessage( + message_arena, intrisic_parameter, submessage_arena); + } + + } else { + + } + intrisic_parameter_ = intrisic_parameter; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.CameraParameter.intrisic_parameter) +} + +// .apollo.localization.CameraExtrinsicParameter extrisic_parameter = 2; +inline bool CameraParameter::has_extrisic_parameter() const { + return this != internal_default_instance() && extrisic_parameter_ != NULL; +} +inline void CameraParameter::clear_extrisic_parameter() { + if (GetArenaNoVirtual() == NULL && extrisic_parameter_ != NULL) { + delete extrisic_parameter_; + } + extrisic_parameter_ = NULL; +} +inline const ::apollo::localization::CameraExtrinsicParameter& CameraParameter::_internal_extrisic_parameter() const { + return *extrisic_parameter_; +} +inline const ::apollo::localization::CameraExtrinsicParameter& CameraParameter::extrisic_parameter() const { + const ::apollo::localization::CameraExtrinsicParameter* p = extrisic_parameter_; + // @@protoc_insertion_point(field_get:apollo.localization.CameraParameter.extrisic_parameter) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::localization::_CameraExtrinsicParameter_default_instance_); +} +inline ::apollo::localization::CameraExtrinsicParameter* CameraParameter::release_extrisic_parameter() { + // @@protoc_insertion_point(field_release:apollo.localization.CameraParameter.extrisic_parameter) + + ::apollo::localization::CameraExtrinsicParameter* temp = extrisic_parameter_; + extrisic_parameter_ = NULL; + return temp; +} +inline ::apollo::localization::CameraExtrinsicParameter* CameraParameter::mutable_extrisic_parameter() { + + if (extrisic_parameter_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::localization::CameraExtrinsicParameter>(GetArenaNoVirtual()); + extrisic_parameter_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.CameraParameter.extrisic_parameter) + return extrisic_parameter_; +} +inline void CameraParameter::set_allocated_extrisic_parameter(::apollo::localization::CameraExtrinsicParameter* extrisic_parameter) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete extrisic_parameter_; + } + if (extrisic_parameter) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + extrisic_parameter = ::google::protobuf::internal::GetOwnedMessage( + message_arena, extrisic_parameter, submessage_arena); + } + + } else { + + } + extrisic_parameter_ = extrisic_parameter; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.CameraParameter.extrisic_parameter) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace localization +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fcamera_5fparameter_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/gps.pb.cc b/apollo_msgs/include/apollo_msgs/proto/localization/gps.pb.cc new file mode 100644 index 0000000..212612a --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/gps.pb.cc @@ -0,0 +1,436 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/gps.proto + +#include "apollo_msgs/proto/localization/gps.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto ::google::protobuf::internal::SCCInfo<3> scc_info_Pose; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto +namespace apollo { +namespace localization { +class GpsDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Gps_default_instance_; +} // namespace localization +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto { +static void InitDefaultsGps() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_Gps_default_instance_; + new (ptr) ::apollo::localization::Gps(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::Gps::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_Gps = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsGps}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::scc_info_Pose.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Gps.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Gps, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Gps, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Gps, localization_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::localization::Gps)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::localization::_Gps_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/localization/gps.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n(apollo_msgs/proto/localization/gps.pro" + "to\022\023apollo.localization\032%apollo_msgs/pro" + "to/common/header.proto\032)apollo_msgs/prot" + "o/localization/pose.proto\"]\n\003Gps\022%\n\006head" + "er\030\001 \001(\0132\025.apollo.common.Header\022/\n\014local" + "ization\030\002 \001(\0132\031.apollo.localization.Pose" + "b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 248); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/localization/gps.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto +namespace apollo { +namespace localization { + +// =================================================================== + +void Gps::InitAsDefaultInstance() { + ::apollo::localization::_Gps_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::localization::_Gps_default_instance_._instance.get_mutable()->localization_ = const_cast< ::apollo::localization::Pose*>( + ::apollo::localization::Pose::internal_default_instance()); +} +void Gps::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +void Gps::clear_localization() { + if (GetArenaNoVirtual() == NULL && localization_ != NULL) { + delete localization_; + } + localization_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Gps::kHeaderFieldNumber; +const int Gps::kLocalizationFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Gps::Gps() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto::scc_info_Gps.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.Gps) +} +Gps::Gps(const Gps& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + if (from.has_localization()) { + localization_ = new ::apollo::localization::Pose(*from.localization_); + } else { + localization_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.localization.Gps) +} + +void Gps::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&localization_) - + reinterpret_cast(&header_)) + sizeof(localization_)); +} + +Gps::~Gps() { + // @@protoc_insertion_point(destructor:apollo.localization.Gps) + SharedDtor(); +} + +void Gps::SharedDtor() { + if (this != internal_default_instance()) delete header_; + if (this != internal_default_instance()) delete localization_; +} + +void Gps::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Gps::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Gps& Gps::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto::scc_info_Gps.base); + return *internal_default_instance(); +} + + +void Gps::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.Gps) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + if (GetArenaNoVirtual() == NULL && localization_ != NULL) { + delete localization_; + } + localization_ = NULL; + _internal_metadata_.Clear(); +} + +bool Gps::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.Gps) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.localization.Pose localization = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_localization())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.Gps) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.Gps) + return false; +#undef DO_ +} + +void Gps::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.Gps) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // .apollo.localization.Pose localization = 2; + if (this->has_localization()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_localization(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.Gps) +} + +::google::protobuf::uint8* Gps::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.Gps) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // .apollo.localization.Pose localization = 2; + if (this->has_localization()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_localization(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.Gps) + return target; +} + +size_t Gps::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.Gps) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.localization.Pose localization = 2; + if (this->has_localization()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *localization_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Gps::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.Gps) + GOOGLE_DCHECK_NE(&from, this); + const Gps* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.Gps) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.Gps) + MergeFrom(*source); + } +} + +void Gps::MergeFrom(const Gps& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.Gps) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.has_localization()) { + mutable_localization()->::apollo::localization::Pose::MergeFrom(from.localization()); + } +} + +void Gps::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.Gps) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Gps::CopyFrom(const Gps& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.Gps) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Gps::IsInitialized() const { + return true; +} + +void Gps::Swap(Gps* other) { + if (other == this) return; + InternalSwap(other); +} +void Gps::InternalSwap(Gps* other) { + using std::swap; + swap(header_, other->header_); + swap(localization_, other->localization_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Gps::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::Gps* Arena::CreateMaybeMessage< ::apollo::localization::Gps >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::Gps >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/gps.pb.h b/apollo_msgs/include/apollo_msgs/proto/localization/gps.pb.h new file mode 100644 index 0000000..bf6ac39 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/gps.pb.h @@ -0,0 +1,305 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/gps.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/localization/pose.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto +namespace apollo { +namespace localization { +class Gps; +class GpsDefaultTypeInternal; +extern GpsDefaultTypeInternal _Gps_default_instance_; +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::localization::Gps* Arena::CreateMaybeMessage<::apollo::localization::Gps>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace localization { + +// =================================================================== + +class Gps : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.Gps) */ { + public: + Gps(); + virtual ~Gps(); + + Gps(const Gps& from); + + inline Gps& operator=(const Gps& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Gps(Gps&& from) noexcept + : Gps() { + *this = ::std::move(from); + } + + inline Gps& operator=(Gps&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Gps& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Gps* internal_default_instance() { + return reinterpret_cast( + &_Gps_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Gps* other); + friend void swap(Gps& a, Gps& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Gps* New() const final { + return CreateMaybeMessage(NULL); + } + + Gps* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Gps& from); + void MergeFrom(const Gps& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Gps* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.localization.Pose localization = 2; + bool has_localization() const; + void clear_localization(); + static const int kLocalizationFieldNumber = 2; + private: + const ::apollo::localization::Pose& _internal_localization() const; + public: + const ::apollo::localization::Pose& localization() const; + ::apollo::localization::Pose* release_localization(); + ::apollo::localization::Pose* mutable_localization(); + void set_allocated_localization(::apollo::localization::Pose* localization); + + // @@protoc_insertion_point(class_scope:apollo.localization.Gps) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + ::apollo::localization::Pose* localization_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Gps + +// .apollo.common.Header header = 1; +inline bool Gps::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& Gps::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& Gps::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.localization.Gps.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* Gps::release_header() { + // @@protoc_insertion_point(field_release:apollo.localization.Gps.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* Gps::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Gps.header) + return header_; +} +inline void Gps::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Gps.header) +} + +// .apollo.localization.Pose localization = 2; +inline bool Gps::has_localization() const { + return this != internal_default_instance() && localization_ != NULL; +} +inline const ::apollo::localization::Pose& Gps::_internal_localization() const { + return *localization_; +} +inline const ::apollo::localization::Pose& Gps::localization() const { + const ::apollo::localization::Pose* p = localization_; + // @@protoc_insertion_point(field_get:apollo.localization.Gps.localization) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::localization::_Pose_default_instance_); +} +inline ::apollo::localization::Pose* Gps::release_localization() { + // @@protoc_insertion_point(field_release:apollo.localization.Gps.localization) + + ::apollo::localization::Pose* temp = localization_; + localization_ = NULL; + return temp; +} +inline ::apollo::localization::Pose* Gps::mutable_localization() { + + if (localization_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::localization::Pose>(GetArenaNoVirtual()); + localization_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Gps.localization) + return localization_; +} +inline void Gps::set_allocated_localization(::apollo::localization::Pose* localization) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(localization_); + } + if (localization) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + localization = ::google::protobuf::internal::GetOwnedMessage( + message_arena, localization, submessage_arena); + } + + } else { + + } + localization_ = localization; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Gps.localization) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace localization +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fgps_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/imu.pb.cc b/apollo_msgs/include/apollo_msgs/proto/localization/imu.pb.cc new file mode 100644 index 0000000..6a4ae35 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/imu.pb.cc @@ -0,0 +1,435 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/imu.proto + +#include "apollo_msgs/proto/localization/imu.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto ::google::protobuf::internal::SCCInfo<3> scc_info_Pose; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto +namespace apollo { +namespace localization { +class ImuDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Imu_default_instance_; +} // namespace localization +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto { +static void InitDefaultsImu() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_Imu_default_instance_; + new (ptr) ::apollo::localization::Imu(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::Imu::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_Imu = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsImu}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::scc_info_Pose.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Imu.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Imu, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Imu, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Imu, imu_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::localization::Imu)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::localization::_Imu_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/localization/imu.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n(apollo_msgs/proto/localization/imu.pro" + "to\022\023apollo.localization\032%apollo_msgs/pro" + "to/common/header.proto\032)apollo_msgs/prot" + "o/localization/pose.proto\"T\n\003Imu\022%\n\006head" + "er\030\001 \001(\0132\025.apollo.common.Header\022&\n\003imu\030\003" + " \001(\0132\031.apollo.localization.Poseb\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 239); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/localization/imu.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto +namespace apollo { +namespace localization { + +// =================================================================== + +void Imu::InitAsDefaultInstance() { + ::apollo::localization::_Imu_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::localization::_Imu_default_instance_._instance.get_mutable()->imu_ = const_cast< ::apollo::localization::Pose*>( + ::apollo::localization::Pose::internal_default_instance()); +} +void Imu::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +void Imu::clear_imu() { + if (GetArenaNoVirtual() == NULL && imu_ != NULL) { + delete imu_; + } + imu_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Imu::kHeaderFieldNumber; +const int Imu::kImuFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Imu::Imu() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto::scc_info_Imu.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.Imu) +} +Imu::Imu(const Imu& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + if (from.has_imu()) { + imu_ = new ::apollo::localization::Pose(*from.imu_); + } else { + imu_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.localization.Imu) +} + +void Imu::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&imu_) - + reinterpret_cast(&header_)) + sizeof(imu_)); +} + +Imu::~Imu() { + // @@protoc_insertion_point(destructor:apollo.localization.Imu) + SharedDtor(); +} + +void Imu::SharedDtor() { + if (this != internal_default_instance()) delete header_; + if (this != internal_default_instance()) delete imu_; +} + +void Imu::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Imu::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Imu& Imu::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto::scc_info_Imu.base); + return *internal_default_instance(); +} + + +void Imu::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.Imu) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + if (GetArenaNoVirtual() == NULL && imu_ != NULL) { + delete imu_; + } + imu_ = NULL; + _internal_metadata_.Clear(); +} + +bool Imu::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.Imu) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.localization.Pose imu = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_imu())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.Imu) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.Imu) + return false; +#undef DO_ +} + +void Imu::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.Imu) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // .apollo.localization.Pose imu = 3; + if (this->has_imu()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_imu(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.Imu) +} + +::google::protobuf::uint8* Imu::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.Imu) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // .apollo.localization.Pose imu = 3; + if (this->has_imu()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_imu(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.Imu) + return target; +} + +size_t Imu::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.Imu) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.localization.Pose imu = 3; + if (this->has_imu()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *imu_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Imu::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.Imu) + GOOGLE_DCHECK_NE(&from, this); + const Imu* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.Imu) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.Imu) + MergeFrom(*source); + } +} + +void Imu::MergeFrom(const Imu& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.Imu) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.has_imu()) { + mutable_imu()->::apollo::localization::Pose::MergeFrom(from.imu()); + } +} + +void Imu::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.Imu) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Imu::CopyFrom(const Imu& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.Imu) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Imu::IsInitialized() const { + return true; +} + +void Imu::Swap(Imu* other) { + if (other == this) return; + InternalSwap(other); +} +void Imu::InternalSwap(Imu* other) { + using std::swap; + swap(header_, other->header_); + swap(imu_, other->imu_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Imu::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::Imu* Arena::CreateMaybeMessage< ::apollo::localization::Imu >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::Imu >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/imu.pb.h b/apollo_msgs/include/apollo_msgs/proto/localization/imu.pb.h new file mode 100644 index 0000000..f69ff12 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/imu.pb.h @@ -0,0 +1,305 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/imu.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/localization/pose.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto +namespace apollo { +namespace localization { +class Imu; +class ImuDefaultTypeInternal; +extern ImuDefaultTypeInternal _Imu_default_instance_; +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::localization::Imu* Arena::CreateMaybeMessage<::apollo::localization::Imu>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace localization { + +// =================================================================== + +class Imu : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.Imu) */ { + public: + Imu(); + virtual ~Imu(); + + Imu(const Imu& from); + + inline Imu& operator=(const Imu& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Imu(Imu&& from) noexcept + : Imu() { + *this = ::std::move(from); + } + + inline Imu& operator=(Imu&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Imu& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Imu* internal_default_instance() { + return reinterpret_cast( + &_Imu_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Imu* other); + friend void swap(Imu& a, Imu& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Imu* New() const final { + return CreateMaybeMessage(NULL); + } + + Imu* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Imu& from); + void MergeFrom(const Imu& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Imu* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.localization.Pose imu = 3; + bool has_imu() const; + void clear_imu(); + static const int kImuFieldNumber = 3; + private: + const ::apollo::localization::Pose& _internal_imu() const; + public: + const ::apollo::localization::Pose& imu() const; + ::apollo::localization::Pose* release_imu(); + ::apollo::localization::Pose* mutable_imu(); + void set_allocated_imu(::apollo::localization::Pose* imu); + + // @@protoc_insertion_point(class_scope:apollo.localization.Imu) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + ::apollo::localization::Pose* imu_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Imu + +// .apollo.common.Header header = 1; +inline bool Imu::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& Imu::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& Imu::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.localization.Imu.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* Imu::release_header() { + // @@protoc_insertion_point(field_release:apollo.localization.Imu.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* Imu::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Imu.header) + return header_; +} +inline void Imu::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Imu.header) +} + +// .apollo.localization.Pose imu = 3; +inline bool Imu::has_imu() const { + return this != internal_default_instance() && imu_ != NULL; +} +inline const ::apollo::localization::Pose& Imu::_internal_imu() const { + return *imu_; +} +inline const ::apollo::localization::Pose& Imu::imu() const { + const ::apollo::localization::Pose* p = imu_; + // @@protoc_insertion_point(field_get:apollo.localization.Imu.imu) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::localization::_Pose_default_instance_); +} +inline ::apollo::localization::Pose* Imu::release_imu() { + // @@protoc_insertion_point(field_release:apollo.localization.Imu.imu) + + ::apollo::localization::Pose* temp = imu_; + imu_ = NULL; + return temp; +} +inline ::apollo::localization::Pose* Imu::mutable_imu() { + + if (imu_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::localization::Pose>(GetArenaNoVirtual()); + imu_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Imu.imu) + return imu_; +} +inline void Imu::set_allocated_imu(::apollo::localization::Pose* imu) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(imu_); + } + if (imu) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + imu = ::google::protobuf::internal::GetOwnedMessage( + message_arena, imu, submessage_arena); + } + + } else { + + } + imu_ = imu; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Imu.imu) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace localization +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fimu_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/localization.pb.cc b/apollo_msgs/include/apollo_msgs/proto/localization/localization.pb.cc new file mode 100644 index 0000000..05bf3db --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/localization.pb.cc @@ -0,0 +1,1040 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/localization.proto + +#include "apollo_msgs/proto/localization/localization.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Point3D; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Uncertainty; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto ::google::protobuf::internal::SCCInfo<3> scc_info_Pose; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto +namespace apollo { +namespace localization { +class UncertaintyDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Uncertainty_default_instance_; +class LocalizationEstimateDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _LocalizationEstimate_default_instance_; +} // namespace localization +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto { +static void InitDefaultsUncertainty() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_Uncertainty_default_instance_; + new (ptr) ::apollo::localization::Uncertainty(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::Uncertainty::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_Uncertainty = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsUncertainty}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Point3D.base,}}; + +static void InitDefaultsLocalizationEstimate() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_LocalizationEstimate_default_instance_; + new (ptr) ::apollo::localization::LocalizationEstimate(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::LocalizationEstimate::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<3> scc_info_LocalizationEstimate = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 3, InitDefaultsLocalizationEstimate}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::scc_info_Pose.base, + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::scc_info_Uncertainty.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Uncertainty.base); + ::google::protobuf::internal::InitSCC(&scc_info_LocalizationEstimate.base); +} + +::google::protobuf::Metadata file_level_metadata[2]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Uncertainty, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Uncertainty, position_std_dev_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Uncertainty, orientation_std_dev_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Uncertainty, linear_velocity_std_dev_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Uncertainty, linear_acceleration_std_dev_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Uncertainty, angular_velocity_std_dev_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::LocalizationEstimate, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::LocalizationEstimate, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::LocalizationEstimate, pose_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::LocalizationEstimate, uncertainty_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::LocalizationEstimate, measurement_time_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::localization::Uncertainty)}, + { 10, -1, sizeof(::apollo::localization::LocalizationEstimate)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::localization::_Uncertainty_default_instance_), + reinterpret_cast(&::apollo::localization::_LocalizationEstimate_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/localization/localization.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 2); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n1apollo_msgs/proto/localization/localiz" + "ation.proto\022\023apollo.localization\032%apollo" + "_msgs/proto/common/header.proto\032)apollo_" + "msgs/proto/localization/pose.proto\032\'apol" + "lo_msgs/proto/common/geometry.proto\"\244\002\n\013" + "Uncertainty\0220\n\020position_std_dev\030\001 \001(\0132\026." + "apollo.common.Point3D\0223\n\023orientation_std" + "_dev\030\002 \001(\0132\026.apollo.common.Point3D\0227\n\027li" + "near_velocity_std_dev\030\003 \001(\0132\026.apollo.com" + "mon.Point3D\022;\n\033linear_acceleration_std_d" + "ev\030\004 \001(\0132\026.apollo.common.Point3D\0228\n\030angu" + "lar_velocity_std_dev\030\005 \001(\0132\026.apollo.comm" + "on.Point3D\"\267\001\n\024LocalizationEstimate\022%\n\006h" + "eader\030\001 \001(\0132\025.apollo.common.Header\022\'\n\004po" + "se\030\002 \001(\0132\031.apollo.localization.Pose\0225\n\013u" + "ncertainty\030\003 \001(\0132 .apollo.localization.U" + "ncertainty\022\030\n\020measurement_time\030\004 \001(\001b\006pr" + "oto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 684); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/localization/localization.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto +namespace apollo { +namespace localization { + +// =================================================================== + +void Uncertainty::InitAsDefaultInstance() { + ::apollo::localization::_Uncertainty_default_instance_._instance.get_mutable()->position_std_dev_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); + ::apollo::localization::_Uncertainty_default_instance_._instance.get_mutable()->orientation_std_dev_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); + ::apollo::localization::_Uncertainty_default_instance_._instance.get_mutable()->linear_velocity_std_dev_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); + ::apollo::localization::_Uncertainty_default_instance_._instance.get_mutable()->linear_acceleration_std_dev_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); + ::apollo::localization::_Uncertainty_default_instance_._instance.get_mutable()->angular_velocity_std_dev_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); +} +void Uncertainty::clear_position_std_dev() { + if (GetArenaNoVirtual() == NULL && position_std_dev_ != NULL) { + delete position_std_dev_; + } + position_std_dev_ = NULL; +} +void Uncertainty::clear_orientation_std_dev() { + if (GetArenaNoVirtual() == NULL && orientation_std_dev_ != NULL) { + delete orientation_std_dev_; + } + orientation_std_dev_ = NULL; +} +void Uncertainty::clear_linear_velocity_std_dev() { + if (GetArenaNoVirtual() == NULL && linear_velocity_std_dev_ != NULL) { + delete linear_velocity_std_dev_; + } + linear_velocity_std_dev_ = NULL; +} +void Uncertainty::clear_linear_acceleration_std_dev() { + if (GetArenaNoVirtual() == NULL && linear_acceleration_std_dev_ != NULL) { + delete linear_acceleration_std_dev_; + } + linear_acceleration_std_dev_ = NULL; +} +void Uncertainty::clear_angular_velocity_std_dev() { + if (GetArenaNoVirtual() == NULL && angular_velocity_std_dev_ != NULL) { + delete angular_velocity_std_dev_; + } + angular_velocity_std_dev_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Uncertainty::kPositionStdDevFieldNumber; +const int Uncertainty::kOrientationStdDevFieldNumber; +const int Uncertainty::kLinearVelocityStdDevFieldNumber; +const int Uncertainty::kLinearAccelerationStdDevFieldNumber; +const int Uncertainty::kAngularVelocityStdDevFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Uncertainty::Uncertainty() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::scc_info_Uncertainty.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.Uncertainty) +} +Uncertainty::Uncertainty(const Uncertainty& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_position_std_dev()) { + position_std_dev_ = new ::apollo::common::Point3D(*from.position_std_dev_); + } else { + position_std_dev_ = NULL; + } + if (from.has_orientation_std_dev()) { + orientation_std_dev_ = new ::apollo::common::Point3D(*from.orientation_std_dev_); + } else { + orientation_std_dev_ = NULL; + } + if (from.has_linear_velocity_std_dev()) { + linear_velocity_std_dev_ = new ::apollo::common::Point3D(*from.linear_velocity_std_dev_); + } else { + linear_velocity_std_dev_ = NULL; + } + if (from.has_linear_acceleration_std_dev()) { + linear_acceleration_std_dev_ = new ::apollo::common::Point3D(*from.linear_acceleration_std_dev_); + } else { + linear_acceleration_std_dev_ = NULL; + } + if (from.has_angular_velocity_std_dev()) { + angular_velocity_std_dev_ = new ::apollo::common::Point3D(*from.angular_velocity_std_dev_); + } else { + angular_velocity_std_dev_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.localization.Uncertainty) +} + +void Uncertainty::SharedCtor() { + ::memset(&position_std_dev_, 0, static_cast( + reinterpret_cast(&angular_velocity_std_dev_) - + reinterpret_cast(&position_std_dev_)) + sizeof(angular_velocity_std_dev_)); +} + +Uncertainty::~Uncertainty() { + // @@protoc_insertion_point(destructor:apollo.localization.Uncertainty) + SharedDtor(); +} + +void Uncertainty::SharedDtor() { + if (this != internal_default_instance()) delete position_std_dev_; + if (this != internal_default_instance()) delete orientation_std_dev_; + if (this != internal_default_instance()) delete linear_velocity_std_dev_; + if (this != internal_default_instance()) delete linear_acceleration_std_dev_; + if (this != internal_default_instance()) delete angular_velocity_std_dev_; +} + +void Uncertainty::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Uncertainty::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Uncertainty& Uncertainty::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::scc_info_Uncertainty.base); + return *internal_default_instance(); +} + + +void Uncertainty::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.Uncertainty) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && position_std_dev_ != NULL) { + delete position_std_dev_; + } + position_std_dev_ = NULL; + if (GetArenaNoVirtual() == NULL && orientation_std_dev_ != NULL) { + delete orientation_std_dev_; + } + orientation_std_dev_ = NULL; + if (GetArenaNoVirtual() == NULL && linear_velocity_std_dev_ != NULL) { + delete linear_velocity_std_dev_; + } + linear_velocity_std_dev_ = NULL; + if (GetArenaNoVirtual() == NULL && linear_acceleration_std_dev_ != NULL) { + delete linear_acceleration_std_dev_; + } + linear_acceleration_std_dev_ = NULL; + if (GetArenaNoVirtual() == NULL && angular_velocity_std_dev_ != NULL) { + delete angular_velocity_std_dev_; + } + angular_velocity_std_dev_ = NULL; + _internal_metadata_.Clear(); +} + +bool Uncertainty::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.Uncertainty) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Point3D position_std_dev = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_position_std_dev())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D orientation_std_dev = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_orientation_std_dev())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D linear_velocity_std_dev = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_linear_velocity_std_dev())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D linear_acceleration_std_dev = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_linear_acceleration_std_dev())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D angular_velocity_std_dev = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_angular_velocity_std_dev())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.Uncertainty) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.Uncertainty) + return false; +#undef DO_ +} + +void Uncertainty::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.Uncertainty) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Point3D position_std_dev = 1; + if (this->has_position_std_dev()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_position_std_dev(), output); + } + + // .apollo.common.Point3D orientation_std_dev = 2; + if (this->has_orientation_std_dev()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_orientation_std_dev(), output); + } + + // .apollo.common.Point3D linear_velocity_std_dev = 3; + if (this->has_linear_velocity_std_dev()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_linear_velocity_std_dev(), output); + } + + // .apollo.common.Point3D linear_acceleration_std_dev = 4; + if (this->has_linear_acceleration_std_dev()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_linear_acceleration_std_dev(), output); + } + + // .apollo.common.Point3D angular_velocity_std_dev = 5; + if (this->has_angular_velocity_std_dev()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, this->_internal_angular_velocity_std_dev(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.Uncertainty) +} + +::google::protobuf::uint8* Uncertainty::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.Uncertainty) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Point3D position_std_dev = 1; + if (this->has_position_std_dev()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_position_std_dev(), deterministic, target); + } + + // .apollo.common.Point3D orientation_std_dev = 2; + if (this->has_orientation_std_dev()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_orientation_std_dev(), deterministic, target); + } + + // .apollo.common.Point3D linear_velocity_std_dev = 3; + if (this->has_linear_velocity_std_dev()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_linear_velocity_std_dev(), deterministic, target); + } + + // .apollo.common.Point3D linear_acceleration_std_dev = 4; + if (this->has_linear_acceleration_std_dev()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_linear_acceleration_std_dev(), deterministic, target); + } + + // .apollo.common.Point3D angular_velocity_std_dev = 5; + if (this->has_angular_velocity_std_dev()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->_internal_angular_velocity_std_dev(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.Uncertainty) + return target; +} + +size_t Uncertainty::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.Uncertainty) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Point3D position_std_dev = 1; + if (this->has_position_std_dev()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *position_std_dev_); + } + + // .apollo.common.Point3D orientation_std_dev = 2; + if (this->has_orientation_std_dev()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *orientation_std_dev_); + } + + // .apollo.common.Point3D linear_velocity_std_dev = 3; + if (this->has_linear_velocity_std_dev()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *linear_velocity_std_dev_); + } + + // .apollo.common.Point3D linear_acceleration_std_dev = 4; + if (this->has_linear_acceleration_std_dev()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *linear_acceleration_std_dev_); + } + + // .apollo.common.Point3D angular_velocity_std_dev = 5; + if (this->has_angular_velocity_std_dev()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *angular_velocity_std_dev_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Uncertainty::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.Uncertainty) + GOOGLE_DCHECK_NE(&from, this); + const Uncertainty* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.Uncertainty) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.Uncertainty) + MergeFrom(*source); + } +} + +void Uncertainty::MergeFrom(const Uncertainty& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.Uncertainty) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_position_std_dev()) { + mutable_position_std_dev()->::apollo::common::Point3D::MergeFrom(from.position_std_dev()); + } + if (from.has_orientation_std_dev()) { + mutable_orientation_std_dev()->::apollo::common::Point3D::MergeFrom(from.orientation_std_dev()); + } + if (from.has_linear_velocity_std_dev()) { + mutable_linear_velocity_std_dev()->::apollo::common::Point3D::MergeFrom(from.linear_velocity_std_dev()); + } + if (from.has_linear_acceleration_std_dev()) { + mutable_linear_acceleration_std_dev()->::apollo::common::Point3D::MergeFrom(from.linear_acceleration_std_dev()); + } + if (from.has_angular_velocity_std_dev()) { + mutable_angular_velocity_std_dev()->::apollo::common::Point3D::MergeFrom(from.angular_velocity_std_dev()); + } +} + +void Uncertainty::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.Uncertainty) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Uncertainty::CopyFrom(const Uncertainty& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.Uncertainty) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Uncertainty::IsInitialized() const { + return true; +} + +void Uncertainty::Swap(Uncertainty* other) { + if (other == this) return; + InternalSwap(other); +} +void Uncertainty::InternalSwap(Uncertainty* other) { + using std::swap; + swap(position_std_dev_, other->position_std_dev_); + swap(orientation_std_dev_, other->orientation_std_dev_); + swap(linear_velocity_std_dev_, other->linear_velocity_std_dev_); + swap(linear_acceleration_std_dev_, other->linear_acceleration_std_dev_); + swap(angular_velocity_std_dev_, other->angular_velocity_std_dev_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Uncertainty::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void LocalizationEstimate::InitAsDefaultInstance() { + ::apollo::localization::_LocalizationEstimate_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::localization::_LocalizationEstimate_default_instance_._instance.get_mutable()->pose_ = const_cast< ::apollo::localization::Pose*>( + ::apollo::localization::Pose::internal_default_instance()); + ::apollo::localization::_LocalizationEstimate_default_instance_._instance.get_mutable()->uncertainty_ = const_cast< ::apollo::localization::Uncertainty*>( + ::apollo::localization::Uncertainty::internal_default_instance()); +} +void LocalizationEstimate::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +void LocalizationEstimate::clear_pose() { + if (GetArenaNoVirtual() == NULL && pose_ != NULL) { + delete pose_; + } + pose_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int LocalizationEstimate::kHeaderFieldNumber; +const int LocalizationEstimate::kPoseFieldNumber; +const int LocalizationEstimate::kUncertaintyFieldNumber; +const int LocalizationEstimate::kMeasurementTimeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +LocalizationEstimate::LocalizationEstimate() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::scc_info_LocalizationEstimate.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.LocalizationEstimate) +} +LocalizationEstimate::LocalizationEstimate(const LocalizationEstimate& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + if (from.has_pose()) { + pose_ = new ::apollo::localization::Pose(*from.pose_); + } else { + pose_ = NULL; + } + if (from.has_uncertainty()) { + uncertainty_ = new ::apollo::localization::Uncertainty(*from.uncertainty_); + } else { + uncertainty_ = NULL; + } + measurement_time_ = from.measurement_time_; + // @@protoc_insertion_point(copy_constructor:apollo.localization.LocalizationEstimate) +} + +void LocalizationEstimate::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&measurement_time_) - + reinterpret_cast(&header_)) + sizeof(measurement_time_)); +} + +LocalizationEstimate::~LocalizationEstimate() { + // @@protoc_insertion_point(destructor:apollo.localization.LocalizationEstimate) + SharedDtor(); +} + +void LocalizationEstimate::SharedDtor() { + if (this != internal_default_instance()) delete header_; + if (this != internal_default_instance()) delete pose_; + if (this != internal_default_instance()) delete uncertainty_; +} + +void LocalizationEstimate::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* LocalizationEstimate::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const LocalizationEstimate& LocalizationEstimate::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::scc_info_LocalizationEstimate.base); + return *internal_default_instance(); +} + + +void LocalizationEstimate::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.LocalizationEstimate) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + if (GetArenaNoVirtual() == NULL && pose_ != NULL) { + delete pose_; + } + pose_ = NULL; + if (GetArenaNoVirtual() == NULL && uncertainty_ != NULL) { + delete uncertainty_; + } + uncertainty_ = NULL; + measurement_time_ = 0; + _internal_metadata_.Clear(); +} + +bool LocalizationEstimate::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.LocalizationEstimate) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.localization.Pose pose = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_pose())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.localization.Uncertainty uncertainty = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_uncertainty())); + } else { + goto handle_unusual; + } + break; + } + + // double measurement_time = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &measurement_time_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.LocalizationEstimate) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.LocalizationEstimate) + return false; +#undef DO_ +} + +void LocalizationEstimate::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.LocalizationEstimate) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // .apollo.localization.Pose pose = 2; + if (this->has_pose()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_pose(), output); + } + + // .apollo.localization.Uncertainty uncertainty = 3; + if (this->has_uncertainty()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_uncertainty(), output); + } + + // double measurement_time = 4; + if (this->measurement_time() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->measurement_time(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.LocalizationEstimate) +} + +::google::protobuf::uint8* LocalizationEstimate::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.LocalizationEstimate) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // .apollo.localization.Pose pose = 2; + if (this->has_pose()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_pose(), deterministic, target); + } + + // .apollo.localization.Uncertainty uncertainty = 3; + if (this->has_uncertainty()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_uncertainty(), deterministic, target); + } + + // double measurement_time = 4; + if (this->measurement_time() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->measurement_time(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.LocalizationEstimate) + return target; +} + +size_t LocalizationEstimate::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.LocalizationEstimate) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.localization.Pose pose = 2; + if (this->has_pose()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *pose_); + } + + // .apollo.localization.Uncertainty uncertainty = 3; + if (this->has_uncertainty()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *uncertainty_); + } + + // double measurement_time = 4; + if (this->measurement_time() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void LocalizationEstimate::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.LocalizationEstimate) + GOOGLE_DCHECK_NE(&from, this); + const LocalizationEstimate* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.LocalizationEstimate) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.LocalizationEstimate) + MergeFrom(*source); + } +} + +void LocalizationEstimate::MergeFrom(const LocalizationEstimate& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.LocalizationEstimate) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.has_pose()) { + mutable_pose()->::apollo::localization::Pose::MergeFrom(from.pose()); + } + if (from.has_uncertainty()) { + mutable_uncertainty()->::apollo::localization::Uncertainty::MergeFrom(from.uncertainty()); + } + if (from.measurement_time() != 0) { + set_measurement_time(from.measurement_time()); + } +} + +void LocalizationEstimate::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.LocalizationEstimate) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void LocalizationEstimate::CopyFrom(const LocalizationEstimate& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.LocalizationEstimate) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool LocalizationEstimate::IsInitialized() const { + return true; +} + +void LocalizationEstimate::Swap(LocalizationEstimate* other) { + if (other == this) return; + InternalSwap(other); +} +void LocalizationEstimate::InternalSwap(LocalizationEstimate* other) { + using std::swap; + swap(header_, other->header_); + swap(pose_, other->pose_); + swap(uncertainty_, other->uncertainty_); + swap(measurement_time_, other->measurement_time_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata LocalizationEstimate::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::Uncertainty* Arena::CreateMaybeMessage< ::apollo::localization::Uncertainty >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::Uncertainty >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::LocalizationEstimate* Arena::CreateMaybeMessage< ::apollo::localization::LocalizationEstimate >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::LocalizationEstimate >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/localization.pb.h b/apollo_msgs/include/apollo_msgs/proto/localization/localization.pb.h new file mode 100644 index 0000000..462d7a4 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/localization.pb.h @@ -0,0 +1,805 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/localization.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/localization/pose.pb.h" +#include "apollo_msgs/proto/common/geometry.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[2]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto +namespace apollo { +namespace localization { +class LocalizationEstimate; +class LocalizationEstimateDefaultTypeInternal; +extern LocalizationEstimateDefaultTypeInternal _LocalizationEstimate_default_instance_; +class Uncertainty; +class UncertaintyDefaultTypeInternal; +extern UncertaintyDefaultTypeInternal _Uncertainty_default_instance_; +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::localization::LocalizationEstimate* Arena::CreateMaybeMessage<::apollo::localization::LocalizationEstimate>(Arena*); +template<> ::apollo::localization::Uncertainty* Arena::CreateMaybeMessage<::apollo::localization::Uncertainty>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace localization { + +// =================================================================== + +class Uncertainty : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.Uncertainty) */ { + public: + Uncertainty(); + virtual ~Uncertainty(); + + Uncertainty(const Uncertainty& from); + + inline Uncertainty& operator=(const Uncertainty& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Uncertainty(Uncertainty&& from) noexcept + : Uncertainty() { + *this = ::std::move(from); + } + + inline Uncertainty& operator=(Uncertainty&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Uncertainty& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Uncertainty* internal_default_instance() { + return reinterpret_cast( + &_Uncertainty_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Uncertainty* other); + friend void swap(Uncertainty& a, Uncertainty& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Uncertainty* New() const final { + return CreateMaybeMessage(NULL); + } + + Uncertainty* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Uncertainty& from); + void MergeFrom(const Uncertainty& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Uncertainty* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Point3D position_std_dev = 1; + bool has_position_std_dev() const; + void clear_position_std_dev(); + static const int kPositionStdDevFieldNumber = 1; + private: + const ::apollo::common::Point3D& _internal_position_std_dev() const; + public: + const ::apollo::common::Point3D& position_std_dev() const; + ::apollo::common::Point3D* release_position_std_dev(); + ::apollo::common::Point3D* mutable_position_std_dev(); + void set_allocated_position_std_dev(::apollo::common::Point3D* position_std_dev); + + // .apollo.common.Point3D orientation_std_dev = 2; + bool has_orientation_std_dev() const; + void clear_orientation_std_dev(); + static const int kOrientationStdDevFieldNumber = 2; + private: + const ::apollo::common::Point3D& _internal_orientation_std_dev() const; + public: + const ::apollo::common::Point3D& orientation_std_dev() const; + ::apollo::common::Point3D* release_orientation_std_dev(); + ::apollo::common::Point3D* mutable_orientation_std_dev(); + void set_allocated_orientation_std_dev(::apollo::common::Point3D* orientation_std_dev); + + // .apollo.common.Point3D linear_velocity_std_dev = 3; + bool has_linear_velocity_std_dev() const; + void clear_linear_velocity_std_dev(); + static const int kLinearVelocityStdDevFieldNumber = 3; + private: + const ::apollo::common::Point3D& _internal_linear_velocity_std_dev() const; + public: + const ::apollo::common::Point3D& linear_velocity_std_dev() const; + ::apollo::common::Point3D* release_linear_velocity_std_dev(); + ::apollo::common::Point3D* mutable_linear_velocity_std_dev(); + void set_allocated_linear_velocity_std_dev(::apollo::common::Point3D* linear_velocity_std_dev); + + // .apollo.common.Point3D linear_acceleration_std_dev = 4; + bool has_linear_acceleration_std_dev() const; + void clear_linear_acceleration_std_dev(); + static const int kLinearAccelerationStdDevFieldNumber = 4; + private: + const ::apollo::common::Point3D& _internal_linear_acceleration_std_dev() const; + public: + const ::apollo::common::Point3D& linear_acceleration_std_dev() const; + ::apollo::common::Point3D* release_linear_acceleration_std_dev(); + ::apollo::common::Point3D* mutable_linear_acceleration_std_dev(); + void set_allocated_linear_acceleration_std_dev(::apollo::common::Point3D* linear_acceleration_std_dev); + + // .apollo.common.Point3D angular_velocity_std_dev = 5; + bool has_angular_velocity_std_dev() const; + void clear_angular_velocity_std_dev(); + static const int kAngularVelocityStdDevFieldNumber = 5; + private: + const ::apollo::common::Point3D& _internal_angular_velocity_std_dev() const; + public: + const ::apollo::common::Point3D& angular_velocity_std_dev() const; + ::apollo::common::Point3D* release_angular_velocity_std_dev(); + ::apollo::common::Point3D* mutable_angular_velocity_std_dev(); + void set_allocated_angular_velocity_std_dev(::apollo::common::Point3D* angular_velocity_std_dev); + + // @@protoc_insertion_point(class_scope:apollo.localization.Uncertainty) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Point3D* position_std_dev_; + ::apollo::common::Point3D* orientation_std_dev_; + ::apollo::common::Point3D* linear_velocity_std_dev_; + ::apollo::common::Point3D* linear_acceleration_std_dev_; + ::apollo::common::Point3D* angular_velocity_std_dev_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class LocalizationEstimate : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.LocalizationEstimate) */ { + public: + LocalizationEstimate(); + virtual ~LocalizationEstimate(); + + LocalizationEstimate(const LocalizationEstimate& from); + + inline LocalizationEstimate& operator=(const LocalizationEstimate& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + LocalizationEstimate(LocalizationEstimate&& from) noexcept + : LocalizationEstimate() { + *this = ::std::move(from); + } + + inline LocalizationEstimate& operator=(LocalizationEstimate&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const LocalizationEstimate& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const LocalizationEstimate* internal_default_instance() { + return reinterpret_cast( + &_LocalizationEstimate_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(LocalizationEstimate* other); + friend void swap(LocalizationEstimate& a, LocalizationEstimate& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline LocalizationEstimate* New() const final { + return CreateMaybeMessage(NULL); + } + + LocalizationEstimate* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const LocalizationEstimate& from); + void MergeFrom(const LocalizationEstimate& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(LocalizationEstimate* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.localization.Pose pose = 2; + bool has_pose() const; + void clear_pose(); + static const int kPoseFieldNumber = 2; + private: + const ::apollo::localization::Pose& _internal_pose() const; + public: + const ::apollo::localization::Pose& pose() const; + ::apollo::localization::Pose* release_pose(); + ::apollo::localization::Pose* mutable_pose(); + void set_allocated_pose(::apollo::localization::Pose* pose); + + // .apollo.localization.Uncertainty uncertainty = 3; + bool has_uncertainty() const; + void clear_uncertainty(); + static const int kUncertaintyFieldNumber = 3; + private: + const ::apollo::localization::Uncertainty& _internal_uncertainty() const; + public: + const ::apollo::localization::Uncertainty& uncertainty() const; + ::apollo::localization::Uncertainty* release_uncertainty(); + ::apollo::localization::Uncertainty* mutable_uncertainty(); + void set_allocated_uncertainty(::apollo::localization::Uncertainty* uncertainty); + + // double measurement_time = 4; + void clear_measurement_time(); + static const int kMeasurementTimeFieldNumber = 4; + double measurement_time() const; + void set_measurement_time(double value); + + // @@protoc_insertion_point(class_scope:apollo.localization.LocalizationEstimate) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::Header* header_; + ::apollo::localization::Pose* pose_; + ::apollo::localization::Uncertainty* uncertainty_; + double measurement_time_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Uncertainty + +// .apollo.common.Point3D position_std_dev = 1; +inline bool Uncertainty::has_position_std_dev() const { + return this != internal_default_instance() && position_std_dev_ != NULL; +} +inline const ::apollo::common::Point3D& Uncertainty::_internal_position_std_dev() const { + return *position_std_dev_; +} +inline const ::apollo::common::Point3D& Uncertainty::position_std_dev() const { + const ::apollo::common::Point3D* p = position_std_dev_; + // @@protoc_insertion_point(field_get:apollo.localization.Uncertainty.position_std_dev) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Uncertainty::release_position_std_dev() { + // @@protoc_insertion_point(field_release:apollo.localization.Uncertainty.position_std_dev) + + ::apollo::common::Point3D* temp = position_std_dev_; + position_std_dev_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Uncertainty::mutable_position_std_dev() { + + if (position_std_dev_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + position_std_dev_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Uncertainty.position_std_dev) + return position_std_dev_; +} +inline void Uncertainty::set_allocated_position_std_dev(::apollo::common::Point3D* position_std_dev) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(position_std_dev_); + } + if (position_std_dev) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + position_std_dev = ::google::protobuf::internal::GetOwnedMessage( + message_arena, position_std_dev, submessage_arena); + } + + } else { + + } + position_std_dev_ = position_std_dev; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Uncertainty.position_std_dev) +} + +// .apollo.common.Point3D orientation_std_dev = 2; +inline bool Uncertainty::has_orientation_std_dev() const { + return this != internal_default_instance() && orientation_std_dev_ != NULL; +} +inline const ::apollo::common::Point3D& Uncertainty::_internal_orientation_std_dev() const { + return *orientation_std_dev_; +} +inline const ::apollo::common::Point3D& Uncertainty::orientation_std_dev() const { + const ::apollo::common::Point3D* p = orientation_std_dev_; + // @@protoc_insertion_point(field_get:apollo.localization.Uncertainty.orientation_std_dev) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Uncertainty::release_orientation_std_dev() { + // @@protoc_insertion_point(field_release:apollo.localization.Uncertainty.orientation_std_dev) + + ::apollo::common::Point3D* temp = orientation_std_dev_; + orientation_std_dev_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Uncertainty::mutable_orientation_std_dev() { + + if (orientation_std_dev_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + orientation_std_dev_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Uncertainty.orientation_std_dev) + return orientation_std_dev_; +} +inline void Uncertainty::set_allocated_orientation_std_dev(::apollo::common::Point3D* orientation_std_dev) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(orientation_std_dev_); + } + if (orientation_std_dev) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + orientation_std_dev = ::google::protobuf::internal::GetOwnedMessage( + message_arena, orientation_std_dev, submessage_arena); + } + + } else { + + } + orientation_std_dev_ = orientation_std_dev; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Uncertainty.orientation_std_dev) +} + +// .apollo.common.Point3D linear_velocity_std_dev = 3; +inline bool Uncertainty::has_linear_velocity_std_dev() const { + return this != internal_default_instance() && linear_velocity_std_dev_ != NULL; +} +inline const ::apollo::common::Point3D& Uncertainty::_internal_linear_velocity_std_dev() const { + return *linear_velocity_std_dev_; +} +inline const ::apollo::common::Point3D& Uncertainty::linear_velocity_std_dev() const { + const ::apollo::common::Point3D* p = linear_velocity_std_dev_; + // @@protoc_insertion_point(field_get:apollo.localization.Uncertainty.linear_velocity_std_dev) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Uncertainty::release_linear_velocity_std_dev() { + // @@protoc_insertion_point(field_release:apollo.localization.Uncertainty.linear_velocity_std_dev) + + ::apollo::common::Point3D* temp = linear_velocity_std_dev_; + linear_velocity_std_dev_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Uncertainty::mutable_linear_velocity_std_dev() { + + if (linear_velocity_std_dev_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + linear_velocity_std_dev_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Uncertainty.linear_velocity_std_dev) + return linear_velocity_std_dev_; +} +inline void Uncertainty::set_allocated_linear_velocity_std_dev(::apollo::common::Point3D* linear_velocity_std_dev) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(linear_velocity_std_dev_); + } + if (linear_velocity_std_dev) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + linear_velocity_std_dev = ::google::protobuf::internal::GetOwnedMessage( + message_arena, linear_velocity_std_dev, submessage_arena); + } + + } else { + + } + linear_velocity_std_dev_ = linear_velocity_std_dev; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Uncertainty.linear_velocity_std_dev) +} + +// .apollo.common.Point3D linear_acceleration_std_dev = 4; +inline bool Uncertainty::has_linear_acceleration_std_dev() const { + return this != internal_default_instance() && linear_acceleration_std_dev_ != NULL; +} +inline const ::apollo::common::Point3D& Uncertainty::_internal_linear_acceleration_std_dev() const { + return *linear_acceleration_std_dev_; +} +inline const ::apollo::common::Point3D& Uncertainty::linear_acceleration_std_dev() const { + const ::apollo::common::Point3D* p = linear_acceleration_std_dev_; + // @@protoc_insertion_point(field_get:apollo.localization.Uncertainty.linear_acceleration_std_dev) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Uncertainty::release_linear_acceleration_std_dev() { + // @@protoc_insertion_point(field_release:apollo.localization.Uncertainty.linear_acceleration_std_dev) + + ::apollo::common::Point3D* temp = linear_acceleration_std_dev_; + linear_acceleration_std_dev_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Uncertainty::mutable_linear_acceleration_std_dev() { + + if (linear_acceleration_std_dev_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + linear_acceleration_std_dev_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Uncertainty.linear_acceleration_std_dev) + return linear_acceleration_std_dev_; +} +inline void Uncertainty::set_allocated_linear_acceleration_std_dev(::apollo::common::Point3D* linear_acceleration_std_dev) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(linear_acceleration_std_dev_); + } + if (linear_acceleration_std_dev) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + linear_acceleration_std_dev = ::google::protobuf::internal::GetOwnedMessage( + message_arena, linear_acceleration_std_dev, submessage_arena); + } + + } else { + + } + linear_acceleration_std_dev_ = linear_acceleration_std_dev; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Uncertainty.linear_acceleration_std_dev) +} + +// .apollo.common.Point3D angular_velocity_std_dev = 5; +inline bool Uncertainty::has_angular_velocity_std_dev() const { + return this != internal_default_instance() && angular_velocity_std_dev_ != NULL; +} +inline const ::apollo::common::Point3D& Uncertainty::_internal_angular_velocity_std_dev() const { + return *angular_velocity_std_dev_; +} +inline const ::apollo::common::Point3D& Uncertainty::angular_velocity_std_dev() const { + const ::apollo::common::Point3D* p = angular_velocity_std_dev_; + // @@protoc_insertion_point(field_get:apollo.localization.Uncertainty.angular_velocity_std_dev) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Uncertainty::release_angular_velocity_std_dev() { + // @@protoc_insertion_point(field_release:apollo.localization.Uncertainty.angular_velocity_std_dev) + + ::apollo::common::Point3D* temp = angular_velocity_std_dev_; + angular_velocity_std_dev_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Uncertainty::mutable_angular_velocity_std_dev() { + + if (angular_velocity_std_dev_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + angular_velocity_std_dev_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Uncertainty.angular_velocity_std_dev) + return angular_velocity_std_dev_; +} +inline void Uncertainty::set_allocated_angular_velocity_std_dev(::apollo::common::Point3D* angular_velocity_std_dev) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(angular_velocity_std_dev_); + } + if (angular_velocity_std_dev) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + angular_velocity_std_dev = ::google::protobuf::internal::GetOwnedMessage( + message_arena, angular_velocity_std_dev, submessage_arena); + } + + } else { + + } + angular_velocity_std_dev_ = angular_velocity_std_dev; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Uncertainty.angular_velocity_std_dev) +} + +// ------------------------------------------------------------------- + +// LocalizationEstimate + +// .apollo.common.Header header = 1; +inline bool LocalizationEstimate::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& LocalizationEstimate::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& LocalizationEstimate::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.localization.LocalizationEstimate.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* LocalizationEstimate::release_header() { + // @@protoc_insertion_point(field_release:apollo.localization.LocalizationEstimate.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* LocalizationEstimate::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.LocalizationEstimate.header) + return header_; +} +inline void LocalizationEstimate::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.LocalizationEstimate.header) +} + +// .apollo.localization.Pose pose = 2; +inline bool LocalizationEstimate::has_pose() const { + return this != internal_default_instance() && pose_ != NULL; +} +inline const ::apollo::localization::Pose& LocalizationEstimate::_internal_pose() const { + return *pose_; +} +inline const ::apollo::localization::Pose& LocalizationEstimate::pose() const { + const ::apollo::localization::Pose* p = pose_; + // @@protoc_insertion_point(field_get:apollo.localization.LocalizationEstimate.pose) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::localization::_Pose_default_instance_); +} +inline ::apollo::localization::Pose* LocalizationEstimate::release_pose() { + // @@protoc_insertion_point(field_release:apollo.localization.LocalizationEstimate.pose) + + ::apollo::localization::Pose* temp = pose_; + pose_ = NULL; + return temp; +} +inline ::apollo::localization::Pose* LocalizationEstimate::mutable_pose() { + + if (pose_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::localization::Pose>(GetArenaNoVirtual()); + pose_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.LocalizationEstimate.pose) + return pose_; +} +inline void LocalizationEstimate::set_allocated_pose(::apollo::localization::Pose* pose) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(pose_); + } + if (pose) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + pose = ::google::protobuf::internal::GetOwnedMessage( + message_arena, pose, submessage_arena); + } + + } else { + + } + pose_ = pose; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.LocalizationEstimate.pose) +} + +// .apollo.localization.Uncertainty uncertainty = 3; +inline bool LocalizationEstimate::has_uncertainty() const { + return this != internal_default_instance() && uncertainty_ != NULL; +} +inline void LocalizationEstimate::clear_uncertainty() { + if (GetArenaNoVirtual() == NULL && uncertainty_ != NULL) { + delete uncertainty_; + } + uncertainty_ = NULL; +} +inline const ::apollo::localization::Uncertainty& LocalizationEstimate::_internal_uncertainty() const { + return *uncertainty_; +} +inline const ::apollo::localization::Uncertainty& LocalizationEstimate::uncertainty() const { + const ::apollo::localization::Uncertainty* p = uncertainty_; + // @@protoc_insertion_point(field_get:apollo.localization.LocalizationEstimate.uncertainty) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::localization::_Uncertainty_default_instance_); +} +inline ::apollo::localization::Uncertainty* LocalizationEstimate::release_uncertainty() { + // @@protoc_insertion_point(field_release:apollo.localization.LocalizationEstimate.uncertainty) + + ::apollo::localization::Uncertainty* temp = uncertainty_; + uncertainty_ = NULL; + return temp; +} +inline ::apollo::localization::Uncertainty* LocalizationEstimate::mutable_uncertainty() { + + if (uncertainty_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::localization::Uncertainty>(GetArenaNoVirtual()); + uncertainty_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.LocalizationEstimate.uncertainty) + return uncertainty_; +} +inline void LocalizationEstimate::set_allocated_uncertainty(::apollo::localization::Uncertainty* uncertainty) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete uncertainty_; + } + if (uncertainty) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + uncertainty = ::google::protobuf::internal::GetOwnedMessage( + message_arena, uncertainty, submessage_arena); + } + + } else { + + } + uncertainty_ = uncertainty; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.LocalizationEstimate.uncertainty) +} + +// double measurement_time = 4; +inline void LocalizationEstimate::clear_measurement_time() { + measurement_time_ = 0; +} +inline double LocalizationEstimate::measurement_time() const { + // @@protoc_insertion_point(field_get:apollo.localization.LocalizationEstimate.measurement_time) + return measurement_time_; +} +inline void LocalizationEstimate::set_measurement_time(double value) { + + measurement_time_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.LocalizationEstimate.measurement_time) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace localization +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/localization_config.pb.cc b/apollo_msgs/include/apollo_msgs/proto/localization/localization_config.pb.cc new file mode 100644 index 0000000..dede23a --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/localization_config.pb.cc @@ -0,0 +1,374 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/localization_config.proto + +#include "apollo_msgs/proto/localization/localization_config.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace apollo { +namespace localization { +class LocalizationConfigDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _LocalizationConfig_default_instance_; +} // namespace localization +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto { +static void InitDefaultsLocalizationConfig() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_LocalizationConfig_default_instance_; + new (ptr) ::apollo::localization::LocalizationConfig(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::LocalizationConfig::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_LocalizationConfig = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsLocalizationConfig}, {}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_LocalizationConfig.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::LocalizationConfig, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::LocalizationConfig, localization_type_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::localization::LocalizationConfig)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::localization::_LocalizationConfig_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/localization/localization_config.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n8apollo_msgs/proto/localization/localiz" + "ation_config.proto\022\023apollo.localization\"" + "\222\001\n\022LocalizationConfig\022S\n\021localization_t" + "ype\030\001 \001(\01628.apollo.localization.Localiza" + "tionConfig.LocalizationType\"\'\n\020Localizat" + "ionType\022\007\n\003RTK\020\000\022\n\n\006CAMERA\020\001b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 236); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/localization/localization_config.proto", &protobuf_RegisterTypes); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto +namespace apollo { +namespace localization { +const ::google::protobuf::EnumDescriptor* LocalizationConfig_LocalizationType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto::file_level_enum_descriptors[0]; +} +bool LocalizationConfig_LocalizationType_IsValid(int value) { + switch (value) { + case 0: + case 1: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const LocalizationConfig_LocalizationType LocalizationConfig::RTK; +const LocalizationConfig_LocalizationType LocalizationConfig::CAMERA; +const LocalizationConfig_LocalizationType LocalizationConfig::LocalizationType_MIN; +const LocalizationConfig_LocalizationType LocalizationConfig::LocalizationType_MAX; +const int LocalizationConfig::LocalizationType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void LocalizationConfig::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int LocalizationConfig::kLocalizationTypeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +LocalizationConfig::LocalizationConfig() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto::scc_info_LocalizationConfig.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.LocalizationConfig) +} +LocalizationConfig::LocalizationConfig(const LocalizationConfig& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + localization_type_ = from.localization_type_; + // @@protoc_insertion_point(copy_constructor:apollo.localization.LocalizationConfig) +} + +void LocalizationConfig::SharedCtor() { + localization_type_ = 0; +} + +LocalizationConfig::~LocalizationConfig() { + // @@protoc_insertion_point(destructor:apollo.localization.LocalizationConfig) + SharedDtor(); +} + +void LocalizationConfig::SharedDtor() { +} + +void LocalizationConfig::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* LocalizationConfig::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const LocalizationConfig& LocalizationConfig::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto::scc_info_LocalizationConfig.base); + return *internal_default_instance(); +} + + +void LocalizationConfig::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.LocalizationConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + localization_type_ = 0; + _internal_metadata_.Clear(); +} + +bool LocalizationConfig::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.LocalizationConfig) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.localization.LocalizationConfig.LocalizationType localization_type = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_localization_type(static_cast< ::apollo::localization::LocalizationConfig_LocalizationType >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.LocalizationConfig) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.LocalizationConfig) + return false; +#undef DO_ +} + +void LocalizationConfig::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.LocalizationConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.localization.LocalizationConfig.LocalizationType localization_type = 1; + if (this->localization_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->localization_type(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.LocalizationConfig) +} + +::google::protobuf::uint8* LocalizationConfig::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.LocalizationConfig) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.localization.LocalizationConfig.LocalizationType localization_type = 1; + if (this->localization_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->localization_type(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.LocalizationConfig) + return target; +} + +size_t LocalizationConfig::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.LocalizationConfig) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.localization.LocalizationConfig.LocalizationType localization_type = 1; + if (this->localization_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->localization_type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void LocalizationConfig::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.LocalizationConfig) + GOOGLE_DCHECK_NE(&from, this); + const LocalizationConfig* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.LocalizationConfig) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.LocalizationConfig) + MergeFrom(*source); + } +} + +void LocalizationConfig::MergeFrom(const LocalizationConfig& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.LocalizationConfig) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.localization_type() != 0) { + set_localization_type(from.localization_type()); + } +} + +void LocalizationConfig::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.LocalizationConfig) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void LocalizationConfig::CopyFrom(const LocalizationConfig& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.LocalizationConfig) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool LocalizationConfig::IsInitialized() const { + return true; +} + +void LocalizationConfig::Swap(LocalizationConfig* other) { + if (other == this) return; + InternalSwap(other); +} +void LocalizationConfig::InternalSwap(LocalizationConfig* other) { + using std::swap; + swap(localization_type_, other->localization_type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata LocalizationConfig::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::LocalizationConfig* Arena::CreateMaybeMessage< ::apollo::localization::LocalizationConfig >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::LocalizationConfig >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/localization_config.pb.h b/apollo_msgs/include/apollo_msgs/proto/localization/localization_config.pb.h new file mode 100644 index 0000000..0c2927e --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/localization_config.pb.h @@ -0,0 +1,262 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/localization_config.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto +namespace apollo { +namespace localization { +class LocalizationConfig; +class LocalizationConfigDefaultTypeInternal; +extern LocalizationConfigDefaultTypeInternal _LocalizationConfig_default_instance_; +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::localization::LocalizationConfig* Arena::CreateMaybeMessage<::apollo::localization::LocalizationConfig>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace localization { + +enum LocalizationConfig_LocalizationType { + LocalizationConfig_LocalizationType_RTK = 0, + LocalizationConfig_LocalizationType_CAMERA = 1, + LocalizationConfig_LocalizationType_LocalizationConfig_LocalizationType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + LocalizationConfig_LocalizationType_LocalizationConfig_LocalizationType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool LocalizationConfig_LocalizationType_IsValid(int value); +const LocalizationConfig_LocalizationType LocalizationConfig_LocalizationType_LocalizationType_MIN = LocalizationConfig_LocalizationType_RTK; +const LocalizationConfig_LocalizationType LocalizationConfig_LocalizationType_LocalizationType_MAX = LocalizationConfig_LocalizationType_CAMERA; +const int LocalizationConfig_LocalizationType_LocalizationType_ARRAYSIZE = LocalizationConfig_LocalizationType_LocalizationType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* LocalizationConfig_LocalizationType_descriptor(); +inline const ::std::string& LocalizationConfig_LocalizationType_Name(LocalizationConfig_LocalizationType value) { + return ::google::protobuf::internal::NameOfEnum( + LocalizationConfig_LocalizationType_descriptor(), value); +} +inline bool LocalizationConfig_LocalizationType_Parse( + const ::std::string& name, LocalizationConfig_LocalizationType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + LocalizationConfig_LocalizationType_descriptor(), name, value); +} +// =================================================================== + +class LocalizationConfig : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.LocalizationConfig) */ { + public: + LocalizationConfig(); + virtual ~LocalizationConfig(); + + LocalizationConfig(const LocalizationConfig& from); + + inline LocalizationConfig& operator=(const LocalizationConfig& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + LocalizationConfig(LocalizationConfig&& from) noexcept + : LocalizationConfig() { + *this = ::std::move(from); + } + + inline LocalizationConfig& operator=(LocalizationConfig&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const LocalizationConfig& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const LocalizationConfig* internal_default_instance() { + return reinterpret_cast( + &_LocalizationConfig_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(LocalizationConfig* other); + friend void swap(LocalizationConfig& a, LocalizationConfig& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline LocalizationConfig* New() const final { + return CreateMaybeMessage(NULL); + } + + LocalizationConfig* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const LocalizationConfig& from); + void MergeFrom(const LocalizationConfig& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(LocalizationConfig* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef LocalizationConfig_LocalizationType LocalizationType; + static const LocalizationType RTK = + LocalizationConfig_LocalizationType_RTK; + static const LocalizationType CAMERA = + LocalizationConfig_LocalizationType_CAMERA; + static inline bool LocalizationType_IsValid(int value) { + return LocalizationConfig_LocalizationType_IsValid(value); + } + static const LocalizationType LocalizationType_MIN = + LocalizationConfig_LocalizationType_LocalizationType_MIN; + static const LocalizationType LocalizationType_MAX = + LocalizationConfig_LocalizationType_LocalizationType_MAX; + static const int LocalizationType_ARRAYSIZE = + LocalizationConfig_LocalizationType_LocalizationType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + LocalizationType_descriptor() { + return LocalizationConfig_LocalizationType_descriptor(); + } + static inline const ::std::string& LocalizationType_Name(LocalizationType value) { + return LocalizationConfig_LocalizationType_Name(value); + } + static inline bool LocalizationType_Parse(const ::std::string& name, + LocalizationType* value) { + return LocalizationConfig_LocalizationType_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // .apollo.localization.LocalizationConfig.LocalizationType localization_type = 1; + void clear_localization_type(); + static const int kLocalizationTypeFieldNumber = 1; + ::apollo::localization::LocalizationConfig_LocalizationType localization_type() const; + void set_localization_type(::apollo::localization::LocalizationConfig_LocalizationType value); + + // @@protoc_insertion_point(class_scope:apollo.localization.LocalizationConfig) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + int localization_type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// LocalizationConfig + +// .apollo.localization.LocalizationConfig.LocalizationType localization_type = 1; +inline void LocalizationConfig::clear_localization_type() { + localization_type_ = 0; +} +inline ::apollo::localization::LocalizationConfig_LocalizationType LocalizationConfig::localization_type() const { + // @@protoc_insertion_point(field_get:apollo.localization.LocalizationConfig.localization_type) + return static_cast< ::apollo::localization::LocalizationConfig_LocalizationType >(localization_type_); +} +inline void LocalizationConfig::set_localization_type(::apollo::localization::LocalizationConfig_LocalizationType value) { + + localization_type_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.LocalizationConfig.localization_type) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace localization +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::localization::LocalizationConfig_LocalizationType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::localization::LocalizationConfig_LocalizationType>() { + return ::apollo::localization::LocalizationConfig_LocalizationType_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2flocalization_5fconfig_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/pose.pb.cc b/apollo_msgs/include/apollo_msgs/proto/localization/pose.pb.cc new file mode 100644 index 0000000..57622fa --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/pose.pb.cc @@ -0,0 +1,758 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/pose.proto + +#include "apollo_msgs/proto/localization/pose.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Point3D; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_PointENU; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Quaternion; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto +namespace apollo { +namespace localization { +class PoseDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Pose_default_instance_; +} // namespace localization +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto { +static void InitDefaultsPose() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::localization::_Pose_default_instance_; + new (ptr) ::apollo::localization::Pose(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::localization::Pose::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<3> scc_info_Pose = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 3, InitDefaultsPose}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_PointENU.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Quaternion.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::scc_info_Point3D.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Pose.base); +} + +::google::protobuf::Metadata file_level_metadata[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Pose, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Pose, position_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Pose, orientation_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Pose, linear_velocity_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Pose, linear_acceleration_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Pose, angular_velocity_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Pose, heading_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Pose, linear_acceleration_vrf_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::localization::Pose, angular_velocity_vrf_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::localization::Pose)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::localization::_Pose_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/localization/pose.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 1); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n)apollo_msgs/proto/localization/pose.pr" + "oto\022\023apollo.localization\032\'apollo_msgs/pr" + "oto/common/geometry.proto\"\371\002\n\004Pose\022)\n\010po" + "sition\030\001 \001(\0132\027.apollo.common.PointENU\022.\n" + "\013orientation\030\002 \001(\0132\031.apollo.common.Quate" + "rnion\022/\n\017linear_velocity\030\003 \001(\0132\026.apollo." + "common.Point3D\0223\n\023linear_acceleration\030\004 " + "\001(\0132\026.apollo.common.Point3D\0220\n\020angular_v" + "elocity\030\005 \001(\0132\026.apollo.common.Point3D\022\017\n" + "\007heading\030\006 \001(\001\0227\n\027linear_acceleration_vr" + "f\030\007 \001(\0132\026.apollo.common.Point3D\0224\n\024angul" + "ar_velocity_vrf\030\010 \001(\0132\026.apollo.common.Po" + "int3Db\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 493); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/localization/pose.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fgeometry_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto +namespace apollo { +namespace localization { + +// =================================================================== + +void Pose::InitAsDefaultInstance() { + ::apollo::localization::_Pose_default_instance_._instance.get_mutable()->position_ = const_cast< ::apollo::common::PointENU*>( + ::apollo::common::PointENU::internal_default_instance()); + ::apollo::localization::_Pose_default_instance_._instance.get_mutable()->orientation_ = const_cast< ::apollo::common::Quaternion*>( + ::apollo::common::Quaternion::internal_default_instance()); + ::apollo::localization::_Pose_default_instance_._instance.get_mutable()->linear_velocity_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); + ::apollo::localization::_Pose_default_instance_._instance.get_mutable()->linear_acceleration_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); + ::apollo::localization::_Pose_default_instance_._instance.get_mutable()->angular_velocity_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); + ::apollo::localization::_Pose_default_instance_._instance.get_mutable()->linear_acceleration_vrf_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); + ::apollo::localization::_Pose_default_instance_._instance.get_mutable()->angular_velocity_vrf_ = const_cast< ::apollo::common::Point3D*>( + ::apollo::common::Point3D::internal_default_instance()); +} +void Pose::clear_position() { + if (GetArenaNoVirtual() == NULL && position_ != NULL) { + delete position_; + } + position_ = NULL; +} +void Pose::clear_orientation() { + if (GetArenaNoVirtual() == NULL && orientation_ != NULL) { + delete orientation_; + } + orientation_ = NULL; +} +void Pose::clear_linear_velocity() { + if (GetArenaNoVirtual() == NULL && linear_velocity_ != NULL) { + delete linear_velocity_; + } + linear_velocity_ = NULL; +} +void Pose::clear_linear_acceleration() { + if (GetArenaNoVirtual() == NULL && linear_acceleration_ != NULL) { + delete linear_acceleration_; + } + linear_acceleration_ = NULL; +} +void Pose::clear_angular_velocity() { + if (GetArenaNoVirtual() == NULL && angular_velocity_ != NULL) { + delete angular_velocity_; + } + angular_velocity_ = NULL; +} +void Pose::clear_linear_acceleration_vrf() { + if (GetArenaNoVirtual() == NULL && linear_acceleration_vrf_ != NULL) { + delete linear_acceleration_vrf_; + } + linear_acceleration_vrf_ = NULL; +} +void Pose::clear_angular_velocity_vrf() { + if (GetArenaNoVirtual() == NULL && angular_velocity_vrf_ != NULL) { + delete angular_velocity_vrf_; + } + angular_velocity_vrf_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Pose::kPositionFieldNumber; +const int Pose::kOrientationFieldNumber; +const int Pose::kLinearVelocityFieldNumber; +const int Pose::kLinearAccelerationFieldNumber; +const int Pose::kAngularVelocityFieldNumber; +const int Pose::kHeadingFieldNumber; +const int Pose::kLinearAccelerationVrfFieldNumber; +const int Pose::kAngularVelocityVrfFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Pose::Pose() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::scc_info_Pose.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.localization.Pose) +} +Pose::Pose(const Pose& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_position()) { + position_ = new ::apollo::common::PointENU(*from.position_); + } else { + position_ = NULL; + } + if (from.has_orientation()) { + orientation_ = new ::apollo::common::Quaternion(*from.orientation_); + } else { + orientation_ = NULL; + } + if (from.has_linear_velocity()) { + linear_velocity_ = new ::apollo::common::Point3D(*from.linear_velocity_); + } else { + linear_velocity_ = NULL; + } + if (from.has_linear_acceleration()) { + linear_acceleration_ = new ::apollo::common::Point3D(*from.linear_acceleration_); + } else { + linear_acceleration_ = NULL; + } + if (from.has_angular_velocity()) { + angular_velocity_ = new ::apollo::common::Point3D(*from.angular_velocity_); + } else { + angular_velocity_ = NULL; + } + if (from.has_linear_acceleration_vrf()) { + linear_acceleration_vrf_ = new ::apollo::common::Point3D(*from.linear_acceleration_vrf_); + } else { + linear_acceleration_vrf_ = NULL; + } + if (from.has_angular_velocity_vrf()) { + angular_velocity_vrf_ = new ::apollo::common::Point3D(*from.angular_velocity_vrf_); + } else { + angular_velocity_vrf_ = NULL; + } + heading_ = from.heading_; + // @@protoc_insertion_point(copy_constructor:apollo.localization.Pose) +} + +void Pose::SharedCtor() { + ::memset(&position_, 0, static_cast( + reinterpret_cast(&heading_) - + reinterpret_cast(&position_)) + sizeof(heading_)); +} + +Pose::~Pose() { + // @@protoc_insertion_point(destructor:apollo.localization.Pose) + SharedDtor(); +} + +void Pose::SharedDtor() { + if (this != internal_default_instance()) delete position_; + if (this != internal_default_instance()) delete orientation_; + if (this != internal_default_instance()) delete linear_velocity_; + if (this != internal_default_instance()) delete linear_acceleration_; + if (this != internal_default_instance()) delete angular_velocity_; + if (this != internal_default_instance()) delete linear_acceleration_vrf_; + if (this != internal_default_instance()) delete angular_velocity_vrf_; +} + +void Pose::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Pose::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Pose& Pose::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::scc_info_Pose.base); + return *internal_default_instance(); +} + + +void Pose::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.localization.Pose) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + if (GetArenaNoVirtual() == NULL && position_ != NULL) { + delete position_; + } + position_ = NULL; + if (GetArenaNoVirtual() == NULL && orientation_ != NULL) { + delete orientation_; + } + orientation_ = NULL; + if (GetArenaNoVirtual() == NULL && linear_velocity_ != NULL) { + delete linear_velocity_; + } + linear_velocity_ = NULL; + if (GetArenaNoVirtual() == NULL && linear_acceleration_ != NULL) { + delete linear_acceleration_; + } + linear_acceleration_ = NULL; + if (GetArenaNoVirtual() == NULL && angular_velocity_ != NULL) { + delete angular_velocity_; + } + angular_velocity_ = NULL; + if (GetArenaNoVirtual() == NULL && linear_acceleration_vrf_ != NULL) { + delete linear_acceleration_vrf_; + } + linear_acceleration_vrf_ = NULL; + if (GetArenaNoVirtual() == NULL && angular_velocity_vrf_ != NULL) { + delete angular_velocity_vrf_; + } + angular_velocity_vrf_ = NULL; + heading_ = 0; + _internal_metadata_.Clear(); +} + +bool Pose::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.localization.Pose) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.PointENU position = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_position())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Quaternion orientation = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_orientation())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D linear_velocity = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_linear_velocity())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D linear_acceleration = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_linear_acceleration())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D angular_velocity = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_angular_velocity())); + } else { + goto handle_unusual; + } + break; + } + + // double heading = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D linear_acceleration_vrf = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(58u /* 58 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_linear_acceleration_vrf())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Point3D angular_velocity_vrf = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(66u /* 66 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_angular_velocity_vrf())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.localization.Pose) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.localization.Pose) + return false; +#undef DO_ +} + +void Pose::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.localization.Pose) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.PointENU position = 1; + if (this->has_position()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_position(), output); + } + + // .apollo.common.Quaternion orientation = 2; + if (this->has_orientation()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_orientation(), output); + } + + // .apollo.common.Point3D linear_velocity = 3; + if (this->has_linear_velocity()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_linear_velocity(), output); + } + + // .apollo.common.Point3D linear_acceleration = 4; + if (this->has_linear_acceleration()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_linear_acceleration(), output); + } + + // .apollo.common.Point3D angular_velocity = 5; + if (this->has_angular_velocity()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, this->_internal_angular_velocity(), output); + } + + // double heading = 6; + if (this->heading() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->heading(), output); + } + + // .apollo.common.Point3D linear_acceleration_vrf = 7; + if (this->has_linear_acceleration_vrf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 7, this->_internal_linear_acceleration_vrf(), output); + } + + // .apollo.common.Point3D angular_velocity_vrf = 8; + if (this->has_angular_velocity_vrf()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 8, this->_internal_angular_velocity_vrf(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.localization.Pose) +} + +::google::protobuf::uint8* Pose::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.localization.Pose) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.PointENU position = 1; + if (this->has_position()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_position(), deterministic, target); + } + + // .apollo.common.Quaternion orientation = 2; + if (this->has_orientation()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_orientation(), deterministic, target); + } + + // .apollo.common.Point3D linear_velocity = 3; + if (this->has_linear_velocity()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_linear_velocity(), deterministic, target); + } + + // .apollo.common.Point3D linear_acceleration = 4; + if (this->has_linear_acceleration()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_linear_acceleration(), deterministic, target); + } + + // .apollo.common.Point3D angular_velocity = 5; + if (this->has_angular_velocity()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->_internal_angular_velocity(), deterministic, target); + } + + // double heading = 6; + if (this->heading() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->heading(), target); + } + + // .apollo.common.Point3D linear_acceleration_vrf = 7; + if (this->has_linear_acceleration_vrf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 7, this->_internal_linear_acceleration_vrf(), deterministic, target); + } + + // .apollo.common.Point3D angular_velocity_vrf = 8; + if (this->has_angular_velocity_vrf()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 8, this->_internal_angular_velocity_vrf(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.localization.Pose) + return target; +} + +size_t Pose::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.localization.Pose) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.common.PointENU position = 1; + if (this->has_position()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *position_); + } + + // .apollo.common.Quaternion orientation = 2; + if (this->has_orientation()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *orientation_); + } + + // .apollo.common.Point3D linear_velocity = 3; + if (this->has_linear_velocity()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *linear_velocity_); + } + + // .apollo.common.Point3D linear_acceleration = 4; + if (this->has_linear_acceleration()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *linear_acceleration_); + } + + // .apollo.common.Point3D angular_velocity = 5; + if (this->has_angular_velocity()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *angular_velocity_); + } + + // .apollo.common.Point3D linear_acceleration_vrf = 7; + if (this->has_linear_acceleration_vrf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *linear_acceleration_vrf_); + } + + // .apollo.common.Point3D angular_velocity_vrf = 8; + if (this->has_angular_velocity_vrf()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *angular_velocity_vrf_); + } + + // double heading = 6; + if (this->heading() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Pose::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.localization.Pose) + GOOGLE_DCHECK_NE(&from, this); + const Pose* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.localization.Pose) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.localization.Pose) + MergeFrom(*source); + } +} + +void Pose::MergeFrom(const Pose& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.localization.Pose) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.has_position()) { + mutable_position()->::apollo::common::PointENU::MergeFrom(from.position()); + } + if (from.has_orientation()) { + mutable_orientation()->::apollo::common::Quaternion::MergeFrom(from.orientation()); + } + if (from.has_linear_velocity()) { + mutable_linear_velocity()->::apollo::common::Point3D::MergeFrom(from.linear_velocity()); + } + if (from.has_linear_acceleration()) { + mutable_linear_acceleration()->::apollo::common::Point3D::MergeFrom(from.linear_acceleration()); + } + if (from.has_angular_velocity()) { + mutable_angular_velocity()->::apollo::common::Point3D::MergeFrom(from.angular_velocity()); + } + if (from.has_linear_acceleration_vrf()) { + mutable_linear_acceleration_vrf()->::apollo::common::Point3D::MergeFrom(from.linear_acceleration_vrf()); + } + if (from.has_angular_velocity_vrf()) { + mutable_angular_velocity_vrf()->::apollo::common::Point3D::MergeFrom(from.angular_velocity_vrf()); + } + if (from.heading() != 0) { + set_heading(from.heading()); + } +} + +void Pose::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.localization.Pose) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Pose::CopyFrom(const Pose& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.localization.Pose) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Pose::IsInitialized() const { + return true; +} + +void Pose::Swap(Pose* other) { + if (other == this) return; + InternalSwap(other); +} +void Pose::InternalSwap(Pose* other) { + using std::swap; + swap(position_, other->position_); + swap(orientation_, other->orientation_); + swap(linear_velocity_, other->linear_velocity_); + swap(linear_acceleration_, other->linear_acceleration_); + swap(angular_velocity_, other->angular_velocity_); + swap(linear_acceleration_vrf_, other->linear_acceleration_vrf_); + swap(angular_velocity_vrf_, other->angular_velocity_vrf_); + swap(heading_, other->heading_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Pose::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::localization::Pose* Arena::CreateMaybeMessage< ::apollo::localization::Pose >(Arena* arena) { + return Arena::CreateInternal< ::apollo::localization::Pose >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/localization/pose.pb.h b/apollo_msgs/include/apollo_msgs/proto/localization/pose.pb.h new file mode 100644 index 0000000..04b08d5 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/localization/pose.pb.h @@ -0,0 +1,630 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/localization/pose.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/common/geometry.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[1]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto +namespace apollo { +namespace localization { +class Pose; +class PoseDefaultTypeInternal; +extern PoseDefaultTypeInternal _Pose_default_instance_; +} // namespace localization +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::localization::Pose* Arena::CreateMaybeMessage<::apollo::localization::Pose>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace localization { + +// =================================================================== + +class Pose : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.localization.Pose) */ { + public: + Pose(); + virtual ~Pose(); + + Pose(const Pose& from); + + inline Pose& operator=(const Pose& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Pose(Pose&& from) noexcept + : Pose() { + *this = ::std::move(from); + } + + inline Pose& operator=(Pose&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Pose& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Pose* internal_default_instance() { + return reinterpret_cast( + &_Pose_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Pose* other); + friend void swap(Pose& a, Pose& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Pose* New() const final { + return CreateMaybeMessage(NULL); + } + + Pose* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Pose& from); + void MergeFrom(const Pose& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Pose* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.common.PointENU position = 1; + bool has_position() const; + void clear_position(); + static const int kPositionFieldNumber = 1; + private: + const ::apollo::common::PointENU& _internal_position() const; + public: + const ::apollo::common::PointENU& position() const; + ::apollo::common::PointENU* release_position(); + ::apollo::common::PointENU* mutable_position(); + void set_allocated_position(::apollo::common::PointENU* position); + + // .apollo.common.Quaternion orientation = 2; + bool has_orientation() const; + void clear_orientation(); + static const int kOrientationFieldNumber = 2; + private: + const ::apollo::common::Quaternion& _internal_orientation() const; + public: + const ::apollo::common::Quaternion& orientation() const; + ::apollo::common::Quaternion* release_orientation(); + ::apollo::common::Quaternion* mutable_orientation(); + void set_allocated_orientation(::apollo::common::Quaternion* orientation); + + // .apollo.common.Point3D linear_velocity = 3; + bool has_linear_velocity() const; + void clear_linear_velocity(); + static const int kLinearVelocityFieldNumber = 3; + private: + const ::apollo::common::Point3D& _internal_linear_velocity() const; + public: + const ::apollo::common::Point3D& linear_velocity() const; + ::apollo::common::Point3D* release_linear_velocity(); + ::apollo::common::Point3D* mutable_linear_velocity(); + void set_allocated_linear_velocity(::apollo::common::Point3D* linear_velocity); + + // .apollo.common.Point3D linear_acceleration = 4; + bool has_linear_acceleration() const; + void clear_linear_acceleration(); + static const int kLinearAccelerationFieldNumber = 4; + private: + const ::apollo::common::Point3D& _internal_linear_acceleration() const; + public: + const ::apollo::common::Point3D& linear_acceleration() const; + ::apollo::common::Point3D* release_linear_acceleration(); + ::apollo::common::Point3D* mutable_linear_acceleration(); + void set_allocated_linear_acceleration(::apollo::common::Point3D* linear_acceleration); + + // .apollo.common.Point3D angular_velocity = 5; + bool has_angular_velocity() const; + void clear_angular_velocity(); + static const int kAngularVelocityFieldNumber = 5; + private: + const ::apollo::common::Point3D& _internal_angular_velocity() const; + public: + const ::apollo::common::Point3D& angular_velocity() const; + ::apollo::common::Point3D* release_angular_velocity(); + ::apollo::common::Point3D* mutable_angular_velocity(); + void set_allocated_angular_velocity(::apollo::common::Point3D* angular_velocity); + + // .apollo.common.Point3D linear_acceleration_vrf = 7; + bool has_linear_acceleration_vrf() const; + void clear_linear_acceleration_vrf(); + static const int kLinearAccelerationVrfFieldNumber = 7; + private: + const ::apollo::common::Point3D& _internal_linear_acceleration_vrf() const; + public: + const ::apollo::common::Point3D& linear_acceleration_vrf() const; + ::apollo::common::Point3D* release_linear_acceleration_vrf(); + ::apollo::common::Point3D* mutable_linear_acceleration_vrf(); + void set_allocated_linear_acceleration_vrf(::apollo::common::Point3D* linear_acceleration_vrf); + + // .apollo.common.Point3D angular_velocity_vrf = 8; + bool has_angular_velocity_vrf() const; + void clear_angular_velocity_vrf(); + static const int kAngularVelocityVrfFieldNumber = 8; + private: + const ::apollo::common::Point3D& _internal_angular_velocity_vrf() const; + public: + const ::apollo::common::Point3D& angular_velocity_vrf() const; + ::apollo::common::Point3D* release_angular_velocity_vrf(); + ::apollo::common::Point3D* mutable_angular_velocity_vrf(); + void set_allocated_angular_velocity_vrf(::apollo::common::Point3D* angular_velocity_vrf); + + // double heading = 6; + void clear_heading(); + static const int kHeadingFieldNumber = 6; + double heading() const; + void set_heading(double value); + + // @@protoc_insertion_point(class_scope:apollo.localization.Pose) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::apollo::common::PointENU* position_; + ::apollo::common::Quaternion* orientation_; + ::apollo::common::Point3D* linear_velocity_; + ::apollo::common::Point3D* linear_acceleration_; + ::apollo::common::Point3D* angular_velocity_; + ::apollo::common::Point3D* linear_acceleration_vrf_; + ::apollo::common::Point3D* angular_velocity_vrf_; + double heading_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Pose + +// .apollo.common.PointENU position = 1; +inline bool Pose::has_position() const { + return this != internal_default_instance() && position_ != NULL; +} +inline const ::apollo::common::PointENU& Pose::_internal_position() const { + return *position_; +} +inline const ::apollo::common::PointENU& Pose::position() const { + const ::apollo::common::PointENU* p = position_; + // @@protoc_insertion_point(field_get:apollo.localization.Pose.position) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_PointENU_default_instance_); +} +inline ::apollo::common::PointENU* Pose::release_position() { + // @@protoc_insertion_point(field_release:apollo.localization.Pose.position) + + ::apollo::common::PointENU* temp = position_; + position_ = NULL; + return temp; +} +inline ::apollo::common::PointENU* Pose::mutable_position() { + + if (position_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::PointENU>(GetArenaNoVirtual()); + position_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Pose.position) + return position_; +} +inline void Pose::set_allocated_position(::apollo::common::PointENU* position) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(position_); + } + if (position) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + position = ::google::protobuf::internal::GetOwnedMessage( + message_arena, position, submessage_arena); + } + + } else { + + } + position_ = position; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Pose.position) +} + +// .apollo.common.Quaternion orientation = 2; +inline bool Pose::has_orientation() const { + return this != internal_default_instance() && orientation_ != NULL; +} +inline const ::apollo::common::Quaternion& Pose::_internal_orientation() const { + return *orientation_; +} +inline const ::apollo::common::Quaternion& Pose::orientation() const { + const ::apollo::common::Quaternion* p = orientation_; + // @@protoc_insertion_point(field_get:apollo.localization.Pose.orientation) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Quaternion_default_instance_); +} +inline ::apollo::common::Quaternion* Pose::release_orientation() { + // @@protoc_insertion_point(field_release:apollo.localization.Pose.orientation) + + ::apollo::common::Quaternion* temp = orientation_; + orientation_ = NULL; + return temp; +} +inline ::apollo::common::Quaternion* Pose::mutable_orientation() { + + if (orientation_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Quaternion>(GetArenaNoVirtual()); + orientation_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Pose.orientation) + return orientation_; +} +inline void Pose::set_allocated_orientation(::apollo::common::Quaternion* orientation) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(orientation_); + } + if (orientation) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + orientation = ::google::protobuf::internal::GetOwnedMessage( + message_arena, orientation, submessage_arena); + } + + } else { + + } + orientation_ = orientation; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Pose.orientation) +} + +// .apollo.common.Point3D linear_velocity = 3; +inline bool Pose::has_linear_velocity() const { + return this != internal_default_instance() && linear_velocity_ != NULL; +} +inline const ::apollo::common::Point3D& Pose::_internal_linear_velocity() const { + return *linear_velocity_; +} +inline const ::apollo::common::Point3D& Pose::linear_velocity() const { + const ::apollo::common::Point3D* p = linear_velocity_; + // @@protoc_insertion_point(field_get:apollo.localization.Pose.linear_velocity) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Pose::release_linear_velocity() { + // @@protoc_insertion_point(field_release:apollo.localization.Pose.linear_velocity) + + ::apollo::common::Point3D* temp = linear_velocity_; + linear_velocity_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Pose::mutable_linear_velocity() { + + if (linear_velocity_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + linear_velocity_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Pose.linear_velocity) + return linear_velocity_; +} +inline void Pose::set_allocated_linear_velocity(::apollo::common::Point3D* linear_velocity) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(linear_velocity_); + } + if (linear_velocity) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + linear_velocity = ::google::protobuf::internal::GetOwnedMessage( + message_arena, linear_velocity, submessage_arena); + } + + } else { + + } + linear_velocity_ = linear_velocity; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Pose.linear_velocity) +} + +// .apollo.common.Point3D linear_acceleration = 4; +inline bool Pose::has_linear_acceleration() const { + return this != internal_default_instance() && linear_acceleration_ != NULL; +} +inline const ::apollo::common::Point3D& Pose::_internal_linear_acceleration() const { + return *linear_acceleration_; +} +inline const ::apollo::common::Point3D& Pose::linear_acceleration() const { + const ::apollo::common::Point3D* p = linear_acceleration_; + // @@protoc_insertion_point(field_get:apollo.localization.Pose.linear_acceleration) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Pose::release_linear_acceleration() { + // @@protoc_insertion_point(field_release:apollo.localization.Pose.linear_acceleration) + + ::apollo::common::Point3D* temp = linear_acceleration_; + linear_acceleration_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Pose::mutable_linear_acceleration() { + + if (linear_acceleration_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + linear_acceleration_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Pose.linear_acceleration) + return linear_acceleration_; +} +inline void Pose::set_allocated_linear_acceleration(::apollo::common::Point3D* linear_acceleration) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(linear_acceleration_); + } + if (linear_acceleration) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + linear_acceleration = ::google::protobuf::internal::GetOwnedMessage( + message_arena, linear_acceleration, submessage_arena); + } + + } else { + + } + linear_acceleration_ = linear_acceleration; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Pose.linear_acceleration) +} + +// .apollo.common.Point3D angular_velocity = 5; +inline bool Pose::has_angular_velocity() const { + return this != internal_default_instance() && angular_velocity_ != NULL; +} +inline const ::apollo::common::Point3D& Pose::_internal_angular_velocity() const { + return *angular_velocity_; +} +inline const ::apollo::common::Point3D& Pose::angular_velocity() const { + const ::apollo::common::Point3D* p = angular_velocity_; + // @@protoc_insertion_point(field_get:apollo.localization.Pose.angular_velocity) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Pose::release_angular_velocity() { + // @@protoc_insertion_point(field_release:apollo.localization.Pose.angular_velocity) + + ::apollo::common::Point3D* temp = angular_velocity_; + angular_velocity_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Pose::mutable_angular_velocity() { + + if (angular_velocity_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + angular_velocity_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Pose.angular_velocity) + return angular_velocity_; +} +inline void Pose::set_allocated_angular_velocity(::apollo::common::Point3D* angular_velocity) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(angular_velocity_); + } + if (angular_velocity) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + angular_velocity = ::google::protobuf::internal::GetOwnedMessage( + message_arena, angular_velocity, submessage_arena); + } + + } else { + + } + angular_velocity_ = angular_velocity; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Pose.angular_velocity) +} + +// double heading = 6; +inline void Pose::clear_heading() { + heading_ = 0; +} +inline double Pose::heading() const { + // @@protoc_insertion_point(field_get:apollo.localization.Pose.heading) + return heading_; +} +inline void Pose::set_heading(double value) { + + heading_ = value; + // @@protoc_insertion_point(field_set:apollo.localization.Pose.heading) +} + +// .apollo.common.Point3D linear_acceleration_vrf = 7; +inline bool Pose::has_linear_acceleration_vrf() const { + return this != internal_default_instance() && linear_acceleration_vrf_ != NULL; +} +inline const ::apollo::common::Point3D& Pose::_internal_linear_acceleration_vrf() const { + return *linear_acceleration_vrf_; +} +inline const ::apollo::common::Point3D& Pose::linear_acceleration_vrf() const { + const ::apollo::common::Point3D* p = linear_acceleration_vrf_; + // @@protoc_insertion_point(field_get:apollo.localization.Pose.linear_acceleration_vrf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Pose::release_linear_acceleration_vrf() { + // @@protoc_insertion_point(field_release:apollo.localization.Pose.linear_acceleration_vrf) + + ::apollo::common::Point3D* temp = linear_acceleration_vrf_; + linear_acceleration_vrf_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Pose::mutable_linear_acceleration_vrf() { + + if (linear_acceleration_vrf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + linear_acceleration_vrf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Pose.linear_acceleration_vrf) + return linear_acceleration_vrf_; +} +inline void Pose::set_allocated_linear_acceleration_vrf(::apollo::common::Point3D* linear_acceleration_vrf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(linear_acceleration_vrf_); + } + if (linear_acceleration_vrf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + linear_acceleration_vrf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, linear_acceleration_vrf, submessage_arena); + } + + } else { + + } + linear_acceleration_vrf_ = linear_acceleration_vrf; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Pose.linear_acceleration_vrf) +} + +// .apollo.common.Point3D angular_velocity_vrf = 8; +inline bool Pose::has_angular_velocity_vrf() const { + return this != internal_default_instance() && angular_velocity_vrf_ != NULL; +} +inline const ::apollo::common::Point3D& Pose::_internal_angular_velocity_vrf() const { + return *angular_velocity_vrf_; +} +inline const ::apollo::common::Point3D& Pose::angular_velocity_vrf() const { + const ::apollo::common::Point3D* p = angular_velocity_vrf_; + // @@protoc_insertion_point(field_get:apollo.localization.Pose.angular_velocity_vrf) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Point3D_default_instance_); +} +inline ::apollo::common::Point3D* Pose::release_angular_velocity_vrf() { + // @@protoc_insertion_point(field_release:apollo.localization.Pose.angular_velocity_vrf) + + ::apollo::common::Point3D* temp = angular_velocity_vrf_; + angular_velocity_vrf_ = NULL; + return temp; +} +inline ::apollo::common::Point3D* Pose::mutable_angular_velocity_vrf() { + + if (angular_velocity_vrf_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Point3D>(GetArenaNoVirtual()); + angular_velocity_vrf_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.localization.Pose.angular_velocity_vrf) + return angular_velocity_vrf_; +} +inline void Pose::set_allocated_angular_velocity_vrf(::apollo::common::Point3D* angular_velocity_vrf) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(angular_velocity_vrf_); + } + if (angular_velocity_vrf) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + angular_velocity_vrf = ::google::protobuf::internal::GetOwnedMessage( + message_arena, angular_velocity_vrf, submessage_arena); + } + + } else { + + } + angular_velocity_vrf_ = angular_velocity_vrf; + // @@protoc_insertion_point(field_set_allocated:apollo.localization.Pose.angular_velocity_vrf) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ + +// @@protoc_insertion_point(namespace_scope) + +} // namespace localization +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/perception/perception_obstacle.pb.cc b/apollo_msgs/include/apollo_msgs/proto/perception/perception_obstacle.pb.cc new file mode 100644 index 0000000..c623b09 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/perception/perception_obstacle.pb.cc @@ -0,0 +1,1576 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/perception/perception_obstacle.proto + +#include "apollo_msgs/proto/perception/perception_obstacle.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Point; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_PerceptionObstacle; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto +namespace apollo { +namespace perception { +class PointDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Point_default_instance_; +class PerceptionObstacleDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PerceptionObstacle_default_instance_; +class PerceptionObstaclesDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PerceptionObstacles_default_instance_; +} // namespace perception +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto { +static void InitDefaultsPoint() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::perception::_Point_default_instance_; + new (ptr) ::apollo::perception::Point(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::perception::Point::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Point = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsPoint}, {}}; + +static void InitDefaultsPerceptionObstacle() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::perception::_PerceptionObstacle_default_instance_; + new (ptr) ::apollo::perception::PerceptionObstacle(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::perception::PerceptionObstacle::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_PerceptionObstacle = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsPerceptionObstacle}, { + &protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_Point.base,}}; + +static void InitDefaultsPerceptionObstacles() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::perception::_PerceptionObstacles_default_instance_; + new (ptr) ::apollo::perception::PerceptionObstacles(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::perception::PerceptionObstacles::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_PerceptionObstacles = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsPerceptionObstacles}, { + &protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_PerceptionObstacle.base, + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_Point.base); + ::google::protobuf::internal::InitSCC(&scc_info_PerceptionObstacle.base); + ::google::protobuf::internal::InitSCC(&scc_info_PerceptionObstacles.base); +} + +::google::protobuf::Metadata file_level_metadata[3]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[2]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::Point, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::Point, x_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::Point, y_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::Point, z_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, position_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, theta_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, velocity_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, length_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, width_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, height_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, polygon_point_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, tracking_time_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, timestamp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacle, point_cloud_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacles, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacles, perception_obstacle_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacles, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::PerceptionObstacles, error_code_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::perception::Point)}, + { 8, -1, sizeof(::apollo::perception::PerceptionObstacle)}, + { 25, -1, sizeof(::apollo::perception::PerceptionObstacles)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::perception::_Point_default_instance_), + reinterpret_cast(&::apollo::perception::_PerceptionObstacle_default_instance_), + reinterpret_cast(&::apollo::perception::_PerceptionObstacles_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/perception/perception_obstacle.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 3); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n6apollo_msgs/proto/perception/perceptio" + "n_obstacle.proto\022\021apollo.perception\032%apo" + "llo_msgs/proto/common/header.proto\"(\n\005Po" + "int\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003 \001(\001\"\313\003\n" + "\022PerceptionObstacle\022\n\n\002id\030\001 \001(\005\022*\n\010posit" + "ion\030\002 \001(\0132\030.apollo.perception.Point\022\r\n\005t" + "heta\030\003 \001(\001\022*\n\010velocity\030\004 \001(\0132\030.apollo.pe" + "rception.Point\022\016\n\006length\030\005 \001(\001\022\r\n\005width\030" + "\006 \001(\001\022\016\n\006height\030\007 \001(\001\022/\n\rpolygon_point\030\010" + " \003(\0132\030.apollo.perception.Point\022\025\n\rtracki" + "ng_time\030\t \001(\001\0228\n\004type\030\n \001(\0162*.apollo.per" + "ception.PerceptionObstacle.Type\022\021\n\ttimes" + "tamp\030\013 \001(\001\022\023\n\013point_cloud\030\014 \003(\001\"i\n\004Type\022" + "\013\n\007UNKNOWN\020\000\022\023\n\017UNKNOWN_MOVABLE\020\001\022\025\n\021UNK" + "NOWN_UNMOVABLE\020\002\022\016\n\nPEDESTRIAN\020\003\022\013\n\007BICY" + "CLE\020\004\022\013\n\007VEHICLE\020\005\"\274\001\n\023PerceptionObstacl" + "es\022B\n\023perception_obstacle\030\001 \003(\0132%.apollo" + ".perception.PerceptionObstacle\022%\n\006header" + "\030\002 \001(\0132\025.apollo.common.Header\022:\n\nerror_c" + "ode\030\003 \001(\0162&.apollo.perception.Perception" + "ErrorCode*Y\n\023PerceptionErrorCode\022\016\n\nERRO" + "R_NONE\020\000\022\014\n\010ERROR_TF\020\001\022\021\n\rERROR_PROCESS\020" + "\002\022\021\n\rERROR_UNKNOWN\020\003b\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 908); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/perception/perception_obstacle.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto +namespace apollo { +namespace perception { +const ::google::protobuf::EnumDescriptor* PerceptionObstacle_Type_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::file_level_enum_descriptors[0]; +} +bool PerceptionObstacle_Type_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const PerceptionObstacle_Type PerceptionObstacle::UNKNOWN; +const PerceptionObstacle_Type PerceptionObstacle::UNKNOWN_MOVABLE; +const PerceptionObstacle_Type PerceptionObstacle::UNKNOWN_UNMOVABLE; +const PerceptionObstacle_Type PerceptionObstacle::PEDESTRIAN; +const PerceptionObstacle_Type PerceptionObstacle::BICYCLE; +const PerceptionObstacle_Type PerceptionObstacle::VEHICLE; +const PerceptionObstacle_Type PerceptionObstacle::Type_MIN; +const PerceptionObstacle_Type PerceptionObstacle::Type_MAX; +const int PerceptionObstacle::Type_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 +const ::google::protobuf::EnumDescriptor* PerceptionErrorCode_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::file_level_enum_descriptors[1]; +} +bool PerceptionErrorCode_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + + +// =================================================================== + +void Point::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Point::kXFieldNumber; +const int Point::kYFieldNumber; +const int Point::kZFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Point::Point() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_Point.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.perception.Point) +} +Point::Point(const Point& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&x_, &from.x_, + static_cast(reinterpret_cast(&z_) - + reinterpret_cast(&x_)) + sizeof(z_)); + // @@protoc_insertion_point(copy_constructor:apollo.perception.Point) +} + +void Point::SharedCtor() { + ::memset(&x_, 0, static_cast( + reinterpret_cast(&z_) - + reinterpret_cast(&x_)) + sizeof(z_)); +} + +Point::~Point() { + // @@protoc_insertion_point(destructor:apollo.perception.Point) + SharedDtor(); +} + +void Point::SharedDtor() { +} + +void Point::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Point::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Point& Point::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_Point.base); + return *internal_default_instance(); +} + + +void Point::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.perception.Point) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&x_, 0, static_cast( + reinterpret_cast(&z_) - + reinterpret_cast(&x_)) + sizeof(z_)); + _internal_metadata_.Clear(); +} + +bool Point::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.perception.Point) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double x = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &x_))); + } else { + goto handle_unusual; + } + break; + } + + // double y = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &y_))); + } else { + goto handle_unusual; + } + break; + } + + // double z = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &z_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.perception.Point) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.perception.Point) + return false; +#undef DO_ +} + +void Point::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.perception.Point) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output); + } + + // double y = 2; + if (this->y() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output); + } + + // double z = 3; + if (this->z() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.perception.Point) +} + +::google::protobuf::uint8* Point::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.perception.Point) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target); + } + + // double y = 2; + if (this->y() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target); + } + + // double z = 3; + if (this->z() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.perception.Point) + return target; +} + +size_t Point::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.perception.Point) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double x = 1; + if (this->x() != 0) { + total_size += 1 + 8; + } + + // double y = 2; + if (this->y() != 0) { + total_size += 1 + 8; + } + + // double z = 3; + if (this->z() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Point::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.perception.Point) + GOOGLE_DCHECK_NE(&from, this); + const Point* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.perception.Point) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.perception.Point) + MergeFrom(*source); + } +} + +void Point::MergeFrom(const Point& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.perception.Point) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.x() != 0) { + set_x(from.x()); + } + if (from.y() != 0) { + set_y(from.y()); + } + if (from.z() != 0) { + set_z(from.z()); + } +} + +void Point::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.perception.Point) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Point::CopyFrom(const Point& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.perception.Point) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Point::IsInitialized() const { + return true; +} + +void Point::Swap(Point* other) { + if (other == this) return; + InternalSwap(other); +} +void Point::InternalSwap(Point* other) { + using std::swap; + swap(x_, other->x_); + swap(y_, other->y_); + swap(z_, other->z_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Point::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void PerceptionObstacle::InitAsDefaultInstance() { + ::apollo::perception::_PerceptionObstacle_default_instance_._instance.get_mutable()->position_ = const_cast< ::apollo::perception::Point*>( + ::apollo::perception::Point::internal_default_instance()); + ::apollo::perception::_PerceptionObstacle_default_instance_._instance.get_mutable()->velocity_ = const_cast< ::apollo::perception::Point*>( + ::apollo::perception::Point::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PerceptionObstacle::kIdFieldNumber; +const int PerceptionObstacle::kPositionFieldNumber; +const int PerceptionObstacle::kThetaFieldNumber; +const int PerceptionObstacle::kVelocityFieldNumber; +const int PerceptionObstacle::kLengthFieldNumber; +const int PerceptionObstacle::kWidthFieldNumber; +const int PerceptionObstacle::kHeightFieldNumber; +const int PerceptionObstacle::kPolygonPointFieldNumber; +const int PerceptionObstacle::kTrackingTimeFieldNumber; +const int PerceptionObstacle::kTypeFieldNumber; +const int PerceptionObstacle::kTimestampFieldNumber; +const int PerceptionObstacle::kPointCloudFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PerceptionObstacle::PerceptionObstacle() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_PerceptionObstacle.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.perception.PerceptionObstacle) +} +PerceptionObstacle::PerceptionObstacle(const PerceptionObstacle& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + polygon_point_(from.polygon_point_), + point_cloud_(from.point_cloud_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_position()) { + position_ = new ::apollo::perception::Point(*from.position_); + } else { + position_ = NULL; + } + if (from.has_velocity()) { + velocity_ = new ::apollo::perception::Point(*from.velocity_); + } else { + velocity_ = NULL; + } + ::memcpy(&theta_, &from.theta_, + static_cast(reinterpret_cast(×tamp_) - + reinterpret_cast(&theta_)) + sizeof(timestamp_)); + // @@protoc_insertion_point(copy_constructor:apollo.perception.PerceptionObstacle) +} + +void PerceptionObstacle::SharedCtor() { + ::memset(&position_, 0, static_cast( + reinterpret_cast(×tamp_) - + reinterpret_cast(&position_)) + sizeof(timestamp_)); +} + +PerceptionObstacle::~PerceptionObstacle() { + // @@protoc_insertion_point(destructor:apollo.perception.PerceptionObstacle) + SharedDtor(); +} + +void PerceptionObstacle::SharedDtor() { + if (this != internal_default_instance()) delete position_; + if (this != internal_default_instance()) delete velocity_; +} + +void PerceptionObstacle::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PerceptionObstacle::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PerceptionObstacle& PerceptionObstacle::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_PerceptionObstacle.base); + return *internal_default_instance(); +} + + +void PerceptionObstacle::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.perception.PerceptionObstacle) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + polygon_point_.Clear(); + point_cloud_.Clear(); + if (GetArenaNoVirtual() == NULL && position_ != NULL) { + delete position_; + } + position_ = NULL; + if (GetArenaNoVirtual() == NULL && velocity_ != NULL) { + delete velocity_; + } + velocity_ = NULL; + ::memset(&theta_, 0, static_cast( + reinterpret_cast(×tamp_) - + reinterpret_cast(&theta_)) + sizeof(timestamp_)); + _internal_metadata_.Clear(); +} + +bool PerceptionObstacle::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.perception.PerceptionObstacle) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // int32 id = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &id_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.perception.Point position = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_position())); + } else { + goto handle_unusual; + } + break; + } + + // double theta = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &theta_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.perception.Point velocity = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_velocity())); + } else { + goto handle_unusual; + } + break; + } + + // double length = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &length_))); + } else { + goto handle_unusual; + } + break; + } + + // double width = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &width_))); + } else { + goto handle_unusual; + } + break; + } + + // double height = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &height_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.perception.Point polygon_point = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(66u /* 66 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_polygon_point())); + } else { + goto handle_unusual; + } + break; + } + + // double tracking_time = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &tracking_time_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.perception.PerceptionObstacle.Type type = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_type(static_cast< ::apollo::perception::PerceptionObstacle_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double timestamp = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, ×tamp_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated double point_cloud = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(98u /* 98 & 0xFF */)) { + DO_((::google::protobuf::internal::WireFormatLite::ReadPackedPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, this->mutable_point_cloud()))); + } else if ( + static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + DO_((::google::protobuf::internal::WireFormatLite::ReadRepeatedPrimitiveNoInline< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + 1, 98u, input, this->mutable_point_cloud()))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.perception.PerceptionObstacle) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.perception.PerceptionObstacle) + return false; +#undef DO_ +} + +void PerceptionObstacle::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.perception.PerceptionObstacle) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // int32 id = 1; + if (this->id() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(1, this->id(), output); + } + + // .apollo.perception.Point position = 2; + if (this->has_position()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_position(), output); + } + + // double theta = 3; + if (this->theta() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->theta(), output); + } + + // .apollo.perception.Point velocity = 4; + if (this->has_velocity()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, this->_internal_velocity(), output); + } + + // double length = 5; + if (this->length() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->length(), output); + } + + // double width = 6; + if (this->width() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->width(), output); + } + + // double height = 7; + if (this->height() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->height(), output); + } + + // repeated .apollo.perception.Point polygon_point = 8; + for (unsigned int i = 0, + n = static_cast(this->polygon_point_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 8, + this->polygon_point(static_cast(i)), + output); + } + + // double tracking_time = 9; + if (this->tracking_time() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->tracking_time(), output); + } + + // .apollo.perception.PerceptionObstacle.Type type = 10; + if (this->type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 10, this->type(), output); + } + + // double timestamp = 11; + if (this->timestamp() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(11, this->timestamp(), output); + } + + // repeated double point_cloud = 12; + if (this->point_cloud_size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteTag(12, ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, output); + output->WriteVarint32(static_cast< ::google::protobuf::uint32>( + _point_cloud_cached_byte_size_)); + ::google::protobuf::internal::WireFormatLite::WriteDoubleArray( + this->point_cloud().data(), this->point_cloud_size(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.perception.PerceptionObstacle) +} + +::google::protobuf::uint8* PerceptionObstacle::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.perception.PerceptionObstacle) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // int32 id = 1; + if (this->id() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(1, this->id(), target); + } + + // .apollo.perception.Point position = 2; + if (this->has_position()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_position(), deterministic, target); + } + + // double theta = 3; + if (this->theta() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->theta(), target); + } + + // .apollo.perception.Point velocity = 4; + if (this->has_velocity()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->_internal_velocity(), deterministic, target); + } + + // double length = 5; + if (this->length() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->length(), target); + } + + // double width = 6; + if (this->width() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->width(), target); + } + + // double height = 7; + if (this->height() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->height(), target); + } + + // repeated .apollo.perception.Point polygon_point = 8; + for (unsigned int i = 0, + n = static_cast(this->polygon_point_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 8, this->polygon_point(static_cast(i)), deterministic, target); + } + + // double tracking_time = 9; + if (this->tracking_time() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->tracking_time(), target); + } + + // .apollo.perception.PerceptionObstacle.Type type = 10; + if (this->type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 10, this->type(), target); + } + + // double timestamp = 11; + if (this->timestamp() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(11, this->timestamp(), target); + } + + // repeated double point_cloud = 12; + if (this->point_cloud_size() > 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteTagToArray( + 12, + ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, + target); + target = ::google::protobuf::io::CodedOutputStream::WriteVarint32ToArray( + static_cast< ::google::protobuf::int32>( + _point_cloud_cached_byte_size_), target); + target = ::google::protobuf::internal::WireFormatLite:: + WriteDoubleNoTagToArray(this->point_cloud_, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.perception.PerceptionObstacle) + return target; +} + +size_t PerceptionObstacle::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.perception.PerceptionObstacle) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.perception.Point polygon_point = 8; + { + unsigned int count = static_cast(this->polygon_point_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->polygon_point(static_cast(i))); + } + } + + // repeated double point_cloud = 12; + { + unsigned int count = static_cast(this->point_cloud_size()); + size_t data_size = 8UL * count; + if (data_size > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + static_cast< ::google::protobuf::int32>(data_size)); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(data_size); + GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); + _point_cloud_cached_byte_size_ = cached_size; + GOOGLE_SAFE_CONCURRENT_WRITES_END(); + total_size += data_size; + } + + // .apollo.perception.Point position = 2; + if (this->has_position()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *position_); + } + + // .apollo.perception.Point velocity = 4; + if (this->has_velocity()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *velocity_); + } + + // double theta = 3; + if (this->theta() != 0) { + total_size += 1 + 8; + } + + // double length = 5; + if (this->length() != 0) { + total_size += 1 + 8; + } + + // int32 id = 1; + if (this->id() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->id()); + } + + // .apollo.perception.PerceptionObstacle.Type type = 10; + if (this->type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->type()); + } + + // double width = 6; + if (this->width() != 0) { + total_size += 1 + 8; + } + + // double height = 7; + if (this->height() != 0) { + total_size += 1 + 8; + } + + // double tracking_time = 9; + if (this->tracking_time() != 0) { + total_size += 1 + 8; + } + + // double timestamp = 11; + if (this->timestamp() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PerceptionObstacle::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.perception.PerceptionObstacle) + GOOGLE_DCHECK_NE(&from, this); + const PerceptionObstacle* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.perception.PerceptionObstacle) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.perception.PerceptionObstacle) + MergeFrom(*source); + } +} + +void PerceptionObstacle::MergeFrom(const PerceptionObstacle& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.perception.PerceptionObstacle) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + polygon_point_.MergeFrom(from.polygon_point_); + point_cloud_.MergeFrom(from.point_cloud_); + if (from.has_position()) { + mutable_position()->::apollo::perception::Point::MergeFrom(from.position()); + } + if (from.has_velocity()) { + mutable_velocity()->::apollo::perception::Point::MergeFrom(from.velocity()); + } + if (from.theta() != 0) { + set_theta(from.theta()); + } + if (from.length() != 0) { + set_length(from.length()); + } + if (from.id() != 0) { + set_id(from.id()); + } + if (from.type() != 0) { + set_type(from.type()); + } + if (from.width() != 0) { + set_width(from.width()); + } + if (from.height() != 0) { + set_height(from.height()); + } + if (from.tracking_time() != 0) { + set_tracking_time(from.tracking_time()); + } + if (from.timestamp() != 0) { + set_timestamp(from.timestamp()); + } +} + +void PerceptionObstacle::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.perception.PerceptionObstacle) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PerceptionObstacle::CopyFrom(const PerceptionObstacle& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.perception.PerceptionObstacle) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PerceptionObstacle::IsInitialized() const { + return true; +} + +void PerceptionObstacle::Swap(PerceptionObstacle* other) { + if (other == this) return; + InternalSwap(other); +} +void PerceptionObstacle::InternalSwap(PerceptionObstacle* other) { + using std::swap; + CastToBase(&polygon_point_)->InternalSwap(CastToBase(&other->polygon_point_)); + point_cloud_.InternalSwap(&other->point_cloud_); + swap(position_, other->position_); + swap(velocity_, other->velocity_); + swap(theta_, other->theta_); + swap(length_, other->length_); + swap(id_, other->id_); + swap(type_, other->type_); + swap(width_, other->width_); + swap(height_, other->height_); + swap(tracking_time_, other->tracking_time_); + swap(timestamp_, other->timestamp_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PerceptionObstacle::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void PerceptionObstacles::InitAsDefaultInstance() { + ::apollo::perception::_PerceptionObstacles_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void PerceptionObstacles::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PerceptionObstacles::kPerceptionObstacleFieldNumber; +const int PerceptionObstacles::kHeaderFieldNumber; +const int PerceptionObstacles::kErrorCodeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PerceptionObstacles::PerceptionObstacles() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_PerceptionObstacles.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.perception.PerceptionObstacles) +} +PerceptionObstacles::PerceptionObstacles(const PerceptionObstacles& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + perception_obstacle_(from.perception_obstacle_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + error_code_ = from.error_code_; + // @@protoc_insertion_point(copy_constructor:apollo.perception.PerceptionObstacles) +} + +void PerceptionObstacles::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&error_code_) - + reinterpret_cast(&header_)) + sizeof(error_code_)); +} + +PerceptionObstacles::~PerceptionObstacles() { + // @@protoc_insertion_point(destructor:apollo.perception.PerceptionObstacles) + SharedDtor(); +} + +void PerceptionObstacles::SharedDtor() { + if (this != internal_default_instance()) delete header_; +} + +void PerceptionObstacles::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PerceptionObstacles::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PerceptionObstacles& PerceptionObstacles::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_PerceptionObstacles.base); + return *internal_default_instance(); +} + + +void PerceptionObstacles::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.perception.PerceptionObstacles) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + perception_obstacle_.Clear(); + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + error_code_ = 0; + _internal_metadata_.Clear(); +} + +bool PerceptionObstacles::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.perception.PerceptionObstacles) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // repeated .apollo.perception.PerceptionObstacle perception_obstacle = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_perception_obstacle())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Header header = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.perception.PerceptionErrorCode error_code = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_error_code(static_cast< ::apollo::perception::PerceptionErrorCode >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.perception.PerceptionObstacles) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.perception.PerceptionObstacles) + return false; +#undef DO_ +} + +void PerceptionObstacles::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.perception.PerceptionObstacles) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.perception.PerceptionObstacle perception_obstacle = 1; + for (unsigned int i = 0, + n = static_cast(this->perception_obstacle_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, + this->perception_obstacle(static_cast(i)), + output); + } + + // .apollo.common.Header header = 2; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_header(), output); + } + + // .apollo.perception.PerceptionErrorCode error_code = 3; + if (this->error_code() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 3, this->error_code(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.perception.PerceptionObstacles) +} + +::google::protobuf::uint8* PerceptionObstacles::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.perception.PerceptionObstacles) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.perception.PerceptionObstacle perception_obstacle = 1; + for (unsigned int i = 0, + n = static_cast(this->perception_obstacle_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->perception_obstacle(static_cast(i)), deterministic, target); + } + + // .apollo.common.Header header = 2; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_header(), deterministic, target); + } + + // .apollo.perception.PerceptionErrorCode error_code = 3; + if (this->error_code() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 3, this->error_code(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.perception.PerceptionObstacles) + return target; +} + +size_t PerceptionObstacles::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.perception.PerceptionObstacles) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.perception.PerceptionObstacle perception_obstacle = 1; + { + unsigned int count = static_cast(this->perception_obstacle_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->perception_obstacle(static_cast(i))); + } + } + + // .apollo.common.Header header = 2; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.perception.PerceptionErrorCode error_code = 3; + if (this->error_code() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->error_code()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PerceptionObstacles::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.perception.PerceptionObstacles) + GOOGLE_DCHECK_NE(&from, this); + const PerceptionObstacles* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.perception.PerceptionObstacles) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.perception.PerceptionObstacles) + MergeFrom(*source); + } +} + +void PerceptionObstacles::MergeFrom(const PerceptionObstacles& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.perception.PerceptionObstacles) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + perception_obstacle_.MergeFrom(from.perception_obstacle_); + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.error_code() != 0) { + set_error_code(from.error_code()); + } +} + +void PerceptionObstacles::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.perception.PerceptionObstacles) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PerceptionObstacles::CopyFrom(const PerceptionObstacles& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.perception.PerceptionObstacles) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PerceptionObstacles::IsInitialized() const { + return true; +} + +void PerceptionObstacles::Swap(PerceptionObstacles* other) { + if (other == this) return; + InternalSwap(other); +} +void PerceptionObstacles::InternalSwap(PerceptionObstacles* other) { + using std::swap; + CastToBase(&perception_obstacle_)->InternalSwap(CastToBase(&other->perception_obstacle_)); + swap(header_, other->header_); + swap(error_code_, other->error_code_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PerceptionObstacles::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace perception +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::perception::Point* Arena::CreateMaybeMessage< ::apollo::perception::Point >(Arena* arena) { + return Arena::CreateInternal< ::apollo::perception::Point >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::perception::PerceptionObstacle* Arena::CreateMaybeMessage< ::apollo::perception::PerceptionObstacle >(Arena* arena) { + return Arena::CreateInternal< ::apollo::perception::PerceptionObstacle >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::perception::PerceptionObstacles* Arena::CreateMaybeMessage< ::apollo::perception::PerceptionObstacles >(Arena* arena) { + return Arena::CreateInternal< ::apollo::perception::PerceptionObstacles >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/perception/perception_obstacle.pb.h b/apollo_msgs/include/apollo_msgs/proto/perception/perception_obstacle.pb.h new file mode 100644 index 0000000..ecc41a3 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/perception/perception_obstacle.pb.h @@ -0,0 +1,1071 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/perception/perception_obstacle.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/common/header.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[3]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto +namespace apollo { +namespace perception { +class PerceptionObstacle; +class PerceptionObstacleDefaultTypeInternal; +extern PerceptionObstacleDefaultTypeInternal _PerceptionObstacle_default_instance_; +class PerceptionObstacles; +class PerceptionObstaclesDefaultTypeInternal; +extern PerceptionObstaclesDefaultTypeInternal _PerceptionObstacles_default_instance_; +class Point; +class PointDefaultTypeInternal; +extern PointDefaultTypeInternal _Point_default_instance_; +} // namespace perception +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::perception::PerceptionObstacle* Arena::CreateMaybeMessage<::apollo::perception::PerceptionObstacle>(Arena*); +template<> ::apollo::perception::PerceptionObstacles* Arena::CreateMaybeMessage<::apollo::perception::PerceptionObstacles>(Arena*); +template<> ::apollo::perception::Point* Arena::CreateMaybeMessage<::apollo::perception::Point>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace perception { + +enum PerceptionObstacle_Type { + PerceptionObstacle_Type_UNKNOWN = 0, + PerceptionObstacle_Type_UNKNOWN_MOVABLE = 1, + PerceptionObstacle_Type_UNKNOWN_UNMOVABLE = 2, + PerceptionObstacle_Type_PEDESTRIAN = 3, + PerceptionObstacle_Type_BICYCLE = 4, + PerceptionObstacle_Type_VEHICLE = 5, + PerceptionObstacle_Type_PerceptionObstacle_Type_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + PerceptionObstacle_Type_PerceptionObstacle_Type_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool PerceptionObstacle_Type_IsValid(int value); +const PerceptionObstacle_Type PerceptionObstacle_Type_Type_MIN = PerceptionObstacle_Type_UNKNOWN; +const PerceptionObstacle_Type PerceptionObstacle_Type_Type_MAX = PerceptionObstacle_Type_VEHICLE; +const int PerceptionObstacle_Type_Type_ARRAYSIZE = PerceptionObstacle_Type_Type_MAX + 1; + +const ::google::protobuf::EnumDescriptor* PerceptionObstacle_Type_descriptor(); +inline const ::std::string& PerceptionObstacle_Type_Name(PerceptionObstacle_Type value) { + return ::google::protobuf::internal::NameOfEnum( + PerceptionObstacle_Type_descriptor(), value); +} +inline bool PerceptionObstacle_Type_Parse( + const ::std::string& name, PerceptionObstacle_Type* value) { + return ::google::protobuf::internal::ParseNamedEnum( + PerceptionObstacle_Type_descriptor(), name, value); +} +enum PerceptionErrorCode { + ERROR_NONE = 0, + ERROR_TF = 1, + ERROR_PROCESS = 2, + ERROR_UNKNOWN = 3, + PerceptionErrorCode_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + PerceptionErrorCode_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool PerceptionErrorCode_IsValid(int value); +const PerceptionErrorCode PerceptionErrorCode_MIN = ERROR_NONE; +const PerceptionErrorCode PerceptionErrorCode_MAX = ERROR_UNKNOWN; +const int PerceptionErrorCode_ARRAYSIZE = PerceptionErrorCode_MAX + 1; + +const ::google::protobuf::EnumDescriptor* PerceptionErrorCode_descriptor(); +inline const ::std::string& PerceptionErrorCode_Name(PerceptionErrorCode value) { + return ::google::protobuf::internal::NameOfEnum( + PerceptionErrorCode_descriptor(), value); +} +inline bool PerceptionErrorCode_Parse( + const ::std::string& name, PerceptionErrorCode* value) { + return ::google::protobuf::internal::ParseNamedEnum( + PerceptionErrorCode_descriptor(), name, value); +} +// =================================================================== + +class Point : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.perception.Point) */ { + public: + Point(); + virtual ~Point(); + + Point(const Point& from); + + inline Point& operator=(const Point& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Point(Point&& from) noexcept + : Point() { + *this = ::std::move(from); + } + + inline Point& operator=(Point&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Point& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Point* internal_default_instance() { + return reinterpret_cast( + &_Point_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(Point* other); + friend void swap(Point& a, Point& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Point* New() const final { + return CreateMaybeMessage(NULL); + } + + Point* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Point& from); + void MergeFrom(const Point& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Point* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double x = 1; + void clear_x(); + static const int kXFieldNumber = 1; + double x() const; + void set_x(double value); + + // double y = 2; + void clear_y(); + static const int kYFieldNumber = 2; + double y() const; + void set_y(double value); + + // double z = 3; + void clear_z(); + static const int kZFieldNumber = 3; + double z() const; + void set_z(double value); + + // @@protoc_insertion_point(class_scope:apollo.perception.Point) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double x_; + double y_; + double z_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class PerceptionObstacle : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.perception.PerceptionObstacle) */ { + public: + PerceptionObstacle(); + virtual ~PerceptionObstacle(); + + PerceptionObstacle(const PerceptionObstacle& from); + + inline PerceptionObstacle& operator=(const PerceptionObstacle& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PerceptionObstacle(PerceptionObstacle&& from) noexcept + : PerceptionObstacle() { + *this = ::std::move(from); + } + + inline PerceptionObstacle& operator=(PerceptionObstacle&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PerceptionObstacle& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PerceptionObstacle* internal_default_instance() { + return reinterpret_cast( + &_PerceptionObstacle_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(PerceptionObstacle* other); + friend void swap(PerceptionObstacle& a, PerceptionObstacle& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PerceptionObstacle* New() const final { + return CreateMaybeMessage(NULL); + } + + PerceptionObstacle* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PerceptionObstacle& from); + void MergeFrom(const PerceptionObstacle& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PerceptionObstacle* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef PerceptionObstacle_Type Type; + static const Type UNKNOWN = + PerceptionObstacle_Type_UNKNOWN; + static const Type UNKNOWN_MOVABLE = + PerceptionObstacle_Type_UNKNOWN_MOVABLE; + static const Type UNKNOWN_UNMOVABLE = + PerceptionObstacle_Type_UNKNOWN_UNMOVABLE; + static const Type PEDESTRIAN = + PerceptionObstacle_Type_PEDESTRIAN; + static const Type BICYCLE = + PerceptionObstacle_Type_BICYCLE; + static const Type VEHICLE = + PerceptionObstacle_Type_VEHICLE; + static inline bool Type_IsValid(int value) { + return PerceptionObstacle_Type_IsValid(value); + } + static const Type Type_MIN = + PerceptionObstacle_Type_Type_MIN; + static const Type Type_MAX = + PerceptionObstacle_Type_Type_MAX; + static const int Type_ARRAYSIZE = + PerceptionObstacle_Type_Type_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Type_descriptor() { + return PerceptionObstacle_Type_descriptor(); + } + static inline const ::std::string& Type_Name(Type value) { + return PerceptionObstacle_Type_Name(value); + } + static inline bool Type_Parse(const ::std::string& name, + Type* value) { + return PerceptionObstacle_Type_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // repeated .apollo.perception.Point polygon_point = 8; + int polygon_point_size() const; + void clear_polygon_point(); + static const int kPolygonPointFieldNumber = 8; + ::apollo::perception::Point* mutable_polygon_point(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point >* + mutable_polygon_point(); + const ::apollo::perception::Point& polygon_point(int index) const; + ::apollo::perception::Point* add_polygon_point(); + const ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point >& + polygon_point() const; + + // repeated double point_cloud = 12; + int point_cloud_size() const; + void clear_point_cloud(); + static const int kPointCloudFieldNumber = 12; + double point_cloud(int index) const; + void set_point_cloud(int index, double value); + void add_point_cloud(double value); + const ::google::protobuf::RepeatedField< double >& + point_cloud() const; + ::google::protobuf::RepeatedField< double >* + mutable_point_cloud(); + + // .apollo.perception.Point position = 2; + bool has_position() const; + void clear_position(); + static const int kPositionFieldNumber = 2; + private: + const ::apollo::perception::Point& _internal_position() const; + public: + const ::apollo::perception::Point& position() const; + ::apollo::perception::Point* release_position(); + ::apollo::perception::Point* mutable_position(); + void set_allocated_position(::apollo::perception::Point* position); + + // .apollo.perception.Point velocity = 4; + bool has_velocity() const; + void clear_velocity(); + static const int kVelocityFieldNumber = 4; + private: + const ::apollo::perception::Point& _internal_velocity() const; + public: + const ::apollo::perception::Point& velocity() const; + ::apollo::perception::Point* release_velocity(); + ::apollo::perception::Point* mutable_velocity(); + void set_allocated_velocity(::apollo::perception::Point* velocity); + + // double theta = 3; + void clear_theta(); + static const int kThetaFieldNumber = 3; + double theta() const; + void set_theta(double value); + + // double length = 5; + void clear_length(); + static const int kLengthFieldNumber = 5; + double length() const; + void set_length(double value); + + // int32 id = 1; + void clear_id(); + static const int kIdFieldNumber = 1; + ::google::protobuf::int32 id() const; + void set_id(::google::protobuf::int32 value); + + // .apollo.perception.PerceptionObstacle.Type type = 10; + void clear_type(); + static const int kTypeFieldNumber = 10; + ::apollo::perception::PerceptionObstacle_Type type() const; + void set_type(::apollo::perception::PerceptionObstacle_Type value); + + // double width = 6; + void clear_width(); + static const int kWidthFieldNumber = 6; + double width() const; + void set_width(double value); + + // double height = 7; + void clear_height(); + static const int kHeightFieldNumber = 7; + double height() const; + void set_height(double value); + + // double tracking_time = 9; + void clear_tracking_time(); + static const int kTrackingTimeFieldNumber = 9; + double tracking_time() const; + void set_tracking_time(double value); + + // double timestamp = 11; + void clear_timestamp(); + static const int kTimestampFieldNumber = 11; + double timestamp() const; + void set_timestamp(double value); + + // @@protoc_insertion_point(class_scope:apollo.perception.PerceptionObstacle) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point > polygon_point_; + ::google::protobuf::RepeatedField< double > point_cloud_; + mutable int _point_cloud_cached_byte_size_; + ::apollo::perception::Point* position_; + ::apollo::perception::Point* velocity_; + double theta_; + double length_; + ::google::protobuf::int32 id_; + int type_; + double width_; + double height_; + double tracking_time_; + double timestamp_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class PerceptionObstacles : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.perception.PerceptionObstacles) */ { + public: + PerceptionObstacles(); + virtual ~PerceptionObstacles(); + + PerceptionObstacles(const PerceptionObstacles& from); + + inline PerceptionObstacles& operator=(const PerceptionObstacles& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PerceptionObstacles(PerceptionObstacles&& from) noexcept + : PerceptionObstacles() { + *this = ::std::move(from); + } + + inline PerceptionObstacles& operator=(PerceptionObstacles&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PerceptionObstacles& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PerceptionObstacles* internal_default_instance() { + return reinterpret_cast( + &_PerceptionObstacles_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(PerceptionObstacles* other); + friend void swap(PerceptionObstacles& a, PerceptionObstacles& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PerceptionObstacles* New() const final { + return CreateMaybeMessage(NULL); + } + + PerceptionObstacles* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PerceptionObstacles& from); + void MergeFrom(const PerceptionObstacles& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PerceptionObstacles* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.perception.PerceptionObstacle perception_obstacle = 1; + int perception_obstacle_size() const; + void clear_perception_obstacle(); + static const int kPerceptionObstacleFieldNumber = 1; + ::apollo::perception::PerceptionObstacle* mutable_perception_obstacle(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::perception::PerceptionObstacle >* + mutable_perception_obstacle(); + const ::apollo::perception::PerceptionObstacle& perception_obstacle(int index) const; + ::apollo::perception::PerceptionObstacle* add_perception_obstacle(); + const ::google::protobuf::RepeatedPtrField< ::apollo::perception::PerceptionObstacle >& + perception_obstacle() const; + + // .apollo.common.Header header = 2; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 2; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.perception.PerceptionErrorCode error_code = 3; + void clear_error_code(); + static const int kErrorCodeFieldNumber = 3; + ::apollo::perception::PerceptionErrorCode error_code() const; + void set_error_code(::apollo::perception::PerceptionErrorCode value); + + // @@protoc_insertion_point(class_scope:apollo.perception.PerceptionObstacles) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::perception::PerceptionObstacle > perception_obstacle_; + ::apollo::common::Header* header_; + int error_code_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// Point + +// double x = 1; +inline void Point::clear_x() { + x_ = 0; +} +inline double Point::x() const { + // @@protoc_insertion_point(field_get:apollo.perception.Point.x) + return x_; +} +inline void Point::set_x(double value) { + + x_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.Point.x) +} + +// double y = 2; +inline void Point::clear_y() { + y_ = 0; +} +inline double Point::y() const { + // @@protoc_insertion_point(field_get:apollo.perception.Point.y) + return y_; +} +inline void Point::set_y(double value) { + + y_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.Point.y) +} + +// double z = 3; +inline void Point::clear_z() { + z_ = 0; +} +inline double Point::z() const { + // @@protoc_insertion_point(field_get:apollo.perception.Point.z) + return z_; +} +inline void Point::set_z(double value) { + + z_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.Point.z) +} + +// ------------------------------------------------------------------- + +// PerceptionObstacle + +// int32 id = 1; +inline void PerceptionObstacle::clear_id() { + id_ = 0; +} +inline ::google::protobuf::int32 PerceptionObstacle::id() const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.id) + return id_; +} +inline void PerceptionObstacle::set_id(::google::protobuf::int32 value) { + + id_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacle.id) +} + +// .apollo.perception.Point position = 2; +inline bool PerceptionObstacle::has_position() const { + return this != internal_default_instance() && position_ != NULL; +} +inline void PerceptionObstacle::clear_position() { + if (GetArenaNoVirtual() == NULL && position_ != NULL) { + delete position_; + } + position_ = NULL; +} +inline const ::apollo::perception::Point& PerceptionObstacle::_internal_position() const { + return *position_; +} +inline const ::apollo::perception::Point& PerceptionObstacle::position() const { + const ::apollo::perception::Point* p = position_; + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.position) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::perception::_Point_default_instance_); +} +inline ::apollo::perception::Point* PerceptionObstacle::release_position() { + // @@protoc_insertion_point(field_release:apollo.perception.PerceptionObstacle.position) + + ::apollo::perception::Point* temp = position_; + position_ = NULL; + return temp; +} +inline ::apollo::perception::Point* PerceptionObstacle::mutable_position() { + + if (position_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::perception::Point>(GetArenaNoVirtual()); + position_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.perception.PerceptionObstacle.position) + return position_; +} +inline void PerceptionObstacle::set_allocated_position(::apollo::perception::Point* position) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete position_; + } + if (position) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + position = ::google::protobuf::internal::GetOwnedMessage( + message_arena, position, submessage_arena); + } + + } else { + + } + position_ = position; + // @@protoc_insertion_point(field_set_allocated:apollo.perception.PerceptionObstacle.position) +} + +// double theta = 3; +inline void PerceptionObstacle::clear_theta() { + theta_ = 0; +} +inline double PerceptionObstacle::theta() const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.theta) + return theta_; +} +inline void PerceptionObstacle::set_theta(double value) { + + theta_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacle.theta) +} + +// .apollo.perception.Point velocity = 4; +inline bool PerceptionObstacle::has_velocity() const { + return this != internal_default_instance() && velocity_ != NULL; +} +inline void PerceptionObstacle::clear_velocity() { + if (GetArenaNoVirtual() == NULL && velocity_ != NULL) { + delete velocity_; + } + velocity_ = NULL; +} +inline const ::apollo::perception::Point& PerceptionObstacle::_internal_velocity() const { + return *velocity_; +} +inline const ::apollo::perception::Point& PerceptionObstacle::velocity() const { + const ::apollo::perception::Point* p = velocity_; + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.velocity) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::perception::_Point_default_instance_); +} +inline ::apollo::perception::Point* PerceptionObstacle::release_velocity() { + // @@protoc_insertion_point(field_release:apollo.perception.PerceptionObstacle.velocity) + + ::apollo::perception::Point* temp = velocity_; + velocity_ = NULL; + return temp; +} +inline ::apollo::perception::Point* PerceptionObstacle::mutable_velocity() { + + if (velocity_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::perception::Point>(GetArenaNoVirtual()); + velocity_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.perception.PerceptionObstacle.velocity) + return velocity_; +} +inline void PerceptionObstacle::set_allocated_velocity(::apollo::perception::Point* velocity) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete velocity_; + } + if (velocity) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + velocity = ::google::protobuf::internal::GetOwnedMessage( + message_arena, velocity, submessage_arena); + } + + } else { + + } + velocity_ = velocity; + // @@protoc_insertion_point(field_set_allocated:apollo.perception.PerceptionObstacle.velocity) +} + +// double length = 5; +inline void PerceptionObstacle::clear_length() { + length_ = 0; +} +inline double PerceptionObstacle::length() const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.length) + return length_; +} +inline void PerceptionObstacle::set_length(double value) { + + length_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacle.length) +} + +// double width = 6; +inline void PerceptionObstacle::clear_width() { + width_ = 0; +} +inline double PerceptionObstacle::width() const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.width) + return width_; +} +inline void PerceptionObstacle::set_width(double value) { + + width_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacle.width) +} + +// double height = 7; +inline void PerceptionObstacle::clear_height() { + height_ = 0; +} +inline double PerceptionObstacle::height() const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.height) + return height_; +} +inline void PerceptionObstacle::set_height(double value) { + + height_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacle.height) +} + +// repeated .apollo.perception.Point polygon_point = 8; +inline int PerceptionObstacle::polygon_point_size() const { + return polygon_point_.size(); +} +inline void PerceptionObstacle::clear_polygon_point() { + polygon_point_.Clear(); +} +inline ::apollo::perception::Point* PerceptionObstacle::mutable_polygon_point(int index) { + // @@protoc_insertion_point(field_mutable:apollo.perception.PerceptionObstacle.polygon_point) + return polygon_point_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point >* +PerceptionObstacle::mutable_polygon_point() { + // @@protoc_insertion_point(field_mutable_list:apollo.perception.PerceptionObstacle.polygon_point) + return &polygon_point_; +} +inline const ::apollo::perception::Point& PerceptionObstacle::polygon_point(int index) const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.polygon_point) + return polygon_point_.Get(index); +} +inline ::apollo::perception::Point* PerceptionObstacle::add_polygon_point() { + // @@protoc_insertion_point(field_add:apollo.perception.PerceptionObstacle.polygon_point) + return polygon_point_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point >& +PerceptionObstacle::polygon_point() const { + // @@protoc_insertion_point(field_list:apollo.perception.PerceptionObstacle.polygon_point) + return polygon_point_; +} + +// double tracking_time = 9; +inline void PerceptionObstacle::clear_tracking_time() { + tracking_time_ = 0; +} +inline double PerceptionObstacle::tracking_time() const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.tracking_time) + return tracking_time_; +} +inline void PerceptionObstacle::set_tracking_time(double value) { + + tracking_time_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacle.tracking_time) +} + +// .apollo.perception.PerceptionObstacle.Type type = 10; +inline void PerceptionObstacle::clear_type() { + type_ = 0; +} +inline ::apollo::perception::PerceptionObstacle_Type PerceptionObstacle::type() const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.type) + return static_cast< ::apollo::perception::PerceptionObstacle_Type >(type_); +} +inline void PerceptionObstacle::set_type(::apollo::perception::PerceptionObstacle_Type value) { + + type_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacle.type) +} + +// double timestamp = 11; +inline void PerceptionObstacle::clear_timestamp() { + timestamp_ = 0; +} +inline double PerceptionObstacle::timestamp() const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.timestamp) + return timestamp_; +} +inline void PerceptionObstacle::set_timestamp(double value) { + + timestamp_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacle.timestamp) +} + +// repeated double point_cloud = 12; +inline int PerceptionObstacle::point_cloud_size() const { + return point_cloud_.size(); +} +inline void PerceptionObstacle::clear_point_cloud() { + point_cloud_.Clear(); +} +inline double PerceptionObstacle::point_cloud(int index) const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacle.point_cloud) + return point_cloud_.Get(index); +} +inline void PerceptionObstacle::set_point_cloud(int index, double value) { + point_cloud_.Set(index, value); + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacle.point_cloud) +} +inline void PerceptionObstacle::add_point_cloud(double value) { + point_cloud_.Add(value); + // @@protoc_insertion_point(field_add:apollo.perception.PerceptionObstacle.point_cloud) +} +inline const ::google::protobuf::RepeatedField< double >& +PerceptionObstacle::point_cloud() const { + // @@protoc_insertion_point(field_list:apollo.perception.PerceptionObstacle.point_cloud) + return point_cloud_; +} +inline ::google::protobuf::RepeatedField< double >* +PerceptionObstacle::mutable_point_cloud() { + // @@protoc_insertion_point(field_mutable_list:apollo.perception.PerceptionObstacle.point_cloud) + return &point_cloud_; +} + +// ------------------------------------------------------------------- + +// PerceptionObstacles + +// repeated .apollo.perception.PerceptionObstacle perception_obstacle = 1; +inline int PerceptionObstacles::perception_obstacle_size() const { + return perception_obstacle_.size(); +} +inline void PerceptionObstacles::clear_perception_obstacle() { + perception_obstacle_.Clear(); +} +inline ::apollo::perception::PerceptionObstacle* PerceptionObstacles::mutable_perception_obstacle(int index) { + // @@protoc_insertion_point(field_mutable:apollo.perception.PerceptionObstacles.perception_obstacle) + return perception_obstacle_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::perception::PerceptionObstacle >* +PerceptionObstacles::mutable_perception_obstacle() { + // @@protoc_insertion_point(field_mutable_list:apollo.perception.PerceptionObstacles.perception_obstacle) + return &perception_obstacle_; +} +inline const ::apollo::perception::PerceptionObstacle& PerceptionObstacles::perception_obstacle(int index) const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacles.perception_obstacle) + return perception_obstacle_.Get(index); +} +inline ::apollo::perception::PerceptionObstacle* PerceptionObstacles::add_perception_obstacle() { + // @@protoc_insertion_point(field_add:apollo.perception.PerceptionObstacles.perception_obstacle) + return perception_obstacle_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::perception::PerceptionObstacle >& +PerceptionObstacles::perception_obstacle() const { + // @@protoc_insertion_point(field_list:apollo.perception.PerceptionObstacles.perception_obstacle) + return perception_obstacle_; +} + +// .apollo.common.Header header = 2; +inline bool PerceptionObstacles::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& PerceptionObstacles::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& PerceptionObstacles::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacles.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* PerceptionObstacles::release_header() { + // @@protoc_insertion_point(field_release:apollo.perception.PerceptionObstacles.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* PerceptionObstacles::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.perception.PerceptionObstacles.header) + return header_; +} +inline void PerceptionObstacles::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.perception.PerceptionObstacles.header) +} + +// .apollo.perception.PerceptionErrorCode error_code = 3; +inline void PerceptionObstacles::clear_error_code() { + error_code_ = 0; +} +inline ::apollo::perception::PerceptionErrorCode PerceptionObstacles::error_code() const { + // @@protoc_insertion_point(field_get:apollo.perception.PerceptionObstacles.error_code) + return static_cast< ::apollo::perception::PerceptionErrorCode >(error_code_); +} +inline void PerceptionObstacles::set_error_code(::apollo::perception::PerceptionErrorCode value) { + + error_code_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.PerceptionObstacles.error_code) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace perception +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::perception::PerceptionObstacle_Type> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::perception::PerceptionObstacle_Type>() { + return ::apollo::perception::PerceptionObstacle_Type_descriptor(); +} +template <> struct is_proto_enum< ::apollo::perception::PerceptionErrorCode> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::perception::PerceptionErrorCode>() { + return ::apollo::perception::PerceptionErrorCode_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/perception/traffic_light_detection.pb.cc b/apollo_msgs/include/apollo_msgs/proto/perception/traffic_light_detection.pb.cc new file mode 100644 index 0000000..2862093 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/perception/traffic_light_detection.pb.cc @@ -0,0 +1,844 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/perception/traffic_light_detection.proto + +#include "apollo_msgs/proto/perception/traffic_light_detection.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_TrafficLight; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto +namespace apollo { +namespace perception { +class TrafficLightDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _TrafficLight_default_instance_; +class TrafficLightDetectionDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _TrafficLightDetection_default_instance_; +} // namespace perception +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto { +static void InitDefaultsTrafficLight() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::perception::_TrafficLight_default_instance_; + new (ptr) ::apollo::perception::TrafficLight(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::perception::TrafficLight::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_TrafficLight = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsTrafficLight}, {}}; + +static void InitDefaultsTrafficLightDetection() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::perception::_TrafficLightDetection_default_instance_; + new (ptr) ::apollo::perception::TrafficLightDetection(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::perception::TrafficLightDetection::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_TrafficLightDetection = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsTrafficLightDetection}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::scc_info_TrafficLight.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_TrafficLight.base); + ::google::protobuf::internal::InitSCC(&scc_info_TrafficLightDetection.base); +} + +::google::protobuf::Metadata file_level_metadata[2]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::TrafficLight, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::TrafficLight, color_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::TrafficLight, id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::TrafficLight, confidence_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::TrafficLight, tracking_time_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::TrafficLightDetection, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::TrafficLightDetection, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::perception::TrafficLightDetection, traffic_light_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::perception::TrafficLight)}, + { 9, -1, sizeof(::apollo::perception::TrafficLightDetection)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::perception::_TrafficLight_default_instance_), + reinterpret_cast(&::apollo::perception::_TrafficLightDetection_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/perception/traffic_light_detection.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 2); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n:apollo_msgs/proto/perception/traffic_l" + "ight_detection.proto\022\021apollo.perception\032" + "%apollo_msgs/proto/common/header.proto\"\261" + "\001\n\014TrafficLight\0224\n\005color\030\001 \001(\0162%.apollo." + "perception.TrafficLight.Color\022\n\n\002id\030\002 \001(" + "\t\022\022\n\nconfidence\030\003 \001(\001\022\025\n\rtracking_time\030\004" + " \001(\001\"4\n\005Color\022\013\n\007UNKNOWN\020\000\022\007\n\003RED\020\001\022\n\n\006Y" + "ELLOW\020\002\022\t\n\005GREEN\020\003\"v\n\025TrafficLightDetect" + "ion\022%\n\006header\030\002 \001(\0132\025.apollo.common.Head" + "er\0226\n\rtraffic_light\030\001 \003(\0132\037.apollo.perce" + "ption.TrafficLightb\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 426); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/perception/traffic_light_detection.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto +namespace apollo { +namespace perception { +const ::google::protobuf::EnumDescriptor* TrafficLight_Color_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::file_level_enum_descriptors[0]; +} +bool TrafficLight_Color_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const TrafficLight_Color TrafficLight::UNKNOWN; +const TrafficLight_Color TrafficLight::RED; +const TrafficLight_Color TrafficLight::YELLOW; +const TrafficLight_Color TrafficLight::GREEN; +const TrafficLight_Color TrafficLight::Color_MIN; +const TrafficLight_Color TrafficLight::Color_MAX; +const int TrafficLight::Color_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void TrafficLight::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int TrafficLight::kColorFieldNumber; +const int TrafficLight::kIdFieldNumber; +const int TrafficLight::kConfidenceFieldNumber; +const int TrafficLight::kTrackingTimeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +TrafficLight::TrafficLight() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::scc_info_TrafficLight.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.perception.TrafficLight) +} +TrafficLight::TrafficLight(const TrafficLight& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.id().size() > 0) { + id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.id_); + } + ::memcpy(&confidence_, &from.confidence_, + static_cast(reinterpret_cast(&color_) - + reinterpret_cast(&confidence_)) + sizeof(color_)); + // @@protoc_insertion_point(copy_constructor:apollo.perception.TrafficLight) +} + +void TrafficLight::SharedCtor() { + id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&confidence_, 0, static_cast( + reinterpret_cast(&color_) - + reinterpret_cast(&confidence_)) + sizeof(color_)); +} + +TrafficLight::~TrafficLight() { + // @@protoc_insertion_point(destructor:apollo.perception.TrafficLight) + SharedDtor(); +} + +void TrafficLight::SharedDtor() { + id_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} + +void TrafficLight::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* TrafficLight::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const TrafficLight& TrafficLight::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::scc_info_TrafficLight.base); + return *internal_default_instance(); +} + + +void TrafficLight::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.perception.TrafficLight) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&confidence_, 0, static_cast( + reinterpret_cast(&color_) - + reinterpret_cast(&confidence_)) + sizeof(color_)); + _internal_metadata_.Clear(); +} + +bool TrafficLight::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.perception.TrafficLight) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.perception.TrafficLight.Color color = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_color(static_cast< ::apollo::perception::TrafficLight_Color >(value)); + } else { + goto handle_unusual; + } + break; + } + + // string id = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_id())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.perception.TrafficLight.id")); + } else { + goto handle_unusual; + } + break; + } + + // double confidence = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &confidence_))); + } else { + goto handle_unusual; + } + break; + } + + // double tracking_time = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &tracking_time_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.perception.TrafficLight) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.perception.TrafficLight) + return false; +#undef DO_ +} + +void TrafficLight::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.perception.TrafficLight) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.perception.TrafficLight.Color color = 1; + if (this->color() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->color(), output); + } + + // string id = 2; + if (this->id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.perception.TrafficLight.id"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 2, this->id(), output); + } + + // double confidence = 3; + if (this->confidence() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->confidence(), output); + } + + // double tracking_time = 4; + if (this->tracking_time() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->tracking_time(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.perception.TrafficLight) +} + +::google::protobuf::uint8* TrafficLight::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.perception.TrafficLight) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.perception.TrafficLight.Color color = 1; + if (this->color() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->color(), target); + } + + // string id = 2; + if (this->id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->id().data(), static_cast(this->id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.perception.TrafficLight.id"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 2, this->id(), target); + } + + // double confidence = 3; + if (this->confidence() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->confidence(), target); + } + + // double tracking_time = 4; + if (this->tracking_time() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->tracking_time(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.perception.TrafficLight) + return target; +} + +size_t TrafficLight::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.perception.TrafficLight) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // string id = 2; + if (this->id().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->id()); + } + + // double confidence = 3; + if (this->confidence() != 0) { + total_size += 1 + 8; + } + + // double tracking_time = 4; + if (this->tracking_time() != 0) { + total_size += 1 + 8; + } + + // .apollo.perception.TrafficLight.Color color = 1; + if (this->color() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->color()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void TrafficLight::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.perception.TrafficLight) + GOOGLE_DCHECK_NE(&from, this); + const TrafficLight* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.perception.TrafficLight) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.perception.TrafficLight) + MergeFrom(*source); + } +} + +void TrafficLight::MergeFrom(const TrafficLight& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.perception.TrafficLight) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.id().size() > 0) { + + id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.id_); + } + if (from.confidence() != 0) { + set_confidence(from.confidence()); + } + if (from.tracking_time() != 0) { + set_tracking_time(from.tracking_time()); + } + if (from.color() != 0) { + set_color(from.color()); + } +} + +void TrafficLight::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.perception.TrafficLight) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void TrafficLight::CopyFrom(const TrafficLight& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.perception.TrafficLight) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool TrafficLight::IsInitialized() const { + return true; +} + +void TrafficLight::Swap(TrafficLight* other) { + if (other == this) return; + InternalSwap(other); +} +void TrafficLight::InternalSwap(TrafficLight* other) { + using std::swap; + id_.Swap(&other->id_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(confidence_, other->confidence_); + swap(tracking_time_, other->tracking_time_); + swap(color_, other->color_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata TrafficLight::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void TrafficLightDetection::InitAsDefaultInstance() { + ::apollo::perception::_TrafficLightDetection_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void TrafficLightDetection::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int TrafficLightDetection::kHeaderFieldNumber; +const int TrafficLightDetection::kTrafficLightFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +TrafficLightDetection::TrafficLightDetection() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::scc_info_TrafficLightDetection.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.perception.TrafficLightDetection) +} +TrafficLightDetection::TrafficLightDetection(const TrafficLightDetection& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + traffic_light_(from.traffic_light_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.perception.TrafficLightDetection) +} + +void TrafficLightDetection::SharedCtor() { + header_ = NULL; +} + +TrafficLightDetection::~TrafficLightDetection() { + // @@protoc_insertion_point(destructor:apollo.perception.TrafficLightDetection) + SharedDtor(); +} + +void TrafficLightDetection::SharedDtor() { + if (this != internal_default_instance()) delete header_; +} + +void TrafficLightDetection::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* TrafficLightDetection::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const TrafficLightDetection& TrafficLightDetection::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::scc_info_TrafficLightDetection.base); + return *internal_default_instance(); +} + + +void TrafficLightDetection::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.perception.TrafficLightDetection) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + traffic_light_.Clear(); + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + _internal_metadata_.Clear(); +} + +bool TrafficLightDetection::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.perception.TrafficLightDetection) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // repeated .apollo.perception.TrafficLight traffic_light = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_traffic_light())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.common.Header header = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.perception.TrafficLightDetection) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.perception.TrafficLightDetection) + return false; +#undef DO_ +} + +void TrafficLightDetection::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.perception.TrafficLightDetection) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.perception.TrafficLight traffic_light = 1; + for (unsigned int i = 0, + n = static_cast(this->traffic_light_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, + this->traffic_light(static_cast(i)), + output); + } + + // .apollo.common.Header header = 2; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_header(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.perception.TrafficLightDetection) +} + +::google::protobuf::uint8* TrafficLightDetection::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.perception.TrafficLightDetection) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.perception.TrafficLight traffic_light = 1; + for (unsigned int i = 0, + n = static_cast(this->traffic_light_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->traffic_light(static_cast(i)), deterministic, target); + } + + // .apollo.common.Header header = 2; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_header(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.perception.TrafficLightDetection) + return target; +} + +size_t TrafficLightDetection::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.perception.TrafficLightDetection) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.perception.TrafficLight traffic_light = 1; + { + unsigned int count = static_cast(this->traffic_light_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->traffic_light(static_cast(i))); + } + } + + // .apollo.common.Header header = 2; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void TrafficLightDetection::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.perception.TrafficLightDetection) + GOOGLE_DCHECK_NE(&from, this); + const TrafficLightDetection* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.perception.TrafficLightDetection) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.perception.TrafficLightDetection) + MergeFrom(*source); + } +} + +void TrafficLightDetection::MergeFrom(const TrafficLightDetection& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.perception.TrafficLightDetection) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + traffic_light_.MergeFrom(from.traffic_light_); + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } +} + +void TrafficLightDetection::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.perception.TrafficLightDetection) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void TrafficLightDetection::CopyFrom(const TrafficLightDetection& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.perception.TrafficLightDetection) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool TrafficLightDetection::IsInitialized() const { + return true; +} + +void TrafficLightDetection::Swap(TrafficLightDetection* other) { + if (other == this) return; + InternalSwap(other); +} +void TrafficLightDetection::InternalSwap(TrafficLightDetection* other) { + using std::swap; + CastToBase(&traffic_light_)->InternalSwap(CastToBase(&other->traffic_light_)); + swap(header_, other->header_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata TrafficLightDetection::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace perception +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::perception::TrafficLight* Arena::CreateMaybeMessage< ::apollo::perception::TrafficLight >(Arena* arena) { + return Arena::CreateInternal< ::apollo::perception::TrafficLight >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::perception::TrafficLightDetection* Arena::CreateMaybeMessage< ::apollo::perception::TrafficLightDetection >(Arena* arena) { + return Arena::CreateInternal< ::apollo::perception::TrafficLightDetection >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/perception/traffic_light_detection.pb.h b/apollo_msgs/include/apollo_msgs/proto/perception/traffic_light_detection.pb.h new file mode 100644 index 0000000..5d1cb4e --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/perception/traffic_light_detection.pb.h @@ -0,0 +1,589 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/perception/traffic_light_detection.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/common/header.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[2]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto +namespace apollo { +namespace perception { +class TrafficLight; +class TrafficLightDefaultTypeInternal; +extern TrafficLightDefaultTypeInternal _TrafficLight_default_instance_; +class TrafficLightDetection; +class TrafficLightDetectionDefaultTypeInternal; +extern TrafficLightDetectionDefaultTypeInternal _TrafficLightDetection_default_instance_; +} // namespace perception +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::perception::TrafficLight* Arena::CreateMaybeMessage<::apollo::perception::TrafficLight>(Arena*); +template<> ::apollo::perception::TrafficLightDetection* Arena::CreateMaybeMessage<::apollo::perception::TrafficLightDetection>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace perception { + +enum TrafficLight_Color { + TrafficLight_Color_UNKNOWN = 0, + TrafficLight_Color_RED = 1, + TrafficLight_Color_YELLOW = 2, + TrafficLight_Color_GREEN = 3, + TrafficLight_Color_TrafficLight_Color_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + TrafficLight_Color_TrafficLight_Color_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool TrafficLight_Color_IsValid(int value); +const TrafficLight_Color TrafficLight_Color_Color_MIN = TrafficLight_Color_UNKNOWN; +const TrafficLight_Color TrafficLight_Color_Color_MAX = TrafficLight_Color_GREEN; +const int TrafficLight_Color_Color_ARRAYSIZE = TrafficLight_Color_Color_MAX + 1; + +const ::google::protobuf::EnumDescriptor* TrafficLight_Color_descriptor(); +inline const ::std::string& TrafficLight_Color_Name(TrafficLight_Color value) { + return ::google::protobuf::internal::NameOfEnum( + TrafficLight_Color_descriptor(), value); +} +inline bool TrafficLight_Color_Parse( + const ::std::string& name, TrafficLight_Color* value) { + return ::google::protobuf::internal::ParseNamedEnum( + TrafficLight_Color_descriptor(), name, value); +} +// =================================================================== + +class TrafficLight : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.perception.TrafficLight) */ { + public: + TrafficLight(); + virtual ~TrafficLight(); + + TrafficLight(const TrafficLight& from); + + inline TrafficLight& operator=(const TrafficLight& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + TrafficLight(TrafficLight&& from) noexcept + : TrafficLight() { + *this = ::std::move(from); + } + + inline TrafficLight& operator=(TrafficLight&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const TrafficLight& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const TrafficLight* internal_default_instance() { + return reinterpret_cast( + &_TrafficLight_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(TrafficLight* other); + friend void swap(TrafficLight& a, TrafficLight& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline TrafficLight* New() const final { + return CreateMaybeMessage(NULL); + } + + TrafficLight* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const TrafficLight& from); + void MergeFrom(const TrafficLight& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(TrafficLight* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef TrafficLight_Color Color; + static const Color UNKNOWN = + TrafficLight_Color_UNKNOWN; + static const Color RED = + TrafficLight_Color_RED; + static const Color YELLOW = + TrafficLight_Color_YELLOW; + static const Color GREEN = + TrafficLight_Color_GREEN; + static inline bool Color_IsValid(int value) { + return TrafficLight_Color_IsValid(value); + } + static const Color Color_MIN = + TrafficLight_Color_Color_MIN; + static const Color Color_MAX = + TrafficLight_Color_Color_MAX; + static const int Color_ARRAYSIZE = + TrafficLight_Color_Color_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + Color_descriptor() { + return TrafficLight_Color_descriptor(); + } + static inline const ::std::string& Color_Name(Color value) { + return TrafficLight_Color_Name(value); + } + static inline bool Color_Parse(const ::std::string& name, + Color* value) { + return TrafficLight_Color_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // string id = 2; + void clear_id(); + static const int kIdFieldNumber = 2; + const ::std::string& id() const; + void set_id(const ::std::string& value); + #if LANG_CXX11 + void set_id(::std::string&& value); + #endif + void set_id(const char* value); + void set_id(const char* value, size_t size); + ::std::string* mutable_id(); + ::std::string* release_id(); + void set_allocated_id(::std::string* id); + + // double confidence = 3; + void clear_confidence(); + static const int kConfidenceFieldNumber = 3; + double confidence() const; + void set_confidence(double value); + + // double tracking_time = 4; + void clear_tracking_time(); + static const int kTrackingTimeFieldNumber = 4; + double tracking_time() const; + void set_tracking_time(double value); + + // .apollo.perception.TrafficLight.Color color = 1; + void clear_color(); + static const int kColorFieldNumber = 1; + ::apollo::perception::TrafficLight_Color color() const; + void set_color(::apollo::perception::TrafficLight_Color value); + + // @@protoc_insertion_point(class_scope:apollo.perception.TrafficLight) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::internal::ArenaStringPtr id_; + double confidence_; + double tracking_time_; + int color_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class TrafficLightDetection : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.perception.TrafficLightDetection) */ { + public: + TrafficLightDetection(); + virtual ~TrafficLightDetection(); + + TrafficLightDetection(const TrafficLightDetection& from); + + inline TrafficLightDetection& operator=(const TrafficLightDetection& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + TrafficLightDetection(TrafficLightDetection&& from) noexcept + : TrafficLightDetection() { + *this = ::std::move(from); + } + + inline TrafficLightDetection& operator=(TrafficLightDetection&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const TrafficLightDetection& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const TrafficLightDetection* internal_default_instance() { + return reinterpret_cast( + &_TrafficLightDetection_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(TrafficLightDetection* other); + friend void swap(TrafficLightDetection& a, TrafficLightDetection& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline TrafficLightDetection* New() const final { + return CreateMaybeMessage(NULL); + } + + TrafficLightDetection* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const TrafficLightDetection& from); + void MergeFrom(const TrafficLightDetection& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(TrafficLightDetection* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.perception.TrafficLight traffic_light = 1; + int traffic_light_size() const; + void clear_traffic_light(); + static const int kTrafficLightFieldNumber = 1; + ::apollo::perception::TrafficLight* mutable_traffic_light(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::perception::TrafficLight >* + mutable_traffic_light(); + const ::apollo::perception::TrafficLight& traffic_light(int index) const; + ::apollo::perception::TrafficLight* add_traffic_light(); + const ::google::protobuf::RepeatedPtrField< ::apollo::perception::TrafficLight >& + traffic_light() const; + + // .apollo.common.Header header = 2; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 2; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // @@protoc_insertion_point(class_scope:apollo.perception.TrafficLightDetection) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::perception::TrafficLight > traffic_light_; + ::apollo::common::Header* header_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// TrafficLight + +// .apollo.perception.TrafficLight.Color color = 1; +inline void TrafficLight::clear_color() { + color_ = 0; +} +inline ::apollo::perception::TrafficLight_Color TrafficLight::color() const { + // @@protoc_insertion_point(field_get:apollo.perception.TrafficLight.color) + return static_cast< ::apollo::perception::TrafficLight_Color >(color_); +} +inline void TrafficLight::set_color(::apollo::perception::TrafficLight_Color value) { + + color_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.TrafficLight.color) +} + +// string id = 2; +inline void TrafficLight::clear_id() { + id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& TrafficLight::id() const { + // @@protoc_insertion_point(field_get:apollo.perception.TrafficLight.id) + return id_.GetNoArena(); +} +inline void TrafficLight::set_id(const ::std::string& value) { + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.perception.TrafficLight.id) +} +#if LANG_CXX11 +inline void TrafficLight::set_id(::std::string&& value) { + + id_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.perception.TrafficLight.id) +} +#endif +inline void TrafficLight::set_id(const char* value) { + GOOGLE_DCHECK(value != NULL); + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.perception.TrafficLight.id) +} +inline void TrafficLight::set_id(const char* value, size_t size) { + + id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.perception.TrafficLight.id) +} +inline ::std::string* TrafficLight::mutable_id() { + + // @@protoc_insertion_point(field_mutable:apollo.perception.TrafficLight.id) + return id_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* TrafficLight::release_id() { + // @@protoc_insertion_point(field_release:apollo.perception.TrafficLight.id) + + return id_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void TrafficLight::set_allocated_id(::std::string* id) { + if (id != NULL) { + + } else { + + } + id_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), id); + // @@protoc_insertion_point(field_set_allocated:apollo.perception.TrafficLight.id) +} + +// double confidence = 3; +inline void TrafficLight::clear_confidence() { + confidence_ = 0; +} +inline double TrafficLight::confidence() const { + // @@protoc_insertion_point(field_get:apollo.perception.TrafficLight.confidence) + return confidence_; +} +inline void TrafficLight::set_confidence(double value) { + + confidence_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.TrafficLight.confidence) +} + +// double tracking_time = 4; +inline void TrafficLight::clear_tracking_time() { + tracking_time_ = 0; +} +inline double TrafficLight::tracking_time() const { + // @@protoc_insertion_point(field_get:apollo.perception.TrafficLight.tracking_time) + return tracking_time_; +} +inline void TrafficLight::set_tracking_time(double value) { + + tracking_time_ = value; + // @@protoc_insertion_point(field_set:apollo.perception.TrafficLight.tracking_time) +} + +// ------------------------------------------------------------------- + +// TrafficLightDetection + +// .apollo.common.Header header = 2; +inline bool TrafficLightDetection::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& TrafficLightDetection::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& TrafficLightDetection::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.perception.TrafficLightDetection.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* TrafficLightDetection::release_header() { + // @@protoc_insertion_point(field_release:apollo.perception.TrafficLightDetection.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* TrafficLightDetection::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.perception.TrafficLightDetection.header) + return header_; +} +inline void TrafficLightDetection::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.perception.TrafficLightDetection.header) +} + +// repeated .apollo.perception.TrafficLight traffic_light = 1; +inline int TrafficLightDetection::traffic_light_size() const { + return traffic_light_.size(); +} +inline void TrafficLightDetection::clear_traffic_light() { + traffic_light_.Clear(); +} +inline ::apollo::perception::TrafficLight* TrafficLightDetection::mutable_traffic_light(int index) { + // @@protoc_insertion_point(field_mutable:apollo.perception.TrafficLightDetection.traffic_light) + return traffic_light_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::perception::TrafficLight >* +TrafficLightDetection::mutable_traffic_light() { + // @@protoc_insertion_point(field_mutable_list:apollo.perception.TrafficLightDetection.traffic_light) + return &traffic_light_; +} +inline const ::apollo::perception::TrafficLight& TrafficLightDetection::traffic_light(int index) const { + // @@protoc_insertion_point(field_get:apollo.perception.TrafficLightDetection.traffic_light) + return traffic_light_.Get(index); +} +inline ::apollo::perception::TrafficLight* TrafficLightDetection::add_traffic_light() { + // @@protoc_insertion_point(field_add:apollo.perception.TrafficLightDetection.traffic_light) + return traffic_light_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::perception::TrafficLight >& +TrafficLightDetection::traffic_light() const { + // @@protoc_insertion_point(field_list:apollo.perception.TrafficLightDetection.traffic_light) + return traffic_light_; +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace perception +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::perception::TrafficLight_Color> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::perception::TrafficLight_Color>() { + return ::apollo::perception::TrafficLight_Color_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fperception_2ftraffic_5flight_5fdetection_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/planning/planning.pb.cc b/apollo_msgs/include/apollo_msgs/proto/planning/planning.pb.cc new file mode 100644 index 0000000..f00a8cd --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/planning/planning.pb.cc @@ -0,0 +1,2490 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/planning/planning.proto + +#include "apollo_msgs/proto/planning/planning.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Signal; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_ADCPathPoint; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_ADCSignals; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_ADCTrajectoryPoint; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_EStop; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_Debug; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto +namespace apollo { +namespace planning { +class ADCTrajectoryPointDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ADCTrajectoryPoint_default_instance_; +class ADCSignalsDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ADCSignals_default_instance_; +class EStopDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _EStop_default_instance_; +class ADCPathPointDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ADCPathPoint_default_instance_; +class ADCTrajectoryDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _ADCTrajectory_default_instance_; +} // namespace planning +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto { +static void InitDefaultsADCTrajectoryPoint() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::planning::_ADCTrajectoryPoint_default_instance_; + new (ptr) ::apollo::planning::ADCTrajectoryPoint(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::planning::ADCTrajectoryPoint::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_ADCTrajectoryPoint = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsADCTrajectoryPoint}, {}}; + +static void InitDefaultsADCSignals() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::planning::_ADCSignals_default_instance_; + new (ptr) ::apollo::planning::ADCSignals(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::planning::ADCSignals::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_ADCSignals = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsADCSignals}, {}}; + +static void InitDefaultsEStop() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::planning::_EStop_default_instance_; + new (ptr) ::apollo::planning::EStop(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::planning::EStop::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_EStop = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsEStop}, {}}; + +static void InitDefaultsADCPathPoint() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::planning::_ADCPathPoint_default_instance_; + new (ptr) ::apollo::planning::ADCPathPoint(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::planning::ADCPathPoint::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_ADCPathPoint = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsADCPathPoint}, {}}; + +static void InitDefaultsADCTrajectory() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::planning::_ADCTrajectory_default_instance_; + new (ptr) ::apollo::planning::ADCTrajectory(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::planning::ADCTrajectory::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<7> scc_info_ADCTrajectory = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 7, InitDefaultsADCTrajectory}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCTrajectoryPoint.base, + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_EStop.base, + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCPathPoint.base, + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_Debug.base, + &protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::scc_info_Signal.base, + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCSignals.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_ADCTrajectoryPoint.base); + ::google::protobuf::internal::InitSCC(&scc_info_ADCSignals.base); + ::google::protobuf::internal::InitSCC(&scc_info_EStop.base); + ::google::protobuf::internal::InitSCC(&scc_info_ADCPathPoint.base); + ::google::protobuf::internal::InitSCC(&scc_info_ADCTrajectory.base); +} + +::google::protobuf::Metadata file_level_metadata[5]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, x_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, y_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, z_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, speed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, acceleration_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, curvature_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, curvature_change_rate_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, relative_time_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, theta_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, accumulated_s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, s_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectoryPoint, l_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCSignals, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCSignals, signal_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::EStop, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::EStop, is_estop_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCPathPoint, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCPathPoint, x_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCPathPoint, y_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCPathPoint, z_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCPathPoint, curvature_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCPathPoint, heading_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, total_path_length_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, total_path_time_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, adc_trajectory_point_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, estop_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, adc_path_point_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, is_replan_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, gear_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, debug_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, signal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning::ADCTrajectory, signals_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::planning::ADCTrajectoryPoint)}, + { 17, -1, sizeof(::apollo::planning::ADCSignals)}, + { 23, -1, sizeof(::apollo::planning::EStop)}, + { 29, -1, sizeof(::apollo::planning::ADCPathPoint)}, + { 39, -1, sizeof(::apollo::planning::ADCTrajectory)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::planning::_ADCTrajectoryPoint_default_instance_), + reinterpret_cast(&::apollo::planning::_ADCSignals_default_instance_), + reinterpret_cast(&::apollo::planning::_EStop_default_instance_), + reinterpret_cast(&::apollo::planning::_ADCPathPoint_default_instance_), + reinterpret_cast(&::apollo::planning::_ADCTrajectory_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/planning/planning.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 5); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n)apollo_msgs/proto/planning/planning.pr" + "oto\022\017apollo.planning\032%apollo_msgs/proto/" + "common/header.proto\032&apollo_msgs/proto/c" + "anbus/chassis.proto\0322apollo_msgs/proto/p" + "lanning/planning_internal.proto\"\341\001\n\022ADCT" + "rajectoryPoint\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t\n\001" + "z\030\003 \001(\001\022\r\n\005speed\030\006 \001(\001\022\026\n\016acceleration_s" + "\030\007 \001(\001\022\021\n\tcurvature\030\010 \001(\001\022\035\n\025curvature_c" + "hange_rate\030\t \001(\001\022\025\n\rrelative_time\030\n \001(\001\022" + "\r\n\005theta\030\013 \001(\001\022\025\n\raccumulated_s\030\014 \001(\001\022\t\n" + "\001s\030\004 \001(\001\022\t\n\001l\030\005 \001(\001\"\276\001\n\nADCSignals\0226\n\006si" + "gnal\030\001 \003(\0162&.apollo.planning.ADCSignals." + "SignalType\"x\n\nSignalType\022\r\n\tLEFT_TURN\020\000\022" + "\016\n\nRIGHT_TURN\020\001\022\022\n\016LOW_BEAM_LIGHT\020\002\022\023\n\017H" + "IGH_BEAM_LIGHT\020\003\022\r\n\tFOG_LIGHT\020\004\022\023\n\017EMERG" + "ENCY_LIGHT\020\005\"\031\n\005EStop\022\020\n\010is_estop\030\001 \001(\010\"" + "S\n\014ADCPathPoint\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t\n" + "\001z\030\003 \001(\001\022\021\n\tcurvature\030\004 \001(\001\022\017\n\007heading\030\005" + " \001(\001\"\326\003\n\rADCTrajectory\022%\n\006header\030\001 \001(\0132\025" + ".apollo.common.Header\022\031\n\021total_path_leng" + "th\030\002 \001(\001\022\027\n\017total_path_time\030\003 \001(\001\022A\n\024adc" + "_trajectory_point\030\004 \003(\0132#.apollo.plannin" + "g.ADCTrajectoryPoint\022%\n\005estop\030\006 \001(\0132\026.ap" + "ollo.planning.EStop\0225\n\016adc_path_point\030\007 " + "\003(\0132\035.apollo.planning.ADCPathPoint\022\021\n\tis" + "_replan\030\t \001(\010\0221\n\004gear\030\n \001(\0162#.apollo.can" + "bus.Chassis.GearPosition\022.\n\005debug\030\010 \001(\0132" + "\037.apollo.planning_internal.Debug\022%\n\006sign" + "al\030\013 \001(\0132\025.apollo.canbus.Signal\022,\n\007signa" + "ls\030\005 \001(\0132\033.apollo.planning.ADCSignalsb\006p" + "roto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 1205); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/planning/planning.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fcanbus_2fchassis_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto +namespace apollo { +namespace planning { +const ::google::protobuf::EnumDescriptor* ADCSignals_SignalType_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_enum_descriptors[0]; +} +bool ADCSignals_SignalType_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const ADCSignals_SignalType ADCSignals::LEFT_TURN; +const ADCSignals_SignalType ADCSignals::RIGHT_TURN; +const ADCSignals_SignalType ADCSignals::LOW_BEAM_LIGHT; +const ADCSignals_SignalType ADCSignals::HIGH_BEAM_LIGHT; +const ADCSignals_SignalType ADCSignals::FOG_LIGHT; +const ADCSignals_SignalType ADCSignals::EMERGENCY_LIGHT; +const ADCSignals_SignalType ADCSignals::SignalType_MIN; +const ADCSignals_SignalType ADCSignals::SignalType_MAX; +const int ADCSignals::SignalType_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void ADCTrajectoryPoint::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ADCTrajectoryPoint::kXFieldNumber; +const int ADCTrajectoryPoint::kYFieldNumber; +const int ADCTrajectoryPoint::kZFieldNumber; +const int ADCTrajectoryPoint::kSpeedFieldNumber; +const int ADCTrajectoryPoint::kAccelerationSFieldNumber; +const int ADCTrajectoryPoint::kCurvatureFieldNumber; +const int ADCTrajectoryPoint::kCurvatureChangeRateFieldNumber; +const int ADCTrajectoryPoint::kRelativeTimeFieldNumber; +const int ADCTrajectoryPoint::kThetaFieldNumber; +const int ADCTrajectoryPoint::kAccumulatedSFieldNumber; +const int ADCTrajectoryPoint::kSFieldNumber; +const int ADCTrajectoryPoint::kLFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ADCTrajectoryPoint::ADCTrajectoryPoint() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCTrajectoryPoint.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.planning.ADCTrajectoryPoint) +} +ADCTrajectoryPoint::ADCTrajectoryPoint(const ADCTrajectoryPoint& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&x_, &from.x_, + static_cast(reinterpret_cast(&accumulated_s_) - + reinterpret_cast(&x_)) + sizeof(accumulated_s_)); + // @@protoc_insertion_point(copy_constructor:apollo.planning.ADCTrajectoryPoint) +} + +void ADCTrajectoryPoint::SharedCtor() { + ::memset(&x_, 0, static_cast( + reinterpret_cast(&accumulated_s_) - + reinterpret_cast(&x_)) + sizeof(accumulated_s_)); +} + +ADCTrajectoryPoint::~ADCTrajectoryPoint() { + // @@protoc_insertion_point(destructor:apollo.planning.ADCTrajectoryPoint) + SharedDtor(); +} + +void ADCTrajectoryPoint::SharedDtor() { +} + +void ADCTrajectoryPoint::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ADCTrajectoryPoint::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ADCTrajectoryPoint& ADCTrajectoryPoint::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCTrajectoryPoint.base); + return *internal_default_instance(); +} + + +void ADCTrajectoryPoint::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.planning.ADCTrajectoryPoint) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&x_, 0, static_cast( + reinterpret_cast(&accumulated_s_) - + reinterpret_cast(&x_)) + sizeof(accumulated_s_)); + _internal_metadata_.Clear(); +} + +bool ADCTrajectoryPoint::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.planning.ADCTrajectoryPoint) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double x = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &x_))); + } else { + goto handle_unusual; + } + break; + } + + // double y = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &y_))); + } else { + goto handle_unusual; + } + break; + } + + // double z = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &z_))); + } else { + goto handle_unusual; + } + break; + } + + // double s = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &s_))); + } else { + goto handle_unusual; + } + break; + } + + // double l = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &l_))); + } else { + goto handle_unusual; + } + break; + } + + // double speed = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_))); + } else { + goto handle_unusual; + } + break; + } + + // double acceleration_s = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &acceleration_s_))); + } else { + goto handle_unusual; + } + break; + } + + // double curvature = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(65u /* 65 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &curvature_))); + } else { + goto handle_unusual; + } + break; + } + + // double curvature_change_rate = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &curvature_change_rate_))); + } else { + goto handle_unusual; + } + break; + } + + // double relative_time = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(81u /* 81 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &relative_time_))); + } else { + goto handle_unusual; + } + break; + } + + // double theta = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &theta_))); + } else { + goto handle_unusual; + } + break; + } + + // double accumulated_s = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &accumulated_s_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.planning.ADCTrajectoryPoint) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.planning.ADCTrajectoryPoint) + return false; +#undef DO_ +} + +void ADCTrajectoryPoint::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.planning.ADCTrajectoryPoint) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output); + } + + // double y = 2; + if (this->y() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output); + } + + // double z = 3; + if (this->z() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output); + } + + // double s = 4; + if (this->s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->s(), output); + } + + // double l = 5; + if (this->l() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->l(), output); + } + + // double speed = 6; + if (this->speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->speed(), output); + } + + // double acceleration_s = 7; + if (this->acceleration_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->acceleration_s(), output); + } + + // double curvature = 8; + if (this->curvature() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(8, this->curvature(), output); + } + + // double curvature_change_rate = 9; + if (this->curvature_change_rate() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->curvature_change_rate(), output); + } + + // double relative_time = 10; + if (this->relative_time() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(10, this->relative_time(), output); + } + + // double theta = 11; + if (this->theta() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(11, this->theta(), output); + } + + // double accumulated_s = 12; + if (this->accumulated_s() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(12, this->accumulated_s(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.planning.ADCTrajectoryPoint) +} + +::google::protobuf::uint8* ADCTrajectoryPoint::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.planning.ADCTrajectoryPoint) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target); + } + + // double y = 2; + if (this->y() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target); + } + + // double z = 3; + if (this->z() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target); + } + + // double s = 4; + if (this->s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->s(), target); + } + + // double l = 5; + if (this->l() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->l(), target); + } + + // double speed = 6; + if (this->speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->speed(), target); + } + + // double acceleration_s = 7; + if (this->acceleration_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->acceleration_s(), target); + } + + // double curvature = 8; + if (this->curvature() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(8, this->curvature(), target); + } + + // double curvature_change_rate = 9; + if (this->curvature_change_rate() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->curvature_change_rate(), target); + } + + // double relative_time = 10; + if (this->relative_time() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(10, this->relative_time(), target); + } + + // double theta = 11; + if (this->theta() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(11, this->theta(), target); + } + + // double accumulated_s = 12; + if (this->accumulated_s() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(12, this->accumulated_s(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.planning.ADCTrajectoryPoint) + return target; +} + +size_t ADCTrajectoryPoint::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.planning.ADCTrajectoryPoint) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double x = 1; + if (this->x() != 0) { + total_size += 1 + 8; + } + + // double y = 2; + if (this->y() != 0) { + total_size += 1 + 8; + } + + // double z = 3; + if (this->z() != 0) { + total_size += 1 + 8; + } + + // double s = 4; + if (this->s() != 0) { + total_size += 1 + 8; + } + + // double l = 5; + if (this->l() != 0) { + total_size += 1 + 8; + } + + // double speed = 6; + if (this->speed() != 0) { + total_size += 1 + 8; + } + + // double acceleration_s = 7; + if (this->acceleration_s() != 0) { + total_size += 1 + 8; + } + + // double curvature = 8; + if (this->curvature() != 0) { + total_size += 1 + 8; + } + + // double curvature_change_rate = 9; + if (this->curvature_change_rate() != 0) { + total_size += 1 + 8; + } + + // double relative_time = 10; + if (this->relative_time() != 0) { + total_size += 1 + 8; + } + + // double theta = 11; + if (this->theta() != 0) { + total_size += 1 + 8; + } + + // double accumulated_s = 12; + if (this->accumulated_s() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ADCTrajectoryPoint::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.planning.ADCTrajectoryPoint) + GOOGLE_DCHECK_NE(&from, this); + const ADCTrajectoryPoint* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.planning.ADCTrajectoryPoint) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.planning.ADCTrajectoryPoint) + MergeFrom(*source); + } +} + +void ADCTrajectoryPoint::MergeFrom(const ADCTrajectoryPoint& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.planning.ADCTrajectoryPoint) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.x() != 0) { + set_x(from.x()); + } + if (from.y() != 0) { + set_y(from.y()); + } + if (from.z() != 0) { + set_z(from.z()); + } + if (from.s() != 0) { + set_s(from.s()); + } + if (from.l() != 0) { + set_l(from.l()); + } + if (from.speed() != 0) { + set_speed(from.speed()); + } + if (from.acceleration_s() != 0) { + set_acceleration_s(from.acceleration_s()); + } + if (from.curvature() != 0) { + set_curvature(from.curvature()); + } + if (from.curvature_change_rate() != 0) { + set_curvature_change_rate(from.curvature_change_rate()); + } + if (from.relative_time() != 0) { + set_relative_time(from.relative_time()); + } + if (from.theta() != 0) { + set_theta(from.theta()); + } + if (from.accumulated_s() != 0) { + set_accumulated_s(from.accumulated_s()); + } +} + +void ADCTrajectoryPoint::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.planning.ADCTrajectoryPoint) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ADCTrajectoryPoint::CopyFrom(const ADCTrajectoryPoint& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.planning.ADCTrajectoryPoint) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ADCTrajectoryPoint::IsInitialized() const { + return true; +} + +void ADCTrajectoryPoint::Swap(ADCTrajectoryPoint* other) { + if (other == this) return; + InternalSwap(other); +} +void ADCTrajectoryPoint::InternalSwap(ADCTrajectoryPoint* other) { + using std::swap; + swap(x_, other->x_); + swap(y_, other->y_); + swap(z_, other->z_); + swap(s_, other->s_); + swap(l_, other->l_); + swap(speed_, other->speed_); + swap(acceleration_s_, other->acceleration_s_); + swap(curvature_, other->curvature_); + swap(curvature_change_rate_, other->curvature_change_rate_); + swap(relative_time_, other->relative_time_); + swap(theta_, other->theta_); + swap(accumulated_s_, other->accumulated_s_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ADCTrajectoryPoint::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ADCSignals::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ADCSignals::kSignalFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ADCSignals::ADCSignals() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCSignals.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.planning.ADCSignals) +} +ADCSignals::ADCSignals(const ADCSignals& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + signal_(from.signal_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + // @@protoc_insertion_point(copy_constructor:apollo.planning.ADCSignals) +} + +void ADCSignals::SharedCtor() { +} + +ADCSignals::~ADCSignals() { + // @@protoc_insertion_point(destructor:apollo.planning.ADCSignals) + SharedDtor(); +} + +void ADCSignals::SharedDtor() { +} + +void ADCSignals::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ADCSignals::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ADCSignals& ADCSignals::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCSignals.base); + return *internal_default_instance(); +} + + +void ADCSignals::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.planning.ADCSignals) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + signal_.Clear(); + _internal_metadata_.Clear(); +} + +bool ADCSignals::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.planning.ADCSignals) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // repeated .apollo.planning.ADCSignals.SignalType signal = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + ::google::protobuf::uint32 length; + DO_(input->ReadVarint32(&length)); + ::google::protobuf::io::CodedInputStream::Limit limit = input->PushLimit(static_cast(length)); + while (input->BytesUntilLimit() > 0) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + add_signal(static_cast< ::apollo::planning::ADCSignals_SignalType >(value)); + } + input->PopLimit(limit); + } else if ( + static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + add_signal(static_cast< ::apollo::planning::ADCSignals_SignalType >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.planning.ADCSignals) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.planning.ADCSignals) + return false; +#undef DO_ +} + +void ADCSignals::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.planning.ADCSignals) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.planning.ADCSignals.SignalType signal = 1; + if (this->signal_size() > 0) { + ::google::protobuf::internal::WireFormatLite::WriteTag( + 1, + ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, + output); + output->WriteVarint32( + static_cast< ::google::protobuf::uint32>(_signal_cached_byte_size_)); + } + for (int i = 0, n = this->signal_size(); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteEnumNoTag( + this->signal(i), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.planning.ADCSignals) +} + +::google::protobuf::uint8* ADCSignals::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.planning.ADCSignals) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // repeated .apollo.planning.ADCSignals.SignalType signal = 1; + if (this->signal_size() > 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteTagToArray( + 1, + ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED, + target); + target = ::google::protobuf::io::CodedOutputStream::WriteVarint32ToArray( static_cast< ::google::protobuf::uint32>( + _signal_cached_byte_size_), target); + target = ::google::protobuf::internal::WireFormatLite::WriteEnumNoTagToArray( + this->signal_, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.planning.ADCSignals) + return target; +} + +size_t ADCSignals::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.planning.ADCSignals) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.planning.ADCSignals.SignalType signal = 1; + { + size_t data_size = 0; + unsigned int count = static_cast(this->signal_size());for (unsigned int i = 0; i < count; i++) { + data_size += ::google::protobuf::internal::WireFormatLite::EnumSize( + this->signal(static_cast(i))); + } + if (data_size > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + static_cast< ::google::protobuf::int32>(data_size)); + } + int cached_size = ::google::protobuf::internal::ToCachedSize(data_size); + GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN(); + _signal_cached_byte_size_ = cached_size; + GOOGLE_SAFE_CONCURRENT_WRITES_END(); + total_size += data_size; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ADCSignals::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.planning.ADCSignals) + GOOGLE_DCHECK_NE(&from, this); + const ADCSignals* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.planning.ADCSignals) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.planning.ADCSignals) + MergeFrom(*source); + } +} + +void ADCSignals::MergeFrom(const ADCSignals& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.planning.ADCSignals) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + signal_.MergeFrom(from.signal_); +} + +void ADCSignals::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.planning.ADCSignals) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ADCSignals::CopyFrom(const ADCSignals& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.planning.ADCSignals) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ADCSignals::IsInitialized() const { + return true; +} + +void ADCSignals::Swap(ADCSignals* other) { + if (other == this) return; + InternalSwap(other); +} +void ADCSignals::InternalSwap(ADCSignals* other) { + using std::swap; + signal_.InternalSwap(&other->signal_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ADCSignals::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void EStop::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int EStop::kIsEstopFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +EStop::EStop() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_EStop.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.planning.EStop) +} +EStop::EStop(const EStop& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + is_estop_ = from.is_estop_; + // @@protoc_insertion_point(copy_constructor:apollo.planning.EStop) +} + +void EStop::SharedCtor() { + is_estop_ = false; +} + +EStop::~EStop() { + // @@protoc_insertion_point(destructor:apollo.planning.EStop) + SharedDtor(); +} + +void EStop::SharedDtor() { +} + +void EStop::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* EStop::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const EStop& EStop::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_EStop.base); + return *internal_default_instance(); +} + + +void EStop::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.planning.EStop) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + is_estop_ = false; + _internal_metadata_.Clear(); +} + +bool EStop::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.planning.EStop) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // bool is_estop = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_estop_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.planning.EStop) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.planning.EStop) + return false; +#undef DO_ +} + +void EStop::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.planning.EStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_estop = 1; + if (this->is_estop() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(1, this->is_estop(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.planning.EStop) +} + +::google::protobuf::uint8* EStop::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.planning.EStop) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // bool is_estop = 1; + if (this->is_estop() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(1, this->is_estop(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.planning.EStop) + return target; +} + +size_t EStop::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.planning.EStop) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // bool is_estop = 1; + if (this->is_estop() != 0) { + total_size += 1 + 1; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void EStop::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.planning.EStop) + GOOGLE_DCHECK_NE(&from, this); + const EStop* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.planning.EStop) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.planning.EStop) + MergeFrom(*source); + } +} + +void EStop::MergeFrom(const EStop& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.planning.EStop) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.is_estop() != 0) { + set_is_estop(from.is_estop()); + } +} + +void EStop::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.planning.EStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void EStop::CopyFrom(const EStop& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.planning.EStop) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool EStop::IsInitialized() const { + return true; +} + +void EStop::Swap(EStop* other) { + if (other == this) return; + InternalSwap(other); +} +void EStop::InternalSwap(EStop* other) { + using std::swap; + swap(is_estop_, other->is_estop_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata EStop::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ADCPathPoint::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ADCPathPoint::kXFieldNumber; +const int ADCPathPoint::kYFieldNumber; +const int ADCPathPoint::kZFieldNumber; +const int ADCPathPoint::kCurvatureFieldNumber; +const int ADCPathPoint::kHeadingFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ADCPathPoint::ADCPathPoint() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCPathPoint.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.planning.ADCPathPoint) +} +ADCPathPoint::ADCPathPoint(const ADCPathPoint& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&x_, &from.x_, + static_cast(reinterpret_cast(&heading_) - + reinterpret_cast(&x_)) + sizeof(heading_)); + // @@protoc_insertion_point(copy_constructor:apollo.planning.ADCPathPoint) +} + +void ADCPathPoint::SharedCtor() { + ::memset(&x_, 0, static_cast( + reinterpret_cast(&heading_) - + reinterpret_cast(&x_)) + sizeof(heading_)); +} + +ADCPathPoint::~ADCPathPoint() { + // @@protoc_insertion_point(destructor:apollo.planning.ADCPathPoint) + SharedDtor(); +} + +void ADCPathPoint::SharedDtor() { +} + +void ADCPathPoint::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ADCPathPoint::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ADCPathPoint& ADCPathPoint::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCPathPoint.base); + return *internal_default_instance(); +} + + +void ADCPathPoint::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.planning.ADCPathPoint) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&x_, 0, static_cast( + reinterpret_cast(&heading_) - + reinterpret_cast(&x_)) + sizeof(heading_)); + _internal_metadata_.Clear(); +} + +bool ADCPathPoint::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.planning.ADCPathPoint) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double x = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &x_))); + } else { + goto handle_unusual; + } + break; + } + + // double y = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &y_))); + } else { + goto handle_unusual; + } + break; + } + + // double z = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &z_))); + } else { + goto handle_unusual; + } + break; + } + + // double curvature = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &curvature_))); + } else { + goto handle_unusual; + } + break; + } + + // double heading = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.planning.ADCPathPoint) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.planning.ADCPathPoint) + return false; +#undef DO_ +} + +void ADCPathPoint::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.planning.ADCPathPoint) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output); + } + + // double y = 2; + if (this->y() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output); + } + + // double z = 3; + if (this->z() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output); + } + + // double curvature = 4; + if (this->curvature() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->curvature(), output); + } + + // double heading = 5; + if (this->heading() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->heading(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.planning.ADCPathPoint) +} + +::google::protobuf::uint8* ADCPathPoint::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.planning.ADCPathPoint) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target); + } + + // double y = 2; + if (this->y() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target); + } + + // double z = 3; + if (this->z() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target); + } + + // double curvature = 4; + if (this->curvature() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->curvature(), target); + } + + // double heading = 5; + if (this->heading() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->heading(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.planning.ADCPathPoint) + return target; +} + +size_t ADCPathPoint::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.planning.ADCPathPoint) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double x = 1; + if (this->x() != 0) { + total_size += 1 + 8; + } + + // double y = 2; + if (this->y() != 0) { + total_size += 1 + 8; + } + + // double z = 3; + if (this->z() != 0) { + total_size += 1 + 8; + } + + // double curvature = 4; + if (this->curvature() != 0) { + total_size += 1 + 8; + } + + // double heading = 5; + if (this->heading() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ADCPathPoint::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.planning.ADCPathPoint) + GOOGLE_DCHECK_NE(&from, this); + const ADCPathPoint* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.planning.ADCPathPoint) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.planning.ADCPathPoint) + MergeFrom(*source); + } +} + +void ADCPathPoint::MergeFrom(const ADCPathPoint& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.planning.ADCPathPoint) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.x() != 0) { + set_x(from.x()); + } + if (from.y() != 0) { + set_y(from.y()); + } + if (from.z() != 0) { + set_z(from.z()); + } + if (from.curvature() != 0) { + set_curvature(from.curvature()); + } + if (from.heading() != 0) { + set_heading(from.heading()); + } +} + +void ADCPathPoint::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.planning.ADCPathPoint) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ADCPathPoint::CopyFrom(const ADCPathPoint& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.planning.ADCPathPoint) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ADCPathPoint::IsInitialized() const { + return true; +} + +void ADCPathPoint::Swap(ADCPathPoint* other) { + if (other == this) return; + InternalSwap(other); +} +void ADCPathPoint::InternalSwap(ADCPathPoint* other) { + using std::swap; + swap(x_, other->x_); + swap(y_, other->y_); + swap(z_, other->z_); + swap(curvature_, other->curvature_); + swap(heading_, other->heading_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ADCPathPoint::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void ADCTrajectory::InitAsDefaultInstance() { + ::apollo::planning::_ADCTrajectory_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::planning::_ADCTrajectory_default_instance_._instance.get_mutable()->estop_ = const_cast< ::apollo::planning::EStop*>( + ::apollo::planning::EStop::internal_default_instance()); + ::apollo::planning::_ADCTrajectory_default_instance_._instance.get_mutable()->debug_ = const_cast< ::apollo::planning_internal::Debug*>( + ::apollo::planning_internal::Debug::internal_default_instance()); + ::apollo::planning::_ADCTrajectory_default_instance_._instance.get_mutable()->signal_ = const_cast< ::apollo::canbus::Signal*>( + ::apollo::canbus::Signal::internal_default_instance()); + ::apollo::planning::_ADCTrajectory_default_instance_._instance.get_mutable()->signals_ = const_cast< ::apollo::planning::ADCSignals*>( + ::apollo::planning::ADCSignals::internal_default_instance()); +} +void ADCTrajectory::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +void ADCTrajectory::clear_debug() { + if (GetArenaNoVirtual() == NULL && debug_ != NULL) { + delete debug_; + } + debug_ = NULL; +} +void ADCTrajectory::clear_signal() { + if (GetArenaNoVirtual() == NULL && signal_ != NULL) { + delete signal_; + } + signal_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int ADCTrajectory::kHeaderFieldNumber; +const int ADCTrajectory::kTotalPathLengthFieldNumber; +const int ADCTrajectory::kTotalPathTimeFieldNumber; +const int ADCTrajectory::kAdcTrajectoryPointFieldNumber; +const int ADCTrajectory::kEstopFieldNumber; +const int ADCTrajectory::kAdcPathPointFieldNumber; +const int ADCTrajectory::kIsReplanFieldNumber; +const int ADCTrajectory::kGearFieldNumber; +const int ADCTrajectory::kDebugFieldNumber; +const int ADCTrajectory::kSignalFieldNumber; +const int ADCTrajectory::kSignalsFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +ADCTrajectory::ADCTrajectory() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCTrajectory.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.planning.ADCTrajectory) +} +ADCTrajectory::ADCTrajectory(const ADCTrajectory& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + adc_trajectory_point_(from.adc_trajectory_point_), + adc_path_point_(from.adc_path_point_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + if (from.has_signals()) { + signals_ = new ::apollo::planning::ADCSignals(*from.signals_); + } else { + signals_ = NULL; + } + if (from.has_estop()) { + estop_ = new ::apollo::planning::EStop(*from.estop_); + } else { + estop_ = NULL; + } + if (from.has_debug()) { + debug_ = new ::apollo::planning_internal::Debug(*from.debug_); + } else { + debug_ = NULL; + } + if (from.has_signal()) { + signal_ = new ::apollo::canbus::Signal(*from.signal_); + } else { + signal_ = NULL; + } + ::memcpy(&total_path_length_, &from.total_path_length_, + static_cast(reinterpret_cast(&gear_) - + reinterpret_cast(&total_path_length_)) + sizeof(gear_)); + // @@protoc_insertion_point(copy_constructor:apollo.planning.ADCTrajectory) +} + +void ADCTrajectory::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&gear_) - + reinterpret_cast(&header_)) + sizeof(gear_)); +} + +ADCTrajectory::~ADCTrajectory() { + // @@protoc_insertion_point(destructor:apollo.planning.ADCTrajectory) + SharedDtor(); +} + +void ADCTrajectory::SharedDtor() { + if (this != internal_default_instance()) delete header_; + if (this != internal_default_instance()) delete signals_; + if (this != internal_default_instance()) delete estop_; + if (this != internal_default_instance()) delete debug_; + if (this != internal_default_instance()) delete signal_; +} + +void ADCTrajectory::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* ADCTrajectory::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const ADCTrajectory& ADCTrajectory::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::scc_info_ADCTrajectory.base); + return *internal_default_instance(); +} + + +void ADCTrajectory::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.planning.ADCTrajectory) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + adc_trajectory_point_.Clear(); + adc_path_point_.Clear(); + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + if (GetArenaNoVirtual() == NULL && signals_ != NULL) { + delete signals_; + } + signals_ = NULL; + if (GetArenaNoVirtual() == NULL && estop_ != NULL) { + delete estop_; + } + estop_ = NULL; + if (GetArenaNoVirtual() == NULL && debug_ != NULL) { + delete debug_; + } + debug_ = NULL; + if (GetArenaNoVirtual() == NULL && signal_ != NULL) { + delete signal_; + } + signal_ = NULL; + ::memset(&total_path_length_, 0, static_cast( + reinterpret_cast(&gear_) - + reinterpret_cast(&total_path_length_)) + sizeof(gear_)); + _internal_metadata_.Clear(); +} + +bool ADCTrajectory::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.planning.ADCTrajectory) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // double total_path_length = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &total_path_length_))); + } else { + goto handle_unusual; + } + break; + } + + // double total_path_time = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &total_path_time_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.planning.ADCTrajectoryPoint adc_trajectory_point = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_adc_trajectory_point())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.planning.ADCSignals signals = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_signals())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.planning.EStop estop = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(50u /* 50 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_estop())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.planning.ADCPathPoint adc_path_point = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(58u /* 58 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_adc_path_point())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.planning_internal.Debug debug = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(66u /* 66 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_debug())); + } else { + goto handle_unusual; + } + break; + } + + // bool is_replan = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(72u /* 72 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + bool, ::google::protobuf::internal::WireFormatLite::TYPE_BOOL>( + input, &is_replan_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Chassis.GearPosition gear = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(80u /* 80 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_gear(static_cast< ::apollo::canbus::Chassis_GearPosition >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.canbus.Signal signal = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(90u /* 90 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_signal())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.planning.ADCTrajectory) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.planning.ADCTrajectory) + return false; +#undef DO_ +} + +void ADCTrajectory::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.planning.ADCTrajectory) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // double total_path_length = 2; + if (this->total_path_length() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->total_path_length(), output); + } + + // double total_path_time = 3; + if (this->total_path_time() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->total_path_time(), output); + } + + // repeated .apollo.planning.ADCTrajectoryPoint adc_trajectory_point = 4; + for (unsigned int i = 0, + n = static_cast(this->adc_trajectory_point_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, + this->adc_trajectory_point(static_cast(i)), + output); + } + + // .apollo.planning.ADCSignals signals = 5; + if (this->has_signals()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, this->_internal_signals(), output); + } + + // .apollo.planning.EStop estop = 6; + if (this->has_estop()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 6, this->_internal_estop(), output); + } + + // repeated .apollo.planning.ADCPathPoint adc_path_point = 7; + for (unsigned int i = 0, + n = static_cast(this->adc_path_point_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 7, + this->adc_path_point(static_cast(i)), + output); + } + + // .apollo.planning_internal.Debug debug = 8; + if (this->has_debug()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 8, this->_internal_debug(), output); + } + + // bool is_replan = 9; + if (this->is_replan() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteBool(9, this->is_replan(), output); + } + + // .apollo.canbus.Chassis.GearPosition gear = 10; + if (this->gear() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 10, this->gear(), output); + } + + // .apollo.canbus.Signal signal = 11; + if (this->has_signal()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 11, this->_internal_signal(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.planning.ADCTrajectory) +} + +::google::protobuf::uint8* ADCTrajectory::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.planning.ADCTrajectory) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // double total_path_length = 2; + if (this->total_path_length() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->total_path_length(), target); + } + + // double total_path_time = 3; + if (this->total_path_time() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->total_path_time(), target); + } + + // repeated .apollo.planning.ADCTrajectoryPoint adc_trajectory_point = 4; + for (unsigned int i = 0, + n = static_cast(this->adc_trajectory_point_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->adc_trajectory_point(static_cast(i)), deterministic, target); + } + + // .apollo.planning.ADCSignals signals = 5; + if (this->has_signals()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->_internal_signals(), deterministic, target); + } + + // .apollo.planning.EStop estop = 6; + if (this->has_estop()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 6, this->_internal_estop(), deterministic, target); + } + + // repeated .apollo.planning.ADCPathPoint adc_path_point = 7; + for (unsigned int i = 0, + n = static_cast(this->adc_path_point_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 7, this->adc_path_point(static_cast(i)), deterministic, target); + } + + // .apollo.planning_internal.Debug debug = 8; + if (this->has_debug()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 8, this->_internal_debug(), deterministic, target); + } + + // bool is_replan = 9; + if (this->is_replan() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteBoolToArray(9, this->is_replan(), target); + } + + // .apollo.canbus.Chassis.GearPosition gear = 10; + if (this->gear() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 10, this->gear(), target); + } + + // .apollo.canbus.Signal signal = 11; + if (this->has_signal()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 11, this->_internal_signal(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.planning.ADCTrajectory) + return target; +} + +size_t ADCTrajectory::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.planning.ADCTrajectory) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.planning.ADCTrajectoryPoint adc_trajectory_point = 4; + { + unsigned int count = static_cast(this->adc_trajectory_point_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->adc_trajectory_point(static_cast(i))); + } + } + + // repeated .apollo.planning.ADCPathPoint adc_path_point = 7; + { + unsigned int count = static_cast(this->adc_path_point_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->adc_path_point(static_cast(i))); + } + } + + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.planning.ADCSignals signals = 5; + if (this->has_signals()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *signals_); + } + + // .apollo.planning.EStop estop = 6; + if (this->has_estop()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *estop_); + } + + // .apollo.planning_internal.Debug debug = 8; + if (this->has_debug()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *debug_); + } + + // .apollo.canbus.Signal signal = 11; + if (this->has_signal()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *signal_); + } + + // double total_path_length = 2; + if (this->total_path_length() != 0) { + total_size += 1 + 8; + } + + // double total_path_time = 3; + if (this->total_path_time() != 0) { + total_size += 1 + 8; + } + + // bool is_replan = 9; + if (this->is_replan() != 0) { + total_size += 1 + 1; + } + + // .apollo.canbus.Chassis.GearPosition gear = 10; + if (this->gear() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->gear()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void ADCTrajectory::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.planning.ADCTrajectory) + GOOGLE_DCHECK_NE(&from, this); + const ADCTrajectory* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.planning.ADCTrajectory) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.planning.ADCTrajectory) + MergeFrom(*source); + } +} + +void ADCTrajectory::MergeFrom(const ADCTrajectory& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.planning.ADCTrajectory) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + adc_trajectory_point_.MergeFrom(from.adc_trajectory_point_); + adc_path_point_.MergeFrom(from.adc_path_point_); + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.has_signals()) { + mutable_signals()->::apollo::planning::ADCSignals::MergeFrom(from.signals()); + } + if (from.has_estop()) { + mutable_estop()->::apollo::planning::EStop::MergeFrom(from.estop()); + } + if (from.has_debug()) { + mutable_debug()->::apollo::planning_internal::Debug::MergeFrom(from.debug()); + } + if (from.has_signal()) { + mutable_signal()->::apollo::canbus::Signal::MergeFrom(from.signal()); + } + if (from.total_path_length() != 0) { + set_total_path_length(from.total_path_length()); + } + if (from.total_path_time() != 0) { + set_total_path_time(from.total_path_time()); + } + if (from.is_replan() != 0) { + set_is_replan(from.is_replan()); + } + if (from.gear() != 0) { + set_gear(from.gear()); + } +} + +void ADCTrajectory::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.planning.ADCTrajectory) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void ADCTrajectory::CopyFrom(const ADCTrajectory& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.planning.ADCTrajectory) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool ADCTrajectory::IsInitialized() const { + return true; +} + +void ADCTrajectory::Swap(ADCTrajectory* other) { + if (other == this) return; + InternalSwap(other); +} +void ADCTrajectory::InternalSwap(ADCTrajectory* other) { + using std::swap; + CastToBase(&adc_trajectory_point_)->InternalSwap(CastToBase(&other->adc_trajectory_point_)); + CastToBase(&adc_path_point_)->InternalSwap(CastToBase(&other->adc_path_point_)); + swap(header_, other->header_); + swap(signals_, other->signals_); + swap(estop_, other->estop_); + swap(debug_, other->debug_); + swap(signal_, other->signal_); + swap(total_path_length_, other->total_path_length_); + swap(total_path_time_, other->total_path_time_); + swap(is_replan_, other->is_replan_); + swap(gear_, other->gear_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata ADCTrajectory::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace planning +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::planning::ADCTrajectoryPoint* Arena::CreateMaybeMessage< ::apollo::planning::ADCTrajectoryPoint >(Arena* arena) { + return Arena::CreateInternal< ::apollo::planning::ADCTrajectoryPoint >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::planning::ADCSignals* Arena::CreateMaybeMessage< ::apollo::planning::ADCSignals >(Arena* arena) { + return Arena::CreateInternal< ::apollo::planning::ADCSignals >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::planning::EStop* Arena::CreateMaybeMessage< ::apollo::planning::EStop >(Arena* arena) { + return Arena::CreateInternal< ::apollo::planning::EStop >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::planning::ADCPathPoint* Arena::CreateMaybeMessage< ::apollo::planning::ADCPathPoint >(Arena* arena) { + return Arena::CreateInternal< ::apollo::planning::ADCPathPoint >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::planning::ADCTrajectory* Arena::CreateMaybeMessage< ::apollo::planning::ADCTrajectory >(Arena* arena) { + return Arena::CreateInternal< ::apollo::planning::ADCTrajectory >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/planning/planning.pb.h b/apollo_msgs/include/apollo_msgs/proto/planning/planning.pb.h new file mode 100644 index 0000000..804ae66 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/planning/planning.pb.h @@ -0,0 +1,1587 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/planning/planning.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/canbus/chassis.pb.h" +#include "apollo_msgs/proto/planning/planning_internal.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[5]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto +namespace apollo { +namespace planning { +class ADCPathPoint; +class ADCPathPointDefaultTypeInternal; +extern ADCPathPointDefaultTypeInternal _ADCPathPoint_default_instance_; +class ADCSignals; +class ADCSignalsDefaultTypeInternal; +extern ADCSignalsDefaultTypeInternal _ADCSignals_default_instance_; +class ADCTrajectory; +class ADCTrajectoryDefaultTypeInternal; +extern ADCTrajectoryDefaultTypeInternal _ADCTrajectory_default_instance_; +class ADCTrajectoryPoint; +class ADCTrajectoryPointDefaultTypeInternal; +extern ADCTrajectoryPointDefaultTypeInternal _ADCTrajectoryPoint_default_instance_; +class EStop; +class EStopDefaultTypeInternal; +extern EStopDefaultTypeInternal _EStop_default_instance_; +} // namespace planning +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::planning::ADCPathPoint* Arena::CreateMaybeMessage<::apollo::planning::ADCPathPoint>(Arena*); +template<> ::apollo::planning::ADCSignals* Arena::CreateMaybeMessage<::apollo::planning::ADCSignals>(Arena*); +template<> ::apollo::planning::ADCTrajectory* Arena::CreateMaybeMessage<::apollo::planning::ADCTrajectory>(Arena*); +template<> ::apollo::planning::ADCTrajectoryPoint* Arena::CreateMaybeMessage<::apollo::planning::ADCTrajectoryPoint>(Arena*); +template<> ::apollo::planning::EStop* Arena::CreateMaybeMessage<::apollo::planning::EStop>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace planning { + +enum ADCSignals_SignalType { + ADCSignals_SignalType_LEFT_TURN = 0, + ADCSignals_SignalType_RIGHT_TURN = 1, + ADCSignals_SignalType_LOW_BEAM_LIGHT = 2, + ADCSignals_SignalType_HIGH_BEAM_LIGHT = 3, + ADCSignals_SignalType_FOG_LIGHT = 4, + ADCSignals_SignalType_EMERGENCY_LIGHT = 5, + ADCSignals_SignalType_ADCSignals_SignalType_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + ADCSignals_SignalType_ADCSignals_SignalType_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool ADCSignals_SignalType_IsValid(int value); +const ADCSignals_SignalType ADCSignals_SignalType_SignalType_MIN = ADCSignals_SignalType_LEFT_TURN; +const ADCSignals_SignalType ADCSignals_SignalType_SignalType_MAX = ADCSignals_SignalType_EMERGENCY_LIGHT; +const int ADCSignals_SignalType_SignalType_ARRAYSIZE = ADCSignals_SignalType_SignalType_MAX + 1; + +const ::google::protobuf::EnumDescriptor* ADCSignals_SignalType_descriptor(); +inline const ::std::string& ADCSignals_SignalType_Name(ADCSignals_SignalType value) { + return ::google::protobuf::internal::NameOfEnum( + ADCSignals_SignalType_descriptor(), value); +} +inline bool ADCSignals_SignalType_Parse( + const ::std::string& name, ADCSignals_SignalType* value) { + return ::google::protobuf::internal::ParseNamedEnum( + ADCSignals_SignalType_descriptor(), name, value); +} +// =================================================================== + +class ADCTrajectoryPoint : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.planning.ADCTrajectoryPoint) */ { + public: + ADCTrajectoryPoint(); + virtual ~ADCTrajectoryPoint(); + + ADCTrajectoryPoint(const ADCTrajectoryPoint& from); + + inline ADCTrajectoryPoint& operator=(const ADCTrajectoryPoint& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ADCTrajectoryPoint(ADCTrajectoryPoint&& from) noexcept + : ADCTrajectoryPoint() { + *this = ::std::move(from); + } + + inline ADCTrajectoryPoint& operator=(ADCTrajectoryPoint&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ADCTrajectoryPoint& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ADCTrajectoryPoint* internal_default_instance() { + return reinterpret_cast( + &_ADCTrajectoryPoint_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(ADCTrajectoryPoint* other); + friend void swap(ADCTrajectoryPoint& a, ADCTrajectoryPoint& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ADCTrajectoryPoint* New() const final { + return CreateMaybeMessage(NULL); + } + + ADCTrajectoryPoint* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ADCTrajectoryPoint& from); + void MergeFrom(const ADCTrajectoryPoint& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ADCTrajectoryPoint* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double x = 1; + void clear_x(); + static const int kXFieldNumber = 1; + double x() const; + void set_x(double value); + + // double y = 2; + void clear_y(); + static const int kYFieldNumber = 2; + double y() const; + void set_y(double value); + + // double z = 3; + void clear_z(); + static const int kZFieldNumber = 3; + double z() const; + void set_z(double value); + + // double s = 4; + void clear_s(); + static const int kSFieldNumber = 4; + double s() const; + void set_s(double value); + + // double l = 5; + void clear_l(); + static const int kLFieldNumber = 5; + double l() const; + void set_l(double value); + + // double speed = 6; + void clear_speed(); + static const int kSpeedFieldNumber = 6; + double speed() const; + void set_speed(double value); + + // double acceleration_s = 7; + void clear_acceleration_s(); + static const int kAccelerationSFieldNumber = 7; + double acceleration_s() const; + void set_acceleration_s(double value); + + // double curvature = 8; + void clear_curvature(); + static const int kCurvatureFieldNumber = 8; + double curvature() const; + void set_curvature(double value); + + // double curvature_change_rate = 9; + void clear_curvature_change_rate(); + static const int kCurvatureChangeRateFieldNumber = 9; + double curvature_change_rate() const; + void set_curvature_change_rate(double value); + + // double relative_time = 10; + void clear_relative_time(); + static const int kRelativeTimeFieldNumber = 10; + double relative_time() const; + void set_relative_time(double value); + + // double theta = 11; + void clear_theta(); + static const int kThetaFieldNumber = 11; + double theta() const; + void set_theta(double value); + + // double accumulated_s = 12; + void clear_accumulated_s(); + static const int kAccumulatedSFieldNumber = 12; + double accumulated_s() const; + void set_accumulated_s(double value); + + // @@protoc_insertion_point(class_scope:apollo.planning.ADCTrajectoryPoint) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double x_; + double y_; + double z_; + double s_; + double l_; + double speed_; + double acceleration_s_; + double curvature_; + double curvature_change_rate_; + double relative_time_; + double theta_; + double accumulated_s_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ADCSignals : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.planning.ADCSignals) */ { + public: + ADCSignals(); + virtual ~ADCSignals(); + + ADCSignals(const ADCSignals& from); + + inline ADCSignals& operator=(const ADCSignals& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ADCSignals(ADCSignals&& from) noexcept + : ADCSignals() { + *this = ::std::move(from); + } + + inline ADCSignals& operator=(ADCSignals&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ADCSignals& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ADCSignals* internal_default_instance() { + return reinterpret_cast( + &_ADCSignals_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(ADCSignals* other); + friend void swap(ADCSignals& a, ADCSignals& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ADCSignals* New() const final { + return CreateMaybeMessage(NULL); + } + + ADCSignals* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ADCSignals& from); + void MergeFrom(const ADCSignals& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ADCSignals* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef ADCSignals_SignalType SignalType; + static const SignalType LEFT_TURN = + ADCSignals_SignalType_LEFT_TURN; + static const SignalType RIGHT_TURN = + ADCSignals_SignalType_RIGHT_TURN; + static const SignalType LOW_BEAM_LIGHT = + ADCSignals_SignalType_LOW_BEAM_LIGHT; + static const SignalType HIGH_BEAM_LIGHT = + ADCSignals_SignalType_HIGH_BEAM_LIGHT; + static const SignalType FOG_LIGHT = + ADCSignals_SignalType_FOG_LIGHT; + static const SignalType EMERGENCY_LIGHT = + ADCSignals_SignalType_EMERGENCY_LIGHT; + static inline bool SignalType_IsValid(int value) { + return ADCSignals_SignalType_IsValid(value); + } + static const SignalType SignalType_MIN = + ADCSignals_SignalType_SignalType_MIN; + static const SignalType SignalType_MAX = + ADCSignals_SignalType_SignalType_MAX; + static const int SignalType_ARRAYSIZE = + ADCSignals_SignalType_SignalType_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + SignalType_descriptor() { + return ADCSignals_SignalType_descriptor(); + } + static inline const ::std::string& SignalType_Name(SignalType value) { + return ADCSignals_SignalType_Name(value); + } + static inline bool SignalType_Parse(const ::std::string& name, + SignalType* value) { + return ADCSignals_SignalType_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // repeated .apollo.planning.ADCSignals.SignalType signal = 1; + int signal_size() const; + void clear_signal(); + static const int kSignalFieldNumber = 1; + ::apollo::planning::ADCSignals_SignalType signal(int index) const; + void set_signal(int index, ::apollo::planning::ADCSignals_SignalType value); + void add_signal(::apollo::planning::ADCSignals_SignalType value); + const ::google::protobuf::RepeatedField& signal() const; + ::google::protobuf::RepeatedField* mutable_signal(); + + // @@protoc_insertion_point(class_scope:apollo.planning.ADCSignals) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedField signal_; + mutable int _signal_cached_byte_size_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class EStop : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.planning.EStop) */ { + public: + EStop(); + virtual ~EStop(); + + EStop(const EStop& from); + + inline EStop& operator=(const EStop& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + EStop(EStop&& from) noexcept + : EStop() { + *this = ::std::move(from); + } + + inline EStop& operator=(EStop&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const EStop& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const EStop* internal_default_instance() { + return reinterpret_cast( + &_EStop_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(EStop* other); + friend void swap(EStop& a, EStop& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline EStop* New() const final { + return CreateMaybeMessage(NULL); + } + + EStop* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const EStop& from); + void MergeFrom(const EStop& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(EStop* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // bool is_estop = 1; + void clear_is_estop(); + static const int kIsEstopFieldNumber = 1; + bool is_estop() const; + void set_is_estop(bool value); + + // @@protoc_insertion_point(class_scope:apollo.planning.EStop) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + bool is_estop_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ADCPathPoint : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.planning.ADCPathPoint) */ { + public: + ADCPathPoint(); + virtual ~ADCPathPoint(); + + ADCPathPoint(const ADCPathPoint& from); + + inline ADCPathPoint& operator=(const ADCPathPoint& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ADCPathPoint(ADCPathPoint&& from) noexcept + : ADCPathPoint() { + *this = ::std::move(from); + } + + inline ADCPathPoint& operator=(ADCPathPoint&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ADCPathPoint& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ADCPathPoint* internal_default_instance() { + return reinterpret_cast( + &_ADCPathPoint_default_instance_); + } + static constexpr int kIndexInFileMessages = + 3; + + void Swap(ADCPathPoint* other); + friend void swap(ADCPathPoint& a, ADCPathPoint& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ADCPathPoint* New() const final { + return CreateMaybeMessage(NULL); + } + + ADCPathPoint* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ADCPathPoint& from); + void MergeFrom(const ADCPathPoint& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ADCPathPoint* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double x = 1; + void clear_x(); + static const int kXFieldNumber = 1; + double x() const; + void set_x(double value); + + // double y = 2; + void clear_y(); + static const int kYFieldNumber = 2; + double y() const; + void set_y(double value); + + // double z = 3; + void clear_z(); + static const int kZFieldNumber = 3; + double z() const; + void set_z(double value); + + // double curvature = 4; + void clear_curvature(); + static const int kCurvatureFieldNumber = 4; + double curvature() const; + void set_curvature(double value); + + // double heading = 5; + void clear_heading(); + static const int kHeadingFieldNumber = 5; + double heading() const; + void set_heading(double value); + + // @@protoc_insertion_point(class_scope:apollo.planning.ADCPathPoint) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double x_; + double y_; + double z_; + double curvature_; + double heading_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class ADCTrajectory : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.planning.ADCTrajectory) */ { + public: + ADCTrajectory(); + virtual ~ADCTrajectory(); + + ADCTrajectory(const ADCTrajectory& from); + + inline ADCTrajectory& operator=(const ADCTrajectory& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + ADCTrajectory(ADCTrajectory&& from) noexcept + : ADCTrajectory() { + *this = ::std::move(from); + } + + inline ADCTrajectory& operator=(ADCTrajectory&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const ADCTrajectory& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const ADCTrajectory* internal_default_instance() { + return reinterpret_cast( + &_ADCTrajectory_default_instance_); + } + static constexpr int kIndexInFileMessages = + 4; + + void Swap(ADCTrajectory* other); + friend void swap(ADCTrajectory& a, ADCTrajectory& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline ADCTrajectory* New() const final { + return CreateMaybeMessage(NULL); + } + + ADCTrajectory* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const ADCTrajectory& from); + void MergeFrom(const ADCTrajectory& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(ADCTrajectory* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.planning.ADCTrajectoryPoint adc_trajectory_point = 4; + int adc_trajectory_point_size() const; + void clear_adc_trajectory_point(); + static const int kAdcTrajectoryPointFieldNumber = 4; + ::apollo::planning::ADCTrajectoryPoint* mutable_adc_trajectory_point(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCTrajectoryPoint >* + mutable_adc_trajectory_point(); + const ::apollo::planning::ADCTrajectoryPoint& adc_trajectory_point(int index) const; + ::apollo::planning::ADCTrajectoryPoint* add_adc_trajectory_point(); + const ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCTrajectoryPoint >& + adc_trajectory_point() const; + + // repeated .apollo.planning.ADCPathPoint adc_path_point = 7; + int adc_path_point_size() const; + void clear_adc_path_point(); + static const int kAdcPathPointFieldNumber = 7; + ::apollo::planning::ADCPathPoint* mutable_adc_path_point(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCPathPoint >* + mutable_adc_path_point(); + const ::apollo::planning::ADCPathPoint& adc_path_point(int index) const; + ::apollo::planning::ADCPathPoint* add_adc_path_point(); + const ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCPathPoint >& + adc_path_point() const; + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.planning.ADCSignals signals = 5; + bool has_signals() const; + void clear_signals(); + static const int kSignalsFieldNumber = 5; + private: + const ::apollo::planning::ADCSignals& _internal_signals() const; + public: + const ::apollo::planning::ADCSignals& signals() const; + ::apollo::planning::ADCSignals* release_signals(); + ::apollo::planning::ADCSignals* mutable_signals(); + void set_allocated_signals(::apollo::planning::ADCSignals* signals); + + // .apollo.planning.EStop estop = 6; + bool has_estop() const; + void clear_estop(); + static const int kEstopFieldNumber = 6; + private: + const ::apollo::planning::EStop& _internal_estop() const; + public: + const ::apollo::planning::EStop& estop() const; + ::apollo::planning::EStop* release_estop(); + ::apollo::planning::EStop* mutable_estop(); + void set_allocated_estop(::apollo::planning::EStop* estop); + + // .apollo.planning_internal.Debug debug = 8; + bool has_debug() const; + void clear_debug(); + static const int kDebugFieldNumber = 8; + private: + const ::apollo::planning_internal::Debug& _internal_debug() const; + public: + const ::apollo::planning_internal::Debug& debug() const; + ::apollo::planning_internal::Debug* release_debug(); + ::apollo::planning_internal::Debug* mutable_debug(); + void set_allocated_debug(::apollo::planning_internal::Debug* debug); + + // .apollo.canbus.Signal signal = 11; + bool has_signal() const; + void clear_signal(); + static const int kSignalFieldNumber = 11; + private: + const ::apollo::canbus::Signal& _internal_signal() const; + public: + const ::apollo::canbus::Signal& signal() const; + ::apollo::canbus::Signal* release_signal(); + ::apollo::canbus::Signal* mutable_signal(); + void set_allocated_signal(::apollo::canbus::Signal* signal); + + // double total_path_length = 2; + void clear_total_path_length(); + static const int kTotalPathLengthFieldNumber = 2; + double total_path_length() const; + void set_total_path_length(double value); + + // double total_path_time = 3; + void clear_total_path_time(); + static const int kTotalPathTimeFieldNumber = 3; + double total_path_time() const; + void set_total_path_time(double value); + + // bool is_replan = 9; + void clear_is_replan(); + static const int kIsReplanFieldNumber = 9; + bool is_replan() const; + void set_is_replan(bool value); + + // .apollo.canbus.Chassis.GearPosition gear = 10; + void clear_gear(); + static const int kGearFieldNumber = 10; + ::apollo::canbus::Chassis_GearPosition gear() const; + void set_gear(::apollo::canbus::Chassis_GearPosition value); + + // @@protoc_insertion_point(class_scope:apollo.planning.ADCTrajectory) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCTrajectoryPoint > adc_trajectory_point_; + ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCPathPoint > adc_path_point_; + ::apollo::common::Header* header_; + ::apollo::planning::ADCSignals* signals_; + ::apollo::planning::EStop* estop_; + ::apollo::planning_internal::Debug* debug_; + ::apollo::canbus::Signal* signal_; + double total_path_length_; + double total_path_time_; + bool is_replan_; + int gear_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// ADCTrajectoryPoint + +// double x = 1; +inline void ADCTrajectoryPoint::clear_x() { + x_ = 0; +} +inline double ADCTrajectoryPoint::x() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.x) + return x_; +} +inline void ADCTrajectoryPoint::set_x(double value) { + + x_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.x) +} + +// double y = 2; +inline void ADCTrajectoryPoint::clear_y() { + y_ = 0; +} +inline double ADCTrajectoryPoint::y() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.y) + return y_; +} +inline void ADCTrajectoryPoint::set_y(double value) { + + y_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.y) +} + +// double z = 3; +inline void ADCTrajectoryPoint::clear_z() { + z_ = 0; +} +inline double ADCTrajectoryPoint::z() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.z) + return z_; +} +inline void ADCTrajectoryPoint::set_z(double value) { + + z_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.z) +} + +// double speed = 6; +inline void ADCTrajectoryPoint::clear_speed() { + speed_ = 0; +} +inline double ADCTrajectoryPoint::speed() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.speed) + return speed_; +} +inline void ADCTrajectoryPoint::set_speed(double value) { + + speed_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.speed) +} + +// double acceleration_s = 7; +inline void ADCTrajectoryPoint::clear_acceleration_s() { + acceleration_s_ = 0; +} +inline double ADCTrajectoryPoint::acceleration_s() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.acceleration_s) + return acceleration_s_; +} +inline void ADCTrajectoryPoint::set_acceleration_s(double value) { + + acceleration_s_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.acceleration_s) +} + +// double curvature = 8; +inline void ADCTrajectoryPoint::clear_curvature() { + curvature_ = 0; +} +inline double ADCTrajectoryPoint::curvature() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.curvature) + return curvature_; +} +inline void ADCTrajectoryPoint::set_curvature(double value) { + + curvature_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.curvature) +} + +// double curvature_change_rate = 9; +inline void ADCTrajectoryPoint::clear_curvature_change_rate() { + curvature_change_rate_ = 0; +} +inline double ADCTrajectoryPoint::curvature_change_rate() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.curvature_change_rate) + return curvature_change_rate_; +} +inline void ADCTrajectoryPoint::set_curvature_change_rate(double value) { + + curvature_change_rate_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.curvature_change_rate) +} + +// double relative_time = 10; +inline void ADCTrajectoryPoint::clear_relative_time() { + relative_time_ = 0; +} +inline double ADCTrajectoryPoint::relative_time() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.relative_time) + return relative_time_; +} +inline void ADCTrajectoryPoint::set_relative_time(double value) { + + relative_time_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.relative_time) +} + +// double theta = 11; +inline void ADCTrajectoryPoint::clear_theta() { + theta_ = 0; +} +inline double ADCTrajectoryPoint::theta() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.theta) + return theta_; +} +inline void ADCTrajectoryPoint::set_theta(double value) { + + theta_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.theta) +} + +// double accumulated_s = 12; +inline void ADCTrajectoryPoint::clear_accumulated_s() { + accumulated_s_ = 0; +} +inline double ADCTrajectoryPoint::accumulated_s() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.accumulated_s) + return accumulated_s_; +} +inline void ADCTrajectoryPoint::set_accumulated_s(double value) { + + accumulated_s_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.accumulated_s) +} + +// double s = 4; +inline void ADCTrajectoryPoint::clear_s() { + s_ = 0; +} +inline double ADCTrajectoryPoint::s() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.s) + return s_; +} +inline void ADCTrajectoryPoint::set_s(double value) { + + s_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.s) +} + +// double l = 5; +inline void ADCTrajectoryPoint::clear_l() { + l_ = 0; +} +inline double ADCTrajectoryPoint::l() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectoryPoint.l) + return l_; +} +inline void ADCTrajectoryPoint::set_l(double value) { + + l_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectoryPoint.l) +} + +// ------------------------------------------------------------------- + +// ADCSignals + +// repeated .apollo.planning.ADCSignals.SignalType signal = 1; +inline int ADCSignals::signal_size() const { + return signal_.size(); +} +inline void ADCSignals::clear_signal() { + signal_.Clear(); +} +inline ::apollo::planning::ADCSignals_SignalType ADCSignals::signal(int index) const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCSignals.signal) + return static_cast< ::apollo::planning::ADCSignals_SignalType >(signal_.Get(index)); +} +inline void ADCSignals::set_signal(int index, ::apollo::planning::ADCSignals_SignalType value) { + signal_.Set(index, value); + // @@protoc_insertion_point(field_set:apollo.planning.ADCSignals.signal) +} +inline void ADCSignals::add_signal(::apollo::planning::ADCSignals_SignalType value) { + signal_.Add(value); + // @@protoc_insertion_point(field_add:apollo.planning.ADCSignals.signal) +} +inline const ::google::protobuf::RepeatedField& +ADCSignals::signal() const { + // @@protoc_insertion_point(field_list:apollo.planning.ADCSignals.signal) + return signal_; +} +inline ::google::protobuf::RepeatedField* +ADCSignals::mutable_signal() { + // @@protoc_insertion_point(field_mutable_list:apollo.planning.ADCSignals.signal) + return &signal_; +} + +// ------------------------------------------------------------------- + +// EStop + +// bool is_estop = 1; +inline void EStop::clear_is_estop() { + is_estop_ = false; +} +inline bool EStop::is_estop() const { + // @@protoc_insertion_point(field_get:apollo.planning.EStop.is_estop) + return is_estop_; +} +inline void EStop::set_is_estop(bool value) { + + is_estop_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.EStop.is_estop) +} + +// ------------------------------------------------------------------- + +// ADCPathPoint + +// double x = 1; +inline void ADCPathPoint::clear_x() { + x_ = 0; +} +inline double ADCPathPoint::x() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCPathPoint.x) + return x_; +} +inline void ADCPathPoint::set_x(double value) { + + x_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCPathPoint.x) +} + +// double y = 2; +inline void ADCPathPoint::clear_y() { + y_ = 0; +} +inline double ADCPathPoint::y() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCPathPoint.y) + return y_; +} +inline void ADCPathPoint::set_y(double value) { + + y_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCPathPoint.y) +} + +// double z = 3; +inline void ADCPathPoint::clear_z() { + z_ = 0; +} +inline double ADCPathPoint::z() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCPathPoint.z) + return z_; +} +inline void ADCPathPoint::set_z(double value) { + + z_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCPathPoint.z) +} + +// double curvature = 4; +inline void ADCPathPoint::clear_curvature() { + curvature_ = 0; +} +inline double ADCPathPoint::curvature() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCPathPoint.curvature) + return curvature_; +} +inline void ADCPathPoint::set_curvature(double value) { + + curvature_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCPathPoint.curvature) +} + +// double heading = 5; +inline void ADCPathPoint::clear_heading() { + heading_ = 0; +} +inline double ADCPathPoint::heading() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCPathPoint.heading) + return heading_; +} +inline void ADCPathPoint::set_heading(double value) { + + heading_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCPathPoint.heading) +} + +// ------------------------------------------------------------------- + +// ADCTrajectory + +// .apollo.common.Header header = 1; +inline bool ADCTrajectory::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& ADCTrajectory::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& ADCTrajectory::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* ADCTrajectory::release_header() { + // @@protoc_insertion_point(field_release:apollo.planning.ADCTrajectory.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* ADCTrajectory::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning.ADCTrajectory.header) + return header_; +} +inline void ADCTrajectory::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.planning.ADCTrajectory.header) +} + +// double total_path_length = 2; +inline void ADCTrajectory::clear_total_path_length() { + total_path_length_ = 0; +} +inline double ADCTrajectory::total_path_length() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.total_path_length) + return total_path_length_; +} +inline void ADCTrajectory::set_total_path_length(double value) { + + total_path_length_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectory.total_path_length) +} + +// double total_path_time = 3; +inline void ADCTrajectory::clear_total_path_time() { + total_path_time_ = 0; +} +inline double ADCTrajectory::total_path_time() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.total_path_time) + return total_path_time_; +} +inline void ADCTrajectory::set_total_path_time(double value) { + + total_path_time_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectory.total_path_time) +} + +// repeated .apollo.planning.ADCTrajectoryPoint adc_trajectory_point = 4; +inline int ADCTrajectory::adc_trajectory_point_size() const { + return adc_trajectory_point_.size(); +} +inline void ADCTrajectory::clear_adc_trajectory_point() { + adc_trajectory_point_.Clear(); +} +inline ::apollo::planning::ADCTrajectoryPoint* ADCTrajectory::mutable_adc_trajectory_point(int index) { + // @@protoc_insertion_point(field_mutable:apollo.planning.ADCTrajectory.adc_trajectory_point) + return adc_trajectory_point_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCTrajectoryPoint >* +ADCTrajectory::mutable_adc_trajectory_point() { + // @@protoc_insertion_point(field_mutable_list:apollo.planning.ADCTrajectory.adc_trajectory_point) + return &adc_trajectory_point_; +} +inline const ::apollo::planning::ADCTrajectoryPoint& ADCTrajectory::adc_trajectory_point(int index) const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.adc_trajectory_point) + return adc_trajectory_point_.Get(index); +} +inline ::apollo::planning::ADCTrajectoryPoint* ADCTrajectory::add_adc_trajectory_point() { + // @@protoc_insertion_point(field_add:apollo.planning.ADCTrajectory.adc_trajectory_point) + return adc_trajectory_point_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCTrajectoryPoint >& +ADCTrajectory::adc_trajectory_point() const { + // @@protoc_insertion_point(field_list:apollo.planning.ADCTrajectory.adc_trajectory_point) + return adc_trajectory_point_; +} + +// .apollo.planning.EStop estop = 6; +inline bool ADCTrajectory::has_estop() const { + return this != internal_default_instance() && estop_ != NULL; +} +inline void ADCTrajectory::clear_estop() { + if (GetArenaNoVirtual() == NULL && estop_ != NULL) { + delete estop_; + } + estop_ = NULL; +} +inline const ::apollo::planning::EStop& ADCTrajectory::_internal_estop() const { + return *estop_; +} +inline const ::apollo::planning::EStop& ADCTrajectory::estop() const { + const ::apollo::planning::EStop* p = estop_; + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.estop) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::planning::_EStop_default_instance_); +} +inline ::apollo::planning::EStop* ADCTrajectory::release_estop() { + // @@protoc_insertion_point(field_release:apollo.planning.ADCTrajectory.estop) + + ::apollo::planning::EStop* temp = estop_; + estop_ = NULL; + return temp; +} +inline ::apollo::planning::EStop* ADCTrajectory::mutable_estop() { + + if (estop_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::planning::EStop>(GetArenaNoVirtual()); + estop_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning.ADCTrajectory.estop) + return estop_; +} +inline void ADCTrajectory::set_allocated_estop(::apollo::planning::EStop* estop) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete estop_; + } + if (estop) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + estop = ::google::protobuf::internal::GetOwnedMessage( + message_arena, estop, submessage_arena); + } + + } else { + + } + estop_ = estop; + // @@protoc_insertion_point(field_set_allocated:apollo.planning.ADCTrajectory.estop) +} + +// repeated .apollo.planning.ADCPathPoint adc_path_point = 7; +inline int ADCTrajectory::adc_path_point_size() const { + return adc_path_point_.size(); +} +inline void ADCTrajectory::clear_adc_path_point() { + adc_path_point_.Clear(); +} +inline ::apollo::planning::ADCPathPoint* ADCTrajectory::mutable_adc_path_point(int index) { + // @@protoc_insertion_point(field_mutable:apollo.planning.ADCTrajectory.adc_path_point) + return adc_path_point_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCPathPoint >* +ADCTrajectory::mutable_adc_path_point() { + // @@protoc_insertion_point(field_mutable_list:apollo.planning.ADCTrajectory.adc_path_point) + return &adc_path_point_; +} +inline const ::apollo::planning::ADCPathPoint& ADCTrajectory::adc_path_point(int index) const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.adc_path_point) + return adc_path_point_.Get(index); +} +inline ::apollo::planning::ADCPathPoint* ADCTrajectory::add_adc_path_point() { + // @@protoc_insertion_point(field_add:apollo.planning.ADCTrajectory.adc_path_point) + return adc_path_point_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::planning::ADCPathPoint >& +ADCTrajectory::adc_path_point() const { + // @@protoc_insertion_point(field_list:apollo.planning.ADCTrajectory.adc_path_point) + return adc_path_point_; +} + +// bool is_replan = 9; +inline void ADCTrajectory::clear_is_replan() { + is_replan_ = false; +} +inline bool ADCTrajectory::is_replan() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.is_replan) + return is_replan_; +} +inline void ADCTrajectory::set_is_replan(bool value) { + + is_replan_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectory.is_replan) +} + +// .apollo.canbus.Chassis.GearPosition gear = 10; +inline void ADCTrajectory::clear_gear() { + gear_ = 0; +} +inline ::apollo::canbus::Chassis_GearPosition ADCTrajectory::gear() const { + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.gear) + return static_cast< ::apollo::canbus::Chassis_GearPosition >(gear_); +} +inline void ADCTrajectory::set_gear(::apollo::canbus::Chassis_GearPosition value) { + + gear_ = value; + // @@protoc_insertion_point(field_set:apollo.planning.ADCTrajectory.gear) +} + +// .apollo.planning_internal.Debug debug = 8; +inline bool ADCTrajectory::has_debug() const { + return this != internal_default_instance() && debug_ != NULL; +} +inline const ::apollo::planning_internal::Debug& ADCTrajectory::_internal_debug() const { + return *debug_; +} +inline const ::apollo::planning_internal::Debug& ADCTrajectory::debug() const { + const ::apollo::planning_internal::Debug* p = debug_; + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.debug) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::planning_internal::_Debug_default_instance_); +} +inline ::apollo::planning_internal::Debug* ADCTrajectory::release_debug() { + // @@protoc_insertion_point(field_release:apollo.planning.ADCTrajectory.debug) + + ::apollo::planning_internal::Debug* temp = debug_; + debug_ = NULL; + return temp; +} +inline ::apollo::planning_internal::Debug* ADCTrajectory::mutable_debug() { + + if (debug_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::planning_internal::Debug>(GetArenaNoVirtual()); + debug_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning.ADCTrajectory.debug) + return debug_; +} +inline void ADCTrajectory::set_allocated_debug(::apollo::planning_internal::Debug* debug) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(debug_); + } + if (debug) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + debug = ::google::protobuf::internal::GetOwnedMessage( + message_arena, debug, submessage_arena); + } + + } else { + + } + debug_ = debug; + // @@protoc_insertion_point(field_set_allocated:apollo.planning.ADCTrajectory.debug) +} + +// .apollo.canbus.Signal signal = 11; +inline bool ADCTrajectory::has_signal() const { + return this != internal_default_instance() && signal_ != NULL; +} +inline const ::apollo::canbus::Signal& ADCTrajectory::_internal_signal() const { + return *signal_; +} +inline const ::apollo::canbus::Signal& ADCTrajectory::signal() const { + const ::apollo::canbus::Signal* p = signal_; + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.signal) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::canbus::_Signal_default_instance_); +} +inline ::apollo::canbus::Signal* ADCTrajectory::release_signal() { + // @@protoc_insertion_point(field_release:apollo.planning.ADCTrajectory.signal) + + ::apollo::canbus::Signal* temp = signal_; + signal_ = NULL; + return temp; +} +inline ::apollo::canbus::Signal* ADCTrajectory::mutable_signal() { + + if (signal_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::canbus::Signal>(GetArenaNoVirtual()); + signal_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning.ADCTrajectory.signal) + return signal_; +} +inline void ADCTrajectory::set_allocated_signal(::apollo::canbus::Signal* signal) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(signal_); + } + if (signal) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + signal = ::google::protobuf::internal::GetOwnedMessage( + message_arena, signal, submessage_arena); + } + + } else { + + } + signal_ = signal; + // @@protoc_insertion_point(field_set_allocated:apollo.planning.ADCTrajectory.signal) +} + +// .apollo.planning.ADCSignals signals = 5; +inline bool ADCTrajectory::has_signals() const { + return this != internal_default_instance() && signals_ != NULL; +} +inline void ADCTrajectory::clear_signals() { + if (GetArenaNoVirtual() == NULL && signals_ != NULL) { + delete signals_; + } + signals_ = NULL; +} +inline const ::apollo::planning::ADCSignals& ADCTrajectory::_internal_signals() const { + return *signals_; +} +inline const ::apollo::planning::ADCSignals& ADCTrajectory::signals() const { + const ::apollo::planning::ADCSignals* p = signals_; + // @@protoc_insertion_point(field_get:apollo.planning.ADCTrajectory.signals) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::planning::_ADCSignals_default_instance_); +} +inline ::apollo::planning::ADCSignals* ADCTrajectory::release_signals() { + // @@protoc_insertion_point(field_release:apollo.planning.ADCTrajectory.signals) + + ::apollo::planning::ADCSignals* temp = signals_; + signals_ = NULL; + return temp; +} +inline ::apollo::planning::ADCSignals* ADCTrajectory::mutable_signals() { + + if (signals_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::planning::ADCSignals>(GetArenaNoVirtual()); + signals_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning.ADCTrajectory.signals) + return signals_; +} +inline void ADCTrajectory::set_allocated_signals(::apollo::planning::ADCSignals* signals) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete signals_; + } + if (signals) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + signals = ::google::protobuf::internal::GetOwnedMessage( + message_arena, signals, submessage_arena); + } + + } else { + + } + signals_ = signals; + // @@protoc_insertion_point(field_set_allocated:apollo.planning.ADCTrajectory.signals) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace planning +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::planning::ADCSignals_SignalType> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::planning::ADCSignals_SignalType>() { + return ::apollo::planning::ADCSignals_SignalType_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fplanning_2fplanning_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/planning/planning_internal.pb.cc b/apollo_msgs/include/apollo_msgs/proto/planning/planning_internal.pb.cc new file mode 100644 index 0000000..c455704 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/planning/planning_internal.pb.cc @@ -0,0 +1,2680 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/planning/planning_internal.proto + +#include "apollo_msgs/proto/planning/planning_internal.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_LightSignal; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<8> scc_info_MainDecision; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto ::google::protobuf::internal::SCCInfo<8> scc_info_ObjectDecisionType; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto ::google::protobuf::internal::SCCInfo<3> scc_info_Pose; +} // namespace protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Point; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_Debug_DebugMessage; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto ::google::protobuf::internal::SCCInfo<3> scc_info_PlanningObstacle; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto ::google::protobuf::internal::SCCInfo<5> scc_info_PlanningData; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Trajectory; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto +namespace apollo { +namespace planning_internal { +class PlanningObstacleDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PlanningObstacle_default_instance_; +class Debug_DebugMessageDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; + ::google::protobuf::internal::ArenaStringPtr trace_; + ::google::protobuf::internal::ArenaStringPtr info_; + ::google::protobuf::internal::ArenaStringPtr warn_; + ::google::protobuf::internal::ArenaStringPtr error_; + ::google::protobuf::internal::ArenaStringPtr fatal_; +} _Debug_DebugMessage_default_instance_; +class DebugDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Debug_default_instance_; +class PlanningDataDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PlanningData_default_instance_; +} // namespace planning_internal +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto { +static void InitDefaultsPlanningObstacle() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::planning_internal::_PlanningObstacle_default_instance_; + new (ptr) ::apollo::planning_internal::PlanningObstacle(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::planning_internal::PlanningObstacle::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<3> scc_info_PlanningObstacle = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 3, InitDefaultsPlanningObstacle}, { + &protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_Point.base, + &protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_Trajectory.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_ObjectDecisionType.base,}}; + +static void InitDefaultsDebug_DebugMessage() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::planning_internal::_Debug_DebugMessage_default_instance_; + new (ptr) ::apollo::planning_internal::Debug_DebugMessage(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::planning_internal::Debug_DebugMessage::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_Debug_DebugMessage = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsDebug_DebugMessage}, {}}; + +static void InitDefaultsDebug() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::planning_internal::_Debug_default_instance_; + new (ptr) ::apollo::planning_internal::Debug(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::planning_internal::Debug::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_Debug = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsDebug}, { + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_PlanningData.base, + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_Debug_DebugMessage.base,}}; + +static void InitDefaultsPlanningData() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::planning_internal::_PlanningData_default_instance_; + new (ptr) ::apollo::planning_internal::PlanningData(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::planning_internal::PlanningData::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<5> scc_info_PlanningData = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 5, InitDefaultsPlanningData}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::scc_info_Pose.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_MainDecision.base, + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_PlanningObstacle.base, + &protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::scc_info_LightSignal.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_PlanningObstacle.base); + ::google::protobuf::internal::InitSCC(&scc_info_Debug_DebugMessage.base); + ::google::protobuf::internal::InitSCC(&scc_info_Debug.base); + ::google::protobuf::internal::InitSCC(&scc_info_PlanningData.base); +} + +::google::protobuf::Metadata file_level_metadata[4]; +const ::google::protobuf::EnumDescriptor* file_level_enum_descriptors[1]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, perception_id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, decision_id_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, position_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, theta_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, velocity_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, speed_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, length_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, width_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, height_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, polygon_point_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, tracking_time_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, perception_timestamp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, perception_object_type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, prediction_timestamp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, prediction_trajectory_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, decision_object_type_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, object_decision_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningObstacle, planning_object_decision_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::Debug_DebugMessage, _internal_metadata_), + ~0u, // no _extensions_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::Debug_DebugMessage, _oneof_case_[0]), + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::Debug_DebugMessage, error_code_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::Debug_DebugMessage, id_), + offsetof(::apollo::planning_internal::Debug_DebugMessageDefaultTypeInternal, trace_), + offsetof(::apollo::planning_internal::Debug_DebugMessageDefaultTypeInternal, info_), + offsetof(::apollo::planning_internal::Debug_DebugMessageDefaultTypeInternal, warn_), + offsetof(::apollo::planning_internal::Debug_DebugMessageDefaultTypeInternal, error_), + offsetof(::apollo::planning_internal::Debug_DebugMessageDefaultTypeInternal, fatal_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::Debug_DebugMessage, debug_string_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::Debug, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::Debug, error_code_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::Debug, planning_data_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::Debug, debug_message_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningData, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningData, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningData, init_status_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningData, main_decision_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningData, planning_obstacle_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::planning_internal::PlanningData, light_signal_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::planning_internal::PlanningObstacle)}, + { 23, -1, sizeof(::apollo::planning_internal::Debug_DebugMessage)}, + { 36, -1, sizeof(::apollo::planning_internal::Debug)}, + { 44, -1, sizeof(::apollo::planning_internal::PlanningData)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::planning_internal::_PlanningObstacle_default_instance_), + reinterpret_cast(&::apollo::planning_internal::_Debug_DebugMessage_default_instance_), + reinterpret_cast(&::apollo::planning_internal::_Debug_default_instance_), + reinterpret_cast(&::apollo::planning_internal::_PlanningData_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/planning/planning_internal.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, file_level_enum_descriptors, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 4); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n2apollo_msgs/proto/planning/planning_in" + "ternal.proto\022\030apollo.planning_internal\032%" + "apollo_msgs/proto/common/header.proto\032)a" + "pollo_msgs/proto/decision/decision.proto" + "\0321apollo_msgs/proto/localization/localiz" + "ation.proto\032)apollo_msgs/proto/localizat" + "ion/pose.proto\0326apollo_msgs/proto/percep" + "tion/perception_obstacle.proto\0326apollo_m" + "sgs/proto/prediction/prediction_obstacle" + ".proto\"\300\005\n\020PlanningObstacle\022\025\n\rperceptio" + "n_id\030\001 \001(\005\022\023\n\013decision_id\030\002 \001(\t\022*\n\010posit" + "ion\030\003 \001(\0132\030.apollo.perception.Point\022\r\n\005t" + "heta\030\004 \001(\001\022*\n\010velocity\030\005 \001(\0132\030.apollo.pe" + "rception.Point\022\r\n\005speed\030\006 \001(\001\022\016\n\006length\030" + "\007 \001(\001\022\r\n\005width\030\010 \001(\001\022\016\n\006height\030\t \001(\001\022/\n\r" + "polygon_point\030\n \003(\0132\030.apollo.perception." + "Point\022\025\n\rtracking_time\030\013 \001(\001\022\034\n\024percepti" + "on_timestamp\030\014 \001(\001\022J\n\026perception_object_" + "type\030\r \001(\0162*.apollo.perception.Perceptio" + "nObstacle.Type\022\034\n\024prediction_timestamp\030\016" + " \001(\001\022<\n\025prediction_trajectory\030\017 \003(\0132\035.ap" + "ollo.prediction.Trajectory\022H\n\024decision_o" + "bject_type\030\020 \001(\0162*.apollo.decision.Objec" + "tDecision.ObjectType\022<\n\017object_decision\030" + "\021 \001(\0132#.apollo.decision.ObjectDecisionTy" + "pe\022E\n\030planning_object_decision\030\022 \003(\0132#.a" + "pollo.decision.ObjectDecisionType\"\232\004\n\005De" + "bug\022=\n\nerror_code\030\001 \001(\0162).apollo.plannin" + "g_internal.Debug.ErrorCode\022=\n\rplanning_d" + "ata\030\002 \001(\0132&.apollo.planning_internal.Pla" + "nningData\022C\n\rdebug_message\030\003 \003(\0132,.apoll" + "o.planning_internal.Debug.DebugMessage\032\274" + "\001\n\014DebugMessage\022=\n\nerror_code\030\001 \001(\0162).ap" + "ollo.planning_internal.Debug.ErrorCode\022\n" + "\n\002id\030\002 \001(\005\022\017\n\005trace\030\003 \001(\tH\000\022\016\n\004info\030\004 \001(" + "\tH\000\022\016\n\004warn\030\005 \001(\tH\000\022\017\n\005error\030\006 \001(\tH\000\022\017\n\005" + "fatal\030\007 \001(\tH\000B\016\n\014debug_string\"\216\001\n\tErrorC" + "ode\022\006\n\002OK\020\000\022\021\n\rERR_NOT_READY\020\001\022\r\n\tERR_ES" + "TOP\020\002\022\026\n\022ERR_PATH_OPTIMIZER\020\003\022\027\n\023ERR_SPE" + "ED_OPTIMIZER\020\004\022\020\n\014ERR_ST_GRAPH\020\005\022\024\n\020ERR_" + "SANITY_CHECK\020\006\"\226\002\n\014PlanningData\022%\n\006heade" + "r\030\001 \001(\0132\025.apollo.common.Header\022.\n\013init_s" + "tatus\030\002 \001(\0132\031.apollo.localization.Pose\0224" + "\n\rmain_decision\030\003 \001(\0132\035.apollo.decision." + "MainDecision\022E\n\021planning_obstacle\030\004 \003(\0132" + "*.apollo.planning_internal.PlanningObsta" + "cle\0222\n\014light_signal\030\005 \001(\0132\034.apollo.decis" + "ion.LightSignalb\006proto3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 1903); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/planning/planning_internal.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fdecision_2fdecision_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2flocalization_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2flocalization_2fpose_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto +namespace apollo { +namespace planning_internal { +const ::google::protobuf::EnumDescriptor* Debug_ErrorCode_descriptor() { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::protobuf_AssignDescriptorsOnce(); + return protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::file_level_enum_descriptors[0]; +} +bool Debug_ErrorCode_IsValid(int value) { + switch (value) { + case 0: + case 1: + case 2: + case 3: + case 4: + case 5: + case 6: + return true; + default: + return false; + } +} + +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const Debug_ErrorCode Debug::OK; +const Debug_ErrorCode Debug::ERR_NOT_READY; +const Debug_ErrorCode Debug::ERR_ESTOP; +const Debug_ErrorCode Debug::ERR_PATH_OPTIMIZER; +const Debug_ErrorCode Debug::ERR_SPEED_OPTIMIZER; +const Debug_ErrorCode Debug::ERR_ST_GRAPH; +const Debug_ErrorCode Debug::ERR_SANITY_CHECK; +const Debug_ErrorCode Debug::ErrorCode_MIN; +const Debug_ErrorCode Debug::ErrorCode_MAX; +const int Debug::ErrorCode_ARRAYSIZE; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +// =================================================================== + +void PlanningObstacle::InitAsDefaultInstance() { + ::apollo::planning_internal::_PlanningObstacle_default_instance_._instance.get_mutable()->position_ = const_cast< ::apollo::perception::Point*>( + ::apollo::perception::Point::internal_default_instance()); + ::apollo::planning_internal::_PlanningObstacle_default_instance_._instance.get_mutable()->velocity_ = const_cast< ::apollo::perception::Point*>( + ::apollo::perception::Point::internal_default_instance()); + ::apollo::planning_internal::_PlanningObstacle_default_instance_._instance.get_mutable()->object_decision_ = const_cast< ::apollo::decision::ObjectDecisionType*>( + ::apollo::decision::ObjectDecisionType::internal_default_instance()); +} +void PlanningObstacle::clear_position() { + if (GetArenaNoVirtual() == NULL && position_ != NULL) { + delete position_; + } + position_ = NULL; +} +void PlanningObstacle::clear_velocity() { + if (GetArenaNoVirtual() == NULL && velocity_ != NULL) { + delete velocity_; + } + velocity_ = NULL; +} +void PlanningObstacle::clear_polygon_point() { + polygon_point_.Clear(); +} +void PlanningObstacle::clear_prediction_trajectory() { + prediction_trajectory_.Clear(); +} +void PlanningObstacle::clear_object_decision() { + if (GetArenaNoVirtual() == NULL && object_decision_ != NULL) { + delete object_decision_; + } + object_decision_ = NULL; +} +void PlanningObstacle::clear_planning_object_decision() { + planning_object_decision_.Clear(); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PlanningObstacle::kPerceptionIdFieldNumber; +const int PlanningObstacle::kDecisionIdFieldNumber; +const int PlanningObstacle::kPositionFieldNumber; +const int PlanningObstacle::kThetaFieldNumber; +const int PlanningObstacle::kVelocityFieldNumber; +const int PlanningObstacle::kSpeedFieldNumber; +const int PlanningObstacle::kLengthFieldNumber; +const int PlanningObstacle::kWidthFieldNumber; +const int PlanningObstacle::kHeightFieldNumber; +const int PlanningObstacle::kPolygonPointFieldNumber; +const int PlanningObstacle::kTrackingTimeFieldNumber; +const int PlanningObstacle::kPerceptionTimestampFieldNumber; +const int PlanningObstacle::kPerceptionObjectTypeFieldNumber; +const int PlanningObstacle::kPredictionTimestampFieldNumber; +const int PlanningObstacle::kPredictionTrajectoryFieldNumber; +const int PlanningObstacle::kDecisionObjectTypeFieldNumber; +const int PlanningObstacle::kObjectDecisionFieldNumber; +const int PlanningObstacle::kPlanningObjectDecisionFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PlanningObstacle::PlanningObstacle() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_PlanningObstacle.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.planning_internal.PlanningObstacle) +} +PlanningObstacle::PlanningObstacle(const PlanningObstacle& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + polygon_point_(from.polygon_point_), + prediction_trajectory_(from.prediction_trajectory_), + planning_object_decision_(from.planning_object_decision_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + decision_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (from.decision_id().size() > 0) { + decision_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.decision_id_); + } + if (from.has_position()) { + position_ = new ::apollo::perception::Point(*from.position_); + } else { + position_ = NULL; + } + if (from.has_velocity()) { + velocity_ = new ::apollo::perception::Point(*from.velocity_); + } else { + velocity_ = NULL; + } + if (from.has_object_decision()) { + object_decision_ = new ::apollo::decision::ObjectDecisionType(*from.object_decision_); + } else { + object_decision_ = NULL; + } + ::memcpy(&theta_, &from.theta_, + static_cast(reinterpret_cast(&decision_object_type_) - + reinterpret_cast(&theta_)) + sizeof(decision_object_type_)); + // @@protoc_insertion_point(copy_constructor:apollo.planning_internal.PlanningObstacle) +} + +void PlanningObstacle::SharedCtor() { + decision_id_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::memset(&position_, 0, static_cast( + reinterpret_cast(&decision_object_type_) - + reinterpret_cast(&position_)) + sizeof(decision_object_type_)); +} + +PlanningObstacle::~PlanningObstacle() { + // @@protoc_insertion_point(destructor:apollo.planning_internal.PlanningObstacle) + SharedDtor(); +} + +void PlanningObstacle::SharedDtor() { + decision_id_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (this != internal_default_instance()) delete position_; + if (this != internal_default_instance()) delete velocity_; + if (this != internal_default_instance()) delete object_decision_; +} + +void PlanningObstacle::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PlanningObstacle::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PlanningObstacle& PlanningObstacle::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_PlanningObstacle.base); + return *internal_default_instance(); +} + + +void PlanningObstacle::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.planning_internal.PlanningObstacle) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + polygon_point_.Clear(); + prediction_trajectory_.Clear(); + planning_object_decision_.Clear(); + decision_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + if (GetArenaNoVirtual() == NULL && position_ != NULL) { + delete position_; + } + position_ = NULL; + if (GetArenaNoVirtual() == NULL && velocity_ != NULL) { + delete velocity_; + } + velocity_ = NULL; + if (GetArenaNoVirtual() == NULL && object_decision_ != NULL) { + delete object_decision_; + } + object_decision_ = NULL; + ::memset(&theta_, 0, static_cast( + reinterpret_cast(&decision_object_type_) - + reinterpret_cast(&theta_)) + sizeof(decision_object_type_)); + _internal_metadata_.Clear(); +} + +bool PlanningObstacle::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.planning_internal.PlanningObstacle) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(16383u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // int32 perception_id = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &perception_id_))); + } else { + goto handle_unusual; + } + break; + } + + // string decision_id = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_decision_id())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->decision_id().data(), static_cast(this->decision_id().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.planning_internal.PlanningObstacle.decision_id")); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.perception.Point position = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_position())); + } else { + goto handle_unusual; + } + break; + } + + // double theta = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &theta_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.perception.Point velocity = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_velocity())); + } else { + goto handle_unusual; + } + break; + } + + // double speed = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &speed_))); + } else { + goto handle_unusual; + } + break; + } + + // double length = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(57u /* 57 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &length_))); + } else { + goto handle_unusual; + } + break; + } + + // double width = 8; + case 8: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(65u /* 65 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &width_))); + } else { + goto handle_unusual; + } + break; + } + + // double height = 9; + case 9: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(73u /* 73 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &height_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.perception.Point polygon_point = 10; + case 10: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(82u /* 82 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_polygon_point())); + } else { + goto handle_unusual; + } + break; + } + + // double tracking_time = 11; + case 11: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(89u /* 89 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &tracking_time_))); + } else { + goto handle_unusual; + } + break; + } + + // double perception_timestamp = 12; + case 12: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(97u /* 97 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &perception_timestamp_))); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.perception.PerceptionObstacle.Type perception_object_type = 13; + case 13: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(104u /* 104 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_perception_object_type(static_cast< ::apollo::perception::PerceptionObstacle_Type >(value)); + } else { + goto handle_unusual; + } + break; + } + + // double prediction_timestamp = 14; + case 14: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(113u /* 113 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &prediction_timestamp_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.prediction.Trajectory prediction_trajectory = 15; + case 15: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(122u /* 122 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_prediction_trajectory())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectDecision.ObjectType decision_object_type = 16; + case 16: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(128u /* 128 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_decision_object_type(static_cast< ::apollo::decision::ObjectDecision_ObjectType >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.ObjectDecisionType object_decision = 17; + case 17: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(138u /* 138 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_object_decision())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.decision.ObjectDecisionType planning_object_decision = 18; + case 18: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(146u /* 146 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_planning_object_decision())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.planning_internal.PlanningObstacle) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.planning_internal.PlanningObstacle) + return false; +#undef DO_ +} + +void PlanningObstacle::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.planning_internal.PlanningObstacle) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // int32 perception_id = 1; + if (this->perception_id() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(1, this->perception_id(), output); + } + + // string decision_id = 2; + if (this->decision_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->decision_id().data(), static_cast(this->decision_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.PlanningObstacle.decision_id"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 2, this->decision_id(), output); + } + + // .apollo.perception.Point position = 3; + if (this->has_position()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_position(), output); + } + + // double theta = 4; + if (this->theta() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->theta(), output); + } + + // .apollo.perception.Point velocity = 5; + if (this->has_velocity()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, this->_internal_velocity(), output); + } + + // double speed = 6; + if (this->speed() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->speed(), output); + } + + // double length = 7; + if (this->length() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(7, this->length(), output); + } + + // double width = 8; + if (this->width() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(8, this->width(), output); + } + + // double height = 9; + if (this->height() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(9, this->height(), output); + } + + // repeated .apollo.perception.Point polygon_point = 10; + for (unsigned int i = 0, + n = static_cast(this->polygon_point_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 10, + this->polygon_point(static_cast(i)), + output); + } + + // double tracking_time = 11; + if (this->tracking_time() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(11, this->tracking_time(), output); + } + + // double perception_timestamp = 12; + if (this->perception_timestamp() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(12, this->perception_timestamp(), output); + } + + // .apollo.perception.PerceptionObstacle.Type perception_object_type = 13; + if (this->perception_object_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 13, this->perception_object_type(), output); + } + + // double prediction_timestamp = 14; + if (this->prediction_timestamp() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(14, this->prediction_timestamp(), output); + } + + // repeated .apollo.prediction.Trajectory prediction_trajectory = 15; + for (unsigned int i = 0, + n = static_cast(this->prediction_trajectory_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 15, + this->prediction_trajectory(static_cast(i)), + output); + } + + // .apollo.decision.ObjectDecision.ObjectType decision_object_type = 16; + if (this->decision_object_type() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 16, this->decision_object_type(), output); + } + + // .apollo.decision.ObjectDecisionType object_decision = 17; + if (this->has_object_decision()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 17, this->_internal_object_decision(), output); + } + + // repeated .apollo.decision.ObjectDecisionType planning_object_decision = 18; + for (unsigned int i = 0, + n = static_cast(this->planning_object_decision_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 18, + this->planning_object_decision(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.planning_internal.PlanningObstacle) +} + +::google::protobuf::uint8* PlanningObstacle::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.planning_internal.PlanningObstacle) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // int32 perception_id = 1; + if (this->perception_id() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(1, this->perception_id(), target); + } + + // string decision_id = 2; + if (this->decision_id().size() > 0) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->decision_id().data(), static_cast(this->decision_id().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.PlanningObstacle.decision_id"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 2, this->decision_id(), target); + } + + // .apollo.perception.Point position = 3; + if (this->has_position()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_position(), deterministic, target); + } + + // double theta = 4; + if (this->theta() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->theta(), target); + } + + // .apollo.perception.Point velocity = 5; + if (this->has_velocity()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->_internal_velocity(), deterministic, target); + } + + // double speed = 6; + if (this->speed() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->speed(), target); + } + + // double length = 7; + if (this->length() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(7, this->length(), target); + } + + // double width = 8; + if (this->width() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(8, this->width(), target); + } + + // double height = 9; + if (this->height() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(9, this->height(), target); + } + + // repeated .apollo.perception.Point polygon_point = 10; + for (unsigned int i = 0, + n = static_cast(this->polygon_point_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 10, this->polygon_point(static_cast(i)), deterministic, target); + } + + // double tracking_time = 11; + if (this->tracking_time() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(11, this->tracking_time(), target); + } + + // double perception_timestamp = 12; + if (this->perception_timestamp() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(12, this->perception_timestamp(), target); + } + + // .apollo.perception.PerceptionObstacle.Type perception_object_type = 13; + if (this->perception_object_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 13, this->perception_object_type(), target); + } + + // double prediction_timestamp = 14; + if (this->prediction_timestamp() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(14, this->prediction_timestamp(), target); + } + + // repeated .apollo.prediction.Trajectory prediction_trajectory = 15; + for (unsigned int i = 0, + n = static_cast(this->prediction_trajectory_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 15, this->prediction_trajectory(static_cast(i)), deterministic, target); + } + + // .apollo.decision.ObjectDecision.ObjectType decision_object_type = 16; + if (this->decision_object_type() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 16, this->decision_object_type(), target); + } + + // .apollo.decision.ObjectDecisionType object_decision = 17; + if (this->has_object_decision()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 17, this->_internal_object_decision(), deterministic, target); + } + + // repeated .apollo.decision.ObjectDecisionType planning_object_decision = 18; + for (unsigned int i = 0, + n = static_cast(this->planning_object_decision_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 18, this->planning_object_decision(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.planning_internal.PlanningObstacle) + return target; +} + +size_t PlanningObstacle::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.planning_internal.PlanningObstacle) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.perception.Point polygon_point = 10; + { + unsigned int count = static_cast(this->polygon_point_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->polygon_point(static_cast(i))); + } + } + + // repeated .apollo.prediction.Trajectory prediction_trajectory = 15; + { + unsigned int count = static_cast(this->prediction_trajectory_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->prediction_trajectory(static_cast(i))); + } + } + + // repeated .apollo.decision.ObjectDecisionType planning_object_decision = 18; + { + unsigned int count = static_cast(this->planning_object_decision_size()); + total_size += 2UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->planning_object_decision(static_cast(i))); + } + } + + // string decision_id = 2; + if (this->decision_id().size() > 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->decision_id()); + } + + // .apollo.perception.Point position = 3; + if (this->has_position()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *position_); + } + + // .apollo.perception.Point velocity = 5; + if (this->has_velocity()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *velocity_); + } + + // .apollo.decision.ObjectDecisionType object_decision = 17; + if (this->has_object_decision()) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *object_decision_); + } + + // double theta = 4; + if (this->theta() != 0) { + total_size += 1 + 8; + } + + // double speed = 6; + if (this->speed() != 0) { + total_size += 1 + 8; + } + + // double length = 7; + if (this->length() != 0) { + total_size += 1 + 8; + } + + // int32 perception_id = 1; + if (this->perception_id() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->perception_id()); + } + + // .apollo.perception.PerceptionObstacle.Type perception_object_type = 13; + if (this->perception_object_type() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->perception_object_type()); + } + + // double width = 8; + if (this->width() != 0) { + total_size += 1 + 8; + } + + // double height = 9; + if (this->height() != 0) { + total_size += 1 + 8; + } + + // double tracking_time = 11; + if (this->tracking_time() != 0) { + total_size += 1 + 8; + } + + // double perception_timestamp = 12; + if (this->perception_timestamp() != 0) { + total_size += 1 + 8; + } + + // double prediction_timestamp = 14; + if (this->prediction_timestamp() != 0) { + total_size += 1 + 8; + } + + // .apollo.decision.ObjectDecision.ObjectType decision_object_type = 16; + if (this->decision_object_type() != 0) { + total_size += 2 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->decision_object_type()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PlanningObstacle::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.planning_internal.PlanningObstacle) + GOOGLE_DCHECK_NE(&from, this); + const PlanningObstacle* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.planning_internal.PlanningObstacle) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.planning_internal.PlanningObstacle) + MergeFrom(*source); + } +} + +void PlanningObstacle::MergeFrom(const PlanningObstacle& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.planning_internal.PlanningObstacle) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + polygon_point_.MergeFrom(from.polygon_point_); + prediction_trajectory_.MergeFrom(from.prediction_trajectory_); + planning_object_decision_.MergeFrom(from.planning_object_decision_); + if (from.decision_id().size() > 0) { + + decision_id_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.decision_id_); + } + if (from.has_position()) { + mutable_position()->::apollo::perception::Point::MergeFrom(from.position()); + } + if (from.has_velocity()) { + mutable_velocity()->::apollo::perception::Point::MergeFrom(from.velocity()); + } + if (from.has_object_decision()) { + mutable_object_decision()->::apollo::decision::ObjectDecisionType::MergeFrom(from.object_decision()); + } + if (from.theta() != 0) { + set_theta(from.theta()); + } + if (from.speed() != 0) { + set_speed(from.speed()); + } + if (from.length() != 0) { + set_length(from.length()); + } + if (from.perception_id() != 0) { + set_perception_id(from.perception_id()); + } + if (from.perception_object_type() != 0) { + set_perception_object_type(from.perception_object_type()); + } + if (from.width() != 0) { + set_width(from.width()); + } + if (from.height() != 0) { + set_height(from.height()); + } + if (from.tracking_time() != 0) { + set_tracking_time(from.tracking_time()); + } + if (from.perception_timestamp() != 0) { + set_perception_timestamp(from.perception_timestamp()); + } + if (from.prediction_timestamp() != 0) { + set_prediction_timestamp(from.prediction_timestamp()); + } + if (from.decision_object_type() != 0) { + set_decision_object_type(from.decision_object_type()); + } +} + +void PlanningObstacle::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.planning_internal.PlanningObstacle) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PlanningObstacle::CopyFrom(const PlanningObstacle& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.planning_internal.PlanningObstacle) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PlanningObstacle::IsInitialized() const { + return true; +} + +void PlanningObstacle::Swap(PlanningObstacle* other) { + if (other == this) return; + InternalSwap(other); +} +void PlanningObstacle::InternalSwap(PlanningObstacle* other) { + using std::swap; + CastToBase(&polygon_point_)->InternalSwap(CastToBase(&other->polygon_point_)); + CastToBase(&prediction_trajectory_)->InternalSwap(CastToBase(&other->prediction_trajectory_)); + CastToBase(&planning_object_decision_)->InternalSwap(CastToBase(&other->planning_object_decision_)); + decision_id_.Swap(&other->decision_id_, &::google::protobuf::internal::GetEmptyStringAlreadyInited(), + GetArenaNoVirtual()); + swap(position_, other->position_); + swap(velocity_, other->velocity_); + swap(object_decision_, other->object_decision_); + swap(theta_, other->theta_); + swap(speed_, other->speed_); + swap(length_, other->length_); + swap(perception_id_, other->perception_id_); + swap(perception_object_type_, other->perception_object_type_); + swap(width_, other->width_); + swap(height_, other->height_); + swap(tracking_time_, other->tracking_time_); + swap(perception_timestamp_, other->perception_timestamp_); + swap(prediction_timestamp_, other->prediction_timestamp_); + swap(decision_object_type_, other->decision_object_type_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PlanningObstacle::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Debug_DebugMessage::InitAsDefaultInstance() { + ::apollo::planning_internal::_Debug_DebugMessage_default_instance_.trace_.UnsafeSetDefault( + &::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::apollo::planning_internal::_Debug_DebugMessage_default_instance_.info_.UnsafeSetDefault( + &::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::apollo::planning_internal::_Debug_DebugMessage_default_instance_.warn_.UnsafeSetDefault( + &::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::apollo::planning_internal::_Debug_DebugMessage_default_instance_.error_.UnsafeSetDefault( + &::google::protobuf::internal::GetEmptyStringAlreadyInited()); + ::apollo::planning_internal::_Debug_DebugMessage_default_instance_.fatal_.UnsafeSetDefault( + &::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Debug_DebugMessage::kErrorCodeFieldNumber; +const int Debug_DebugMessage::kIdFieldNumber; +const int Debug_DebugMessage::kTraceFieldNumber; +const int Debug_DebugMessage::kInfoFieldNumber; +const int Debug_DebugMessage::kWarnFieldNumber; +const int Debug_DebugMessage::kErrorFieldNumber; +const int Debug_DebugMessage::kFatalFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Debug_DebugMessage::Debug_DebugMessage() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_Debug_DebugMessage.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.planning_internal.Debug.DebugMessage) +} +Debug_DebugMessage::Debug_DebugMessage(const Debug_DebugMessage& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&error_code_, &from.error_code_, + static_cast(reinterpret_cast(&id_) - + reinterpret_cast(&error_code_)) + sizeof(id_)); + clear_has_debug_string(); + switch (from.debug_string_case()) { + case kTrace: { + set_trace(from.trace()); + break; + } + case kInfo: { + set_info(from.info()); + break; + } + case kWarn: { + set_warn(from.warn()); + break; + } + case kError: { + set_error(from.error()); + break; + } + case kFatal: { + set_fatal(from.fatal()); + break; + } + case DEBUG_STRING_NOT_SET: { + break; + } + } + // @@protoc_insertion_point(copy_constructor:apollo.planning_internal.Debug.DebugMessage) +} + +void Debug_DebugMessage::SharedCtor() { + ::memset(&error_code_, 0, static_cast( + reinterpret_cast(&id_) - + reinterpret_cast(&error_code_)) + sizeof(id_)); + clear_has_debug_string(); +} + +Debug_DebugMessage::~Debug_DebugMessage() { + // @@protoc_insertion_point(destructor:apollo.planning_internal.Debug.DebugMessage) + SharedDtor(); +} + +void Debug_DebugMessage::SharedDtor() { + if (has_debug_string()) { + clear_debug_string(); + } +} + +void Debug_DebugMessage::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Debug_DebugMessage::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Debug_DebugMessage& Debug_DebugMessage::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_Debug_DebugMessage.base); + return *internal_default_instance(); +} + + +void Debug_DebugMessage::clear_debug_string() { +// @@protoc_insertion_point(one_of_clear_start:apollo.planning_internal.Debug.DebugMessage) + switch (debug_string_case()) { + case kTrace: { + debug_string_.trace_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + break; + } + case kInfo: { + debug_string_.info_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + break; + } + case kWarn: { + debug_string_.warn_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + break; + } + case kError: { + debug_string_.error_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + break; + } + case kFatal: { + debug_string_.fatal_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + break; + } + case DEBUG_STRING_NOT_SET: { + break; + } + } + _oneof_case_[0] = DEBUG_STRING_NOT_SET; +} + + +void Debug_DebugMessage::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.planning_internal.Debug.DebugMessage) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&error_code_, 0, static_cast( + reinterpret_cast(&id_) - + reinterpret_cast(&error_code_)) + sizeof(id_)); + clear_debug_string(); + _internal_metadata_.Clear(); +} + +bool Debug_DebugMessage::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.planning_internal.Debug.DebugMessage) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_error_code(static_cast< ::apollo::planning_internal::Debug_ErrorCode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // int32 id = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(16u /* 16 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>( + input, &id_))); + } else { + goto handle_unusual; + } + break; + } + + // string trace = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_trace())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->trace().data(), static_cast(this->trace().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.planning_internal.Debug.DebugMessage.trace")); + } else { + goto handle_unusual; + } + break; + } + + // string info = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_info())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->info().data(), static_cast(this->info().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.planning_internal.Debug.DebugMessage.info")); + } else { + goto handle_unusual; + } + break; + } + + // string warn = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_warn())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->warn().data(), static_cast(this->warn().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.planning_internal.Debug.DebugMessage.warn")); + } else { + goto handle_unusual; + } + break; + } + + // string error = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(50u /* 50 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_error())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->error().data(), static_cast(this->error().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.planning_internal.Debug.DebugMessage.error")); + } else { + goto handle_unusual; + } + break; + } + + // string fatal = 7; + case 7: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(58u /* 58 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadString( + input, this->mutable_fatal())); + DO_(::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->fatal().data(), static_cast(this->fatal().length()), + ::google::protobuf::internal::WireFormatLite::PARSE, + "apollo.planning_internal.Debug.DebugMessage.fatal")); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.planning_internal.Debug.DebugMessage) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.planning_internal.Debug.DebugMessage) + return false; +#undef DO_ +} + +void Debug_DebugMessage::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.planning_internal.Debug.DebugMessage) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + if (this->error_code() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->error_code(), output); + } + + // int32 id = 2; + if (this->id() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->id(), output); + } + + // string trace = 3; + if (has_trace()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->trace().data(), static_cast(this->trace().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.trace"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 3, this->trace(), output); + } + + // string info = 4; + if (has_info()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->info().data(), static_cast(this->info().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.info"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 4, this->info(), output); + } + + // string warn = 5; + if (has_warn()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->warn().data(), static_cast(this->warn().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.warn"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 5, this->warn(), output); + } + + // string error = 6; + if (has_error()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->error().data(), static_cast(this->error().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.error"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 6, this->error(), output); + } + + // string fatal = 7; + if (has_fatal()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->fatal().data(), static_cast(this->fatal().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.fatal"); + ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased( + 7, this->fatal(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.planning_internal.Debug.DebugMessage) +} + +::google::protobuf::uint8* Debug_DebugMessage::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.planning_internal.Debug.DebugMessage) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + if (this->error_code() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->error_code(), target); + } + + // int32 id = 2; + if (this->id() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->id(), target); + } + + // string trace = 3; + if (has_trace()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->trace().data(), static_cast(this->trace().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.trace"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 3, this->trace(), target); + } + + // string info = 4; + if (has_info()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->info().data(), static_cast(this->info().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.info"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 4, this->info(), target); + } + + // string warn = 5; + if (has_warn()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->warn().data(), static_cast(this->warn().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.warn"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 5, this->warn(), target); + } + + // string error = 6; + if (has_error()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->error().data(), static_cast(this->error().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.error"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 6, this->error(), target); + } + + // string fatal = 7; + if (has_fatal()) { + ::google::protobuf::internal::WireFormatLite::VerifyUtf8String( + this->fatal().data(), static_cast(this->fatal().length()), + ::google::protobuf::internal::WireFormatLite::SERIALIZE, + "apollo.planning_internal.Debug.DebugMessage.fatal"); + target = + ::google::protobuf::internal::WireFormatLite::WriteStringToArray( + 7, this->fatal(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.planning_internal.Debug.DebugMessage) + return target; +} + +size_t Debug_DebugMessage::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.planning_internal.Debug.DebugMessage) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + if (this->error_code() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->error_code()); + } + + // int32 id = 2; + if (this->id() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::Int32Size( + this->id()); + } + + switch (debug_string_case()) { + // string trace = 3; + case kTrace: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->trace()); + break; + } + // string info = 4; + case kInfo: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->info()); + break; + } + // string warn = 5; + case kWarn: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->warn()); + break; + } + // string error = 6; + case kError: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->error()); + break; + } + // string fatal = 7; + case kFatal: { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::StringSize( + this->fatal()); + break; + } + case DEBUG_STRING_NOT_SET: { + break; + } + } + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Debug_DebugMessage::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.planning_internal.Debug.DebugMessage) + GOOGLE_DCHECK_NE(&from, this); + const Debug_DebugMessage* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.planning_internal.Debug.DebugMessage) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.planning_internal.Debug.DebugMessage) + MergeFrom(*source); + } +} + +void Debug_DebugMessage::MergeFrom(const Debug_DebugMessage& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.planning_internal.Debug.DebugMessage) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.error_code() != 0) { + set_error_code(from.error_code()); + } + if (from.id() != 0) { + set_id(from.id()); + } + switch (from.debug_string_case()) { + case kTrace: { + set_trace(from.trace()); + break; + } + case kInfo: { + set_info(from.info()); + break; + } + case kWarn: { + set_warn(from.warn()); + break; + } + case kError: { + set_error(from.error()); + break; + } + case kFatal: { + set_fatal(from.fatal()); + break; + } + case DEBUG_STRING_NOT_SET: { + break; + } + } +} + +void Debug_DebugMessage::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.planning_internal.Debug.DebugMessage) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Debug_DebugMessage::CopyFrom(const Debug_DebugMessage& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.planning_internal.Debug.DebugMessage) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Debug_DebugMessage::IsInitialized() const { + return true; +} + +void Debug_DebugMessage::Swap(Debug_DebugMessage* other) { + if (other == this) return; + InternalSwap(other); +} +void Debug_DebugMessage::InternalSwap(Debug_DebugMessage* other) { + using std::swap; + swap(error_code_, other->error_code_); + swap(id_, other->id_); + swap(debug_string_, other->debug_string_); + swap(_oneof_case_[0], other->_oneof_case_[0]); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Debug_DebugMessage::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Debug::InitAsDefaultInstance() { + ::apollo::planning_internal::_Debug_default_instance_._instance.get_mutable()->planning_data_ = const_cast< ::apollo::planning_internal::PlanningData*>( + ::apollo::planning_internal::PlanningData::internal_default_instance()); +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Debug::kErrorCodeFieldNumber; +const int Debug::kPlanningDataFieldNumber; +const int Debug::kDebugMessageFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Debug::Debug() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_Debug.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.planning_internal.Debug) +} +Debug::Debug(const Debug& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + debug_message_(from.debug_message_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_planning_data()) { + planning_data_ = new ::apollo::planning_internal::PlanningData(*from.planning_data_); + } else { + planning_data_ = NULL; + } + error_code_ = from.error_code_; + // @@protoc_insertion_point(copy_constructor:apollo.planning_internal.Debug) +} + +void Debug::SharedCtor() { + ::memset(&planning_data_, 0, static_cast( + reinterpret_cast(&error_code_) - + reinterpret_cast(&planning_data_)) + sizeof(error_code_)); +} + +Debug::~Debug() { + // @@protoc_insertion_point(destructor:apollo.planning_internal.Debug) + SharedDtor(); +} + +void Debug::SharedDtor() { + if (this != internal_default_instance()) delete planning_data_; +} + +void Debug::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Debug::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Debug& Debug::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_Debug.base); + return *internal_default_instance(); +} + + +void Debug::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.planning_internal.Debug) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + debug_message_.Clear(); + if (GetArenaNoVirtual() == NULL && planning_data_ != NULL) { + delete planning_data_; + } + planning_data_ = NULL; + error_code_ = 0; + _internal_metadata_.Clear(); +} + +bool Debug::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.planning_internal.Debug) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(8u /* 8 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_error_code(static_cast< ::apollo::planning_internal::Debug_ErrorCode >(value)); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.planning_internal.PlanningData planning_data = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_planning_data())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.planning_internal.Debug.DebugMessage debug_message = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_debug_message())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.planning_internal.Debug) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.planning_internal.Debug) + return false; +#undef DO_ +} + +void Debug::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.planning_internal.Debug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + if (this->error_code() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 1, this->error_code(), output); + } + + // .apollo.planning_internal.PlanningData planning_data = 2; + if (this->has_planning_data()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_planning_data(), output); + } + + // repeated .apollo.planning_internal.Debug.DebugMessage debug_message = 3; + for (unsigned int i = 0, + n = static_cast(this->debug_message_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, + this->debug_message(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.planning_internal.Debug) +} + +::google::protobuf::uint8* Debug::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.planning_internal.Debug) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + if (this->error_code() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 1, this->error_code(), target); + } + + // .apollo.planning_internal.PlanningData planning_data = 2; + if (this->has_planning_data()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_planning_data(), deterministic, target); + } + + // repeated .apollo.planning_internal.Debug.DebugMessage debug_message = 3; + for (unsigned int i = 0, + n = static_cast(this->debug_message_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->debug_message(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.planning_internal.Debug) + return target; +} + +size_t Debug::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.planning_internal.Debug) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.planning_internal.Debug.DebugMessage debug_message = 3; + { + unsigned int count = static_cast(this->debug_message_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->debug_message(static_cast(i))); + } + } + + // .apollo.planning_internal.PlanningData planning_data = 2; + if (this->has_planning_data()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *planning_data_); + } + + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + if (this->error_code() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->error_code()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Debug::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.planning_internal.Debug) + GOOGLE_DCHECK_NE(&from, this); + const Debug* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.planning_internal.Debug) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.planning_internal.Debug) + MergeFrom(*source); + } +} + +void Debug::MergeFrom(const Debug& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.planning_internal.Debug) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + debug_message_.MergeFrom(from.debug_message_); + if (from.has_planning_data()) { + mutable_planning_data()->::apollo::planning_internal::PlanningData::MergeFrom(from.planning_data()); + } + if (from.error_code() != 0) { + set_error_code(from.error_code()); + } +} + +void Debug::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.planning_internal.Debug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Debug::CopyFrom(const Debug& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.planning_internal.Debug) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Debug::IsInitialized() const { + return true; +} + +void Debug::Swap(Debug* other) { + if (other == this) return; + InternalSwap(other); +} +void Debug::InternalSwap(Debug* other) { + using std::swap; + CastToBase(&debug_message_)->InternalSwap(CastToBase(&other->debug_message_)); + swap(planning_data_, other->planning_data_); + swap(error_code_, other->error_code_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Debug::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void PlanningData::InitAsDefaultInstance() { + ::apollo::planning_internal::_PlanningData_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); + ::apollo::planning_internal::_PlanningData_default_instance_._instance.get_mutable()->init_status_ = const_cast< ::apollo::localization::Pose*>( + ::apollo::localization::Pose::internal_default_instance()); + ::apollo::planning_internal::_PlanningData_default_instance_._instance.get_mutable()->main_decision_ = const_cast< ::apollo::decision::MainDecision*>( + ::apollo::decision::MainDecision::internal_default_instance()); + ::apollo::planning_internal::_PlanningData_default_instance_._instance.get_mutable()->light_signal_ = const_cast< ::apollo::decision::LightSignal*>( + ::apollo::decision::LightSignal::internal_default_instance()); +} +void PlanningData::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +void PlanningData::clear_init_status() { + if (GetArenaNoVirtual() == NULL && init_status_ != NULL) { + delete init_status_; + } + init_status_ = NULL; +} +void PlanningData::clear_main_decision() { + if (GetArenaNoVirtual() == NULL && main_decision_ != NULL) { + delete main_decision_; + } + main_decision_ = NULL; +} +void PlanningData::clear_light_signal() { + if (GetArenaNoVirtual() == NULL && light_signal_ != NULL) { + delete light_signal_; + } + light_signal_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PlanningData::kHeaderFieldNumber; +const int PlanningData::kInitStatusFieldNumber; +const int PlanningData::kMainDecisionFieldNumber; +const int PlanningData::kPlanningObstacleFieldNumber; +const int PlanningData::kLightSignalFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PlanningData::PlanningData() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_PlanningData.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.planning_internal.PlanningData) +} +PlanningData::PlanningData(const PlanningData& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + planning_obstacle_(from.planning_obstacle_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + if (from.has_init_status()) { + init_status_ = new ::apollo::localization::Pose(*from.init_status_); + } else { + init_status_ = NULL; + } + if (from.has_main_decision()) { + main_decision_ = new ::apollo::decision::MainDecision(*from.main_decision_); + } else { + main_decision_ = NULL; + } + if (from.has_light_signal()) { + light_signal_ = new ::apollo::decision::LightSignal(*from.light_signal_); + } else { + light_signal_ = NULL; + } + // @@protoc_insertion_point(copy_constructor:apollo.planning_internal.PlanningData) +} + +void PlanningData::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&light_signal_) - + reinterpret_cast(&header_)) + sizeof(light_signal_)); +} + +PlanningData::~PlanningData() { + // @@protoc_insertion_point(destructor:apollo.planning_internal.PlanningData) + SharedDtor(); +} + +void PlanningData::SharedDtor() { + if (this != internal_default_instance()) delete header_; + if (this != internal_default_instance()) delete init_status_; + if (this != internal_default_instance()) delete main_decision_; + if (this != internal_default_instance()) delete light_signal_; +} + +void PlanningData::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PlanningData::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PlanningData& PlanningData::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::scc_info_PlanningData.base); + return *internal_default_instance(); +} + + +void PlanningData::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.planning_internal.PlanningData) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + planning_obstacle_.Clear(); + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + if (GetArenaNoVirtual() == NULL && init_status_ != NULL) { + delete init_status_; + } + init_status_ = NULL; + if (GetArenaNoVirtual() == NULL && main_decision_ != NULL) { + delete main_decision_; + } + main_decision_ = NULL; + if (GetArenaNoVirtual() == NULL && light_signal_ != NULL) { + delete light_signal_; + } + light_signal_ = NULL; + _internal_metadata_.Clear(); +} + +bool PlanningData::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.planning_internal.PlanningData) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.localization.Pose init_status = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_init_status())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.MainDecision main_decision = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(26u /* 26 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_main_decision())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.planning_internal.PlanningObstacle planning_obstacle = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_planning_obstacle())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.decision.LightSignal light_signal = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(42u /* 42 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_light_signal())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.planning_internal.PlanningData) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.planning_internal.PlanningData) + return false; +#undef DO_ +} + +void PlanningData::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.planning_internal.PlanningData) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // .apollo.localization.Pose init_status = 2; + if (this->has_init_status()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, this->_internal_init_status(), output); + } + + // .apollo.decision.MainDecision main_decision = 3; + if (this->has_main_decision()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 3, this->_internal_main_decision(), output); + } + + // repeated .apollo.planning_internal.PlanningObstacle planning_obstacle = 4; + for (unsigned int i = 0, + n = static_cast(this->planning_obstacle_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, + this->planning_obstacle(static_cast(i)), + output); + } + + // .apollo.decision.LightSignal light_signal = 5; + if (this->has_light_signal()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 5, this->_internal_light_signal(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.planning_internal.PlanningData) +} + +::google::protobuf::uint8* PlanningData::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.planning_internal.PlanningData) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // .apollo.localization.Pose init_status = 2; + if (this->has_init_status()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->_internal_init_status(), deterministic, target); + } + + // .apollo.decision.MainDecision main_decision = 3; + if (this->has_main_decision()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 3, this->_internal_main_decision(), deterministic, target); + } + + // repeated .apollo.planning_internal.PlanningObstacle planning_obstacle = 4; + for (unsigned int i = 0, + n = static_cast(this->planning_obstacle_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->planning_obstacle(static_cast(i)), deterministic, target); + } + + // .apollo.decision.LightSignal light_signal = 5; + if (this->has_light_signal()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 5, this->_internal_light_signal(), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.planning_internal.PlanningData) + return target; +} + +size_t PlanningData::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.planning_internal.PlanningData) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.planning_internal.PlanningObstacle planning_obstacle = 4; + { + unsigned int count = static_cast(this->planning_obstacle_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->planning_obstacle(static_cast(i))); + } + } + + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.localization.Pose init_status = 2; + if (this->has_init_status()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *init_status_); + } + + // .apollo.decision.MainDecision main_decision = 3; + if (this->has_main_decision()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *main_decision_); + } + + // .apollo.decision.LightSignal light_signal = 5; + if (this->has_light_signal()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *light_signal_); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PlanningData::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.planning_internal.PlanningData) + GOOGLE_DCHECK_NE(&from, this); + const PlanningData* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.planning_internal.PlanningData) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.planning_internal.PlanningData) + MergeFrom(*source); + } +} + +void PlanningData::MergeFrom(const PlanningData& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.planning_internal.PlanningData) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + planning_obstacle_.MergeFrom(from.planning_obstacle_); + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.has_init_status()) { + mutable_init_status()->::apollo::localization::Pose::MergeFrom(from.init_status()); + } + if (from.has_main_decision()) { + mutable_main_decision()->::apollo::decision::MainDecision::MergeFrom(from.main_decision()); + } + if (from.has_light_signal()) { + mutable_light_signal()->::apollo::decision::LightSignal::MergeFrom(from.light_signal()); + } +} + +void PlanningData::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.planning_internal.PlanningData) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PlanningData::CopyFrom(const PlanningData& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.planning_internal.PlanningData) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PlanningData::IsInitialized() const { + return true; +} + +void PlanningData::Swap(PlanningData* other) { + if (other == this) return; + InternalSwap(other); +} +void PlanningData::InternalSwap(PlanningData* other) { + using std::swap; + CastToBase(&planning_obstacle_)->InternalSwap(CastToBase(&other->planning_obstacle_)); + swap(header_, other->header_); + swap(init_status_, other->init_status_); + swap(main_decision_, other->main_decision_); + swap(light_signal_, other->light_signal_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PlanningData::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace planning_internal +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::planning_internal::PlanningObstacle* Arena::CreateMaybeMessage< ::apollo::planning_internal::PlanningObstacle >(Arena* arena) { + return Arena::CreateInternal< ::apollo::planning_internal::PlanningObstacle >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::planning_internal::Debug_DebugMessage* Arena::CreateMaybeMessage< ::apollo::planning_internal::Debug_DebugMessage >(Arena* arena) { + return Arena::CreateInternal< ::apollo::planning_internal::Debug_DebugMessage >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::planning_internal::Debug* Arena::CreateMaybeMessage< ::apollo::planning_internal::Debug >(Arena* arena) { + return Arena::CreateInternal< ::apollo::planning_internal::Debug >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::planning_internal::PlanningData* Arena::CreateMaybeMessage< ::apollo::planning_internal::PlanningData >(Arena* arena) { + return Arena::CreateInternal< ::apollo::planning_internal::PlanningData >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/planning/planning_internal.pb.h b/apollo_msgs/include/apollo_msgs/proto/planning/planning_internal.pb.h new file mode 100644 index 0000000..1c2f566 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/planning/planning_internal.pb.h @@ -0,0 +1,2232 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/planning/planning_internal.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/decision/decision.pb.h" +#include "apollo_msgs/proto/localization/localization.pb.h" +#include "apollo_msgs/proto/localization/pose.pb.h" +#include "apollo_msgs/proto/perception/perception_obstacle.pb.h" +#include "apollo_msgs/proto/prediction/prediction_obstacle.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[4]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto +namespace apollo { +namespace planning_internal { +class Debug; +class DebugDefaultTypeInternal; +extern DebugDefaultTypeInternal _Debug_default_instance_; +class Debug_DebugMessage; +class Debug_DebugMessageDefaultTypeInternal; +extern Debug_DebugMessageDefaultTypeInternal _Debug_DebugMessage_default_instance_; +class PlanningData; +class PlanningDataDefaultTypeInternal; +extern PlanningDataDefaultTypeInternal _PlanningData_default_instance_; +class PlanningObstacle; +class PlanningObstacleDefaultTypeInternal; +extern PlanningObstacleDefaultTypeInternal _PlanningObstacle_default_instance_; +} // namespace planning_internal +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::planning_internal::Debug* Arena::CreateMaybeMessage<::apollo::planning_internal::Debug>(Arena*); +template<> ::apollo::planning_internal::Debug_DebugMessage* Arena::CreateMaybeMessage<::apollo::planning_internal::Debug_DebugMessage>(Arena*); +template<> ::apollo::planning_internal::PlanningData* Arena::CreateMaybeMessage<::apollo::planning_internal::PlanningData>(Arena*); +template<> ::apollo::planning_internal::PlanningObstacle* Arena::CreateMaybeMessage<::apollo::planning_internal::PlanningObstacle>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace planning_internal { + +enum Debug_ErrorCode { + Debug_ErrorCode_OK = 0, + Debug_ErrorCode_ERR_NOT_READY = 1, + Debug_ErrorCode_ERR_ESTOP = 2, + Debug_ErrorCode_ERR_PATH_OPTIMIZER = 3, + Debug_ErrorCode_ERR_SPEED_OPTIMIZER = 4, + Debug_ErrorCode_ERR_ST_GRAPH = 5, + Debug_ErrorCode_ERR_SANITY_CHECK = 6, + Debug_ErrorCode_Debug_ErrorCode_INT_MIN_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32min, + Debug_ErrorCode_Debug_ErrorCode_INT_MAX_SENTINEL_DO_NOT_USE_ = ::google::protobuf::kint32max +}; +bool Debug_ErrorCode_IsValid(int value); +const Debug_ErrorCode Debug_ErrorCode_ErrorCode_MIN = Debug_ErrorCode_OK; +const Debug_ErrorCode Debug_ErrorCode_ErrorCode_MAX = Debug_ErrorCode_ERR_SANITY_CHECK; +const int Debug_ErrorCode_ErrorCode_ARRAYSIZE = Debug_ErrorCode_ErrorCode_MAX + 1; + +const ::google::protobuf::EnumDescriptor* Debug_ErrorCode_descriptor(); +inline const ::std::string& Debug_ErrorCode_Name(Debug_ErrorCode value) { + return ::google::protobuf::internal::NameOfEnum( + Debug_ErrorCode_descriptor(), value); +} +inline bool Debug_ErrorCode_Parse( + const ::std::string& name, Debug_ErrorCode* value) { + return ::google::protobuf::internal::ParseNamedEnum( + Debug_ErrorCode_descriptor(), name, value); +} +// =================================================================== + +class PlanningObstacle : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.planning_internal.PlanningObstacle) */ { + public: + PlanningObstacle(); + virtual ~PlanningObstacle(); + + PlanningObstacle(const PlanningObstacle& from); + + inline PlanningObstacle& operator=(const PlanningObstacle& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PlanningObstacle(PlanningObstacle&& from) noexcept + : PlanningObstacle() { + *this = ::std::move(from); + } + + inline PlanningObstacle& operator=(PlanningObstacle&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PlanningObstacle& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PlanningObstacle* internal_default_instance() { + return reinterpret_cast( + &_PlanningObstacle_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(PlanningObstacle* other); + friend void swap(PlanningObstacle& a, PlanningObstacle& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PlanningObstacle* New() const final { + return CreateMaybeMessage(NULL); + } + + PlanningObstacle* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PlanningObstacle& from); + void MergeFrom(const PlanningObstacle& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PlanningObstacle* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.perception.Point polygon_point = 10; + int polygon_point_size() const; + void clear_polygon_point(); + static const int kPolygonPointFieldNumber = 10; + ::apollo::perception::Point* mutable_polygon_point(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point >* + mutable_polygon_point(); + const ::apollo::perception::Point& polygon_point(int index) const; + ::apollo::perception::Point* add_polygon_point(); + const ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point >& + polygon_point() const; + + // repeated .apollo.prediction.Trajectory prediction_trajectory = 15; + int prediction_trajectory_size() const; + void clear_prediction_trajectory(); + static const int kPredictionTrajectoryFieldNumber = 15; + ::apollo::prediction::Trajectory* mutable_prediction_trajectory(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory >* + mutable_prediction_trajectory(); + const ::apollo::prediction::Trajectory& prediction_trajectory(int index) const; + ::apollo::prediction::Trajectory* add_prediction_trajectory(); + const ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory >& + prediction_trajectory() const; + + // repeated .apollo.decision.ObjectDecisionType planning_object_decision = 18; + int planning_object_decision_size() const; + void clear_planning_object_decision(); + static const int kPlanningObjectDecisionFieldNumber = 18; + ::apollo::decision::ObjectDecisionType* mutable_planning_object_decision(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType >* + mutable_planning_object_decision(); + const ::apollo::decision::ObjectDecisionType& planning_object_decision(int index) const; + ::apollo::decision::ObjectDecisionType* add_planning_object_decision(); + const ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType >& + planning_object_decision() const; + + // string decision_id = 2; + void clear_decision_id(); + static const int kDecisionIdFieldNumber = 2; + const ::std::string& decision_id() const; + void set_decision_id(const ::std::string& value); + #if LANG_CXX11 + void set_decision_id(::std::string&& value); + #endif + void set_decision_id(const char* value); + void set_decision_id(const char* value, size_t size); + ::std::string* mutable_decision_id(); + ::std::string* release_decision_id(); + void set_allocated_decision_id(::std::string* decision_id); + + // .apollo.perception.Point position = 3; + bool has_position() const; + void clear_position(); + static const int kPositionFieldNumber = 3; + private: + const ::apollo::perception::Point& _internal_position() const; + public: + const ::apollo::perception::Point& position() const; + ::apollo::perception::Point* release_position(); + ::apollo::perception::Point* mutable_position(); + void set_allocated_position(::apollo::perception::Point* position); + + // .apollo.perception.Point velocity = 5; + bool has_velocity() const; + void clear_velocity(); + static const int kVelocityFieldNumber = 5; + private: + const ::apollo::perception::Point& _internal_velocity() const; + public: + const ::apollo::perception::Point& velocity() const; + ::apollo::perception::Point* release_velocity(); + ::apollo::perception::Point* mutable_velocity(); + void set_allocated_velocity(::apollo::perception::Point* velocity); + + // .apollo.decision.ObjectDecisionType object_decision = 17; + bool has_object_decision() const; + void clear_object_decision(); + static const int kObjectDecisionFieldNumber = 17; + private: + const ::apollo::decision::ObjectDecisionType& _internal_object_decision() const; + public: + const ::apollo::decision::ObjectDecisionType& object_decision() const; + ::apollo::decision::ObjectDecisionType* release_object_decision(); + ::apollo::decision::ObjectDecisionType* mutable_object_decision(); + void set_allocated_object_decision(::apollo::decision::ObjectDecisionType* object_decision); + + // double theta = 4; + void clear_theta(); + static const int kThetaFieldNumber = 4; + double theta() const; + void set_theta(double value); + + // double speed = 6; + void clear_speed(); + static const int kSpeedFieldNumber = 6; + double speed() const; + void set_speed(double value); + + // double length = 7; + void clear_length(); + static const int kLengthFieldNumber = 7; + double length() const; + void set_length(double value); + + // int32 perception_id = 1; + void clear_perception_id(); + static const int kPerceptionIdFieldNumber = 1; + ::google::protobuf::int32 perception_id() const; + void set_perception_id(::google::protobuf::int32 value); + + // .apollo.perception.PerceptionObstacle.Type perception_object_type = 13; + void clear_perception_object_type(); + static const int kPerceptionObjectTypeFieldNumber = 13; + ::apollo::perception::PerceptionObstacle_Type perception_object_type() const; + void set_perception_object_type(::apollo::perception::PerceptionObstacle_Type value); + + // double width = 8; + void clear_width(); + static const int kWidthFieldNumber = 8; + double width() const; + void set_width(double value); + + // double height = 9; + void clear_height(); + static const int kHeightFieldNumber = 9; + double height() const; + void set_height(double value); + + // double tracking_time = 11; + void clear_tracking_time(); + static const int kTrackingTimeFieldNumber = 11; + double tracking_time() const; + void set_tracking_time(double value); + + // double perception_timestamp = 12; + void clear_perception_timestamp(); + static const int kPerceptionTimestampFieldNumber = 12; + double perception_timestamp() const; + void set_perception_timestamp(double value); + + // double prediction_timestamp = 14; + void clear_prediction_timestamp(); + static const int kPredictionTimestampFieldNumber = 14; + double prediction_timestamp() const; + void set_prediction_timestamp(double value); + + // .apollo.decision.ObjectDecision.ObjectType decision_object_type = 16; + void clear_decision_object_type(); + static const int kDecisionObjectTypeFieldNumber = 16; + ::apollo::decision::ObjectDecision_ObjectType decision_object_type() const; + void set_decision_object_type(::apollo::decision::ObjectDecision_ObjectType value); + + // @@protoc_insertion_point(class_scope:apollo.planning_internal.PlanningObstacle) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point > polygon_point_; + ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory > prediction_trajectory_; + ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType > planning_object_decision_; + ::google::protobuf::internal::ArenaStringPtr decision_id_; + ::apollo::perception::Point* position_; + ::apollo::perception::Point* velocity_; + ::apollo::decision::ObjectDecisionType* object_decision_; + double theta_; + double speed_; + double length_; + ::google::protobuf::int32 perception_id_; + int perception_object_type_; + double width_; + double height_; + double tracking_time_; + double perception_timestamp_; + double prediction_timestamp_; + int decision_object_type_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Debug_DebugMessage : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.planning_internal.Debug.DebugMessage) */ { + public: + Debug_DebugMessage(); + virtual ~Debug_DebugMessage(); + + Debug_DebugMessage(const Debug_DebugMessage& from); + + inline Debug_DebugMessage& operator=(const Debug_DebugMessage& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Debug_DebugMessage(Debug_DebugMessage&& from) noexcept + : Debug_DebugMessage() { + *this = ::std::move(from); + } + + inline Debug_DebugMessage& operator=(Debug_DebugMessage&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Debug_DebugMessage& default_instance(); + + enum DebugStringCase { + kTrace = 3, + kInfo = 4, + kWarn = 5, + kError = 6, + kFatal = 7, + DEBUG_STRING_NOT_SET = 0, + }; + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Debug_DebugMessage* internal_default_instance() { + return reinterpret_cast( + &_Debug_DebugMessage_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(Debug_DebugMessage* other); + friend void swap(Debug_DebugMessage& a, Debug_DebugMessage& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Debug_DebugMessage* New() const final { + return CreateMaybeMessage(NULL); + } + + Debug_DebugMessage* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Debug_DebugMessage& from); + void MergeFrom(const Debug_DebugMessage& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Debug_DebugMessage* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + void clear_error_code(); + static const int kErrorCodeFieldNumber = 1; + ::apollo::planning_internal::Debug_ErrorCode error_code() const; + void set_error_code(::apollo::planning_internal::Debug_ErrorCode value); + + // int32 id = 2; + void clear_id(); + static const int kIdFieldNumber = 2; + ::google::protobuf::int32 id() const; + void set_id(::google::protobuf::int32 value); + + // string trace = 3; + private: + bool has_trace() const; + public: + void clear_trace(); + static const int kTraceFieldNumber = 3; + const ::std::string& trace() const; + void set_trace(const ::std::string& value); + #if LANG_CXX11 + void set_trace(::std::string&& value); + #endif + void set_trace(const char* value); + void set_trace(const char* value, size_t size); + ::std::string* mutable_trace(); + ::std::string* release_trace(); + void set_allocated_trace(::std::string* trace); + + // string info = 4; + private: + bool has_info() const; + public: + void clear_info(); + static const int kInfoFieldNumber = 4; + const ::std::string& info() const; + void set_info(const ::std::string& value); + #if LANG_CXX11 + void set_info(::std::string&& value); + #endif + void set_info(const char* value); + void set_info(const char* value, size_t size); + ::std::string* mutable_info(); + ::std::string* release_info(); + void set_allocated_info(::std::string* info); + + // string warn = 5; + private: + bool has_warn() const; + public: + void clear_warn(); + static const int kWarnFieldNumber = 5; + const ::std::string& warn() const; + void set_warn(const ::std::string& value); + #if LANG_CXX11 + void set_warn(::std::string&& value); + #endif + void set_warn(const char* value); + void set_warn(const char* value, size_t size); + ::std::string* mutable_warn(); + ::std::string* release_warn(); + void set_allocated_warn(::std::string* warn); + + // string error = 6; + private: + bool has_error() const; + public: + void clear_error(); + static const int kErrorFieldNumber = 6; + const ::std::string& error() const; + void set_error(const ::std::string& value); + #if LANG_CXX11 + void set_error(::std::string&& value); + #endif + void set_error(const char* value); + void set_error(const char* value, size_t size); + ::std::string* mutable_error(); + ::std::string* release_error(); + void set_allocated_error(::std::string* error); + + // string fatal = 7; + private: + bool has_fatal() const; + public: + void clear_fatal(); + static const int kFatalFieldNumber = 7; + const ::std::string& fatal() const; + void set_fatal(const ::std::string& value); + #if LANG_CXX11 + void set_fatal(::std::string&& value); + #endif + void set_fatal(const char* value); + void set_fatal(const char* value, size_t size); + ::std::string* mutable_fatal(); + ::std::string* release_fatal(); + void set_allocated_fatal(::std::string* fatal); + + void clear_debug_string(); + DebugStringCase debug_string_case() const; + // @@protoc_insertion_point(class_scope:apollo.planning_internal.Debug.DebugMessage) + private: + void set_has_trace(); + void set_has_info(); + void set_has_warn(); + void set_has_error(); + void set_has_fatal(); + + inline bool has_debug_string() const; + inline void clear_has_debug_string(); + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + int error_code_; + ::google::protobuf::int32 id_; + union DebugStringUnion { + DebugStringUnion() {} + ::google::protobuf::internal::ArenaStringPtr trace_; + ::google::protobuf::internal::ArenaStringPtr info_; + ::google::protobuf::internal::ArenaStringPtr warn_; + ::google::protobuf::internal::ArenaStringPtr error_; + ::google::protobuf::internal::ArenaStringPtr fatal_; + } debug_string_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + ::google::protobuf::uint32 _oneof_case_[1]; + + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Debug : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.planning_internal.Debug) */ { + public: + Debug(); + virtual ~Debug(); + + Debug(const Debug& from); + + inline Debug& operator=(const Debug& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Debug(Debug&& from) noexcept + : Debug() { + *this = ::std::move(from); + } + + inline Debug& operator=(Debug&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Debug& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Debug* internal_default_instance() { + return reinterpret_cast( + &_Debug_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(Debug* other); + friend void swap(Debug& a, Debug& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Debug* New() const final { + return CreateMaybeMessage(NULL); + } + + Debug* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Debug& from); + void MergeFrom(const Debug& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Debug* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + typedef Debug_DebugMessage DebugMessage; + + typedef Debug_ErrorCode ErrorCode; + static const ErrorCode OK = + Debug_ErrorCode_OK; + static const ErrorCode ERR_NOT_READY = + Debug_ErrorCode_ERR_NOT_READY; + static const ErrorCode ERR_ESTOP = + Debug_ErrorCode_ERR_ESTOP; + static const ErrorCode ERR_PATH_OPTIMIZER = + Debug_ErrorCode_ERR_PATH_OPTIMIZER; + static const ErrorCode ERR_SPEED_OPTIMIZER = + Debug_ErrorCode_ERR_SPEED_OPTIMIZER; + static const ErrorCode ERR_ST_GRAPH = + Debug_ErrorCode_ERR_ST_GRAPH; + static const ErrorCode ERR_SANITY_CHECK = + Debug_ErrorCode_ERR_SANITY_CHECK; + static inline bool ErrorCode_IsValid(int value) { + return Debug_ErrorCode_IsValid(value); + } + static const ErrorCode ErrorCode_MIN = + Debug_ErrorCode_ErrorCode_MIN; + static const ErrorCode ErrorCode_MAX = + Debug_ErrorCode_ErrorCode_MAX; + static const int ErrorCode_ARRAYSIZE = + Debug_ErrorCode_ErrorCode_ARRAYSIZE; + static inline const ::google::protobuf::EnumDescriptor* + ErrorCode_descriptor() { + return Debug_ErrorCode_descriptor(); + } + static inline const ::std::string& ErrorCode_Name(ErrorCode value) { + return Debug_ErrorCode_Name(value); + } + static inline bool ErrorCode_Parse(const ::std::string& name, + ErrorCode* value) { + return Debug_ErrorCode_Parse(name, value); + } + + // accessors ------------------------------------------------------- + + // repeated .apollo.planning_internal.Debug.DebugMessage debug_message = 3; + int debug_message_size() const; + void clear_debug_message(); + static const int kDebugMessageFieldNumber = 3; + ::apollo::planning_internal::Debug_DebugMessage* mutable_debug_message(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::Debug_DebugMessage >* + mutable_debug_message(); + const ::apollo::planning_internal::Debug_DebugMessage& debug_message(int index) const; + ::apollo::planning_internal::Debug_DebugMessage* add_debug_message(); + const ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::Debug_DebugMessage >& + debug_message() const; + + // .apollo.planning_internal.PlanningData planning_data = 2; + bool has_planning_data() const; + void clear_planning_data(); + static const int kPlanningDataFieldNumber = 2; + private: + const ::apollo::planning_internal::PlanningData& _internal_planning_data() const; + public: + const ::apollo::planning_internal::PlanningData& planning_data() const; + ::apollo::planning_internal::PlanningData* release_planning_data(); + ::apollo::planning_internal::PlanningData* mutable_planning_data(); + void set_allocated_planning_data(::apollo::planning_internal::PlanningData* planning_data); + + // .apollo.planning_internal.Debug.ErrorCode error_code = 1; + void clear_error_code(); + static const int kErrorCodeFieldNumber = 1; + ::apollo::planning_internal::Debug_ErrorCode error_code() const; + void set_error_code(::apollo::planning_internal::Debug_ErrorCode value); + + // @@protoc_insertion_point(class_scope:apollo.planning_internal.Debug) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::Debug_DebugMessage > debug_message_; + ::apollo::planning_internal::PlanningData* planning_data_; + int error_code_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class PlanningData : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.planning_internal.PlanningData) */ { + public: + PlanningData(); + virtual ~PlanningData(); + + PlanningData(const PlanningData& from); + + inline PlanningData& operator=(const PlanningData& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PlanningData(PlanningData&& from) noexcept + : PlanningData() { + *this = ::std::move(from); + } + + inline PlanningData& operator=(PlanningData&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PlanningData& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PlanningData* internal_default_instance() { + return reinterpret_cast( + &_PlanningData_default_instance_); + } + static constexpr int kIndexInFileMessages = + 3; + + void Swap(PlanningData* other); + friend void swap(PlanningData& a, PlanningData& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PlanningData* New() const final { + return CreateMaybeMessage(NULL); + } + + PlanningData* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PlanningData& from); + void MergeFrom(const PlanningData& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PlanningData* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.planning_internal.PlanningObstacle planning_obstacle = 4; + int planning_obstacle_size() const; + void clear_planning_obstacle(); + static const int kPlanningObstacleFieldNumber = 4; + ::apollo::planning_internal::PlanningObstacle* mutable_planning_obstacle(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::PlanningObstacle >* + mutable_planning_obstacle(); + const ::apollo::planning_internal::PlanningObstacle& planning_obstacle(int index) const; + ::apollo::planning_internal::PlanningObstacle* add_planning_obstacle(); + const ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::PlanningObstacle >& + planning_obstacle() const; + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.localization.Pose init_status = 2; + bool has_init_status() const; + void clear_init_status(); + static const int kInitStatusFieldNumber = 2; + private: + const ::apollo::localization::Pose& _internal_init_status() const; + public: + const ::apollo::localization::Pose& init_status() const; + ::apollo::localization::Pose* release_init_status(); + ::apollo::localization::Pose* mutable_init_status(); + void set_allocated_init_status(::apollo::localization::Pose* init_status); + + // .apollo.decision.MainDecision main_decision = 3; + bool has_main_decision() const; + void clear_main_decision(); + static const int kMainDecisionFieldNumber = 3; + private: + const ::apollo::decision::MainDecision& _internal_main_decision() const; + public: + const ::apollo::decision::MainDecision& main_decision() const; + ::apollo::decision::MainDecision* release_main_decision(); + ::apollo::decision::MainDecision* mutable_main_decision(); + void set_allocated_main_decision(::apollo::decision::MainDecision* main_decision); + + // .apollo.decision.LightSignal light_signal = 5; + bool has_light_signal() const; + void clear_light_signal(); + static const int kLightSignalFieldNumber = 5; + private: + const ::apollo::decision::LightSignal& _internal_light_signal() const; + public: + const ::apollo::decision::LightSignal& light_signal() const; + ::apollo::decision::LightSignal* release_light_signal(); + ::apollo::decision::LightSignal* mutable_light_signal(); + void set_allocated_light_signal(::apollo::decision::LightSignal* light_signal); + + // @@protoc_insertion_point(class_scope:apollo.planning_internal.PlanningData) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::PlanningObstacle > planning_obstacle_; + ::apollo::common::Header* header_; + ::apollo::localization::Pose* init_status_; + ::apollo::decision::MainDecision* main_decision_; + ::apollo::decision::LightSignal* light_signal_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// PlanningObstacle + +// int32 perception_id = 1; +inline void PlanningObstacle::clear_perception_id() { + perception_id_ = 0; +} +inline ::google::protobuf::int32 PlanningObstacle::perception_id() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.perception_id) + return perception_id_; +} +inline void PlanningObstacle::set_perception_id(::google::protobuf::int32 value) { + + perception_id_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.perception_id) +} + +// string decision_id = 2; +inline void PlanningObstacle::clear_decision_id() { + decision_id_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline const ::std::string& PlanningObstacle::decision_id() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.decision_id) + return decision_id_.GetNoArena(); +} +inline void PlanningObstacle::set_decision_id(const ::std::string& value) { + + decision_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.decision_id) +} +#if LANG_CXX11 +inline void PlanningObstacle::set_decision_id(::std::string&& value) { + + decision_id_.SetNoArena( + &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.planning_internal.PlanningObstacle.decision_id) +} +#endif +inline void PlanningObstacle::set_decision_id(const char* value) { + GOOGLE_DCHECK(value != NULL); + + decision_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.planning_internal.PlanningObstacle.decision_id) +} +inline void PlanningObstacle::set_decision_id(const char* value, size_t size) { + + decision_id_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.planning_internal.PlanningObstacle.decision_id) +} +inline ::std::string* PlanningObstacle::mutable_decision_id() { + + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningObstacle.decision_id) + return decision_id_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* PlanningObstacle::release_decision_id() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.PlanningObstacle.decision_id) + + return decision_id_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline void PlanningObstacle::set_allocated_decision_id(::std::string* decision_id) { + if (decision_id != NULL) { + + } else { + + } + decision_id_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), decision_id); + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.PlanningObstacle.decision_id) +} + +// .apollo.perception.Point position = 3; +inline bool PlanningObstacle::has_position() const { + return this != internal_default_instance() && position_ != NULL; +} +inline const ::apollo::perception::Point& PlanningObstacle::_internal_position() const { + return *position_; +} +inline const ::apollo::perception::Point& PlanningObstacle::position() const { + const ::apollo::perception::Point* p = position_; + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.position) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::perception::_Point_default_instance_); +} +inline ::apollo::perception::Point* PlanningObstacle::release_position() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.PlanningObstacle.position) + + ::apollo::perception::Point* temp = position_; + position_ = NULL; + return temp; +} +inline ::apollo::perception::Point* PlanningObstacle::mutable_position() { + + if (position_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::perception::Point>(GetArenaNoVirtual()); + position_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningObstacle.position) + return position_; +} +inline void PlanningObstacle::set_allocated_position(::apollo::perception::Point* position) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(position_); + } + if (position) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + position = ::google::protobuf::internal::GetOwnedMessage( + message_arena, position, submessage_arena); + } + + } else { + + } + position_ = position; + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.PlanningObstacle.position) +} + +// double theta = 4; +inline void PlanningObstacle::clear_theta() { + theta_ = 0; +} +inline double PlanningObstacle::theta() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.theta) + return theta_; +} +inline void PlanningObstacle::set_theta(double value) { + + theta_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.theta) +} + +// .apollo.perception.Point velocity = 5; +inline bool PlanningObstacle::has_velocity() const { + return this != internal_default_instance() && velocity_ != NULL; +} +inline const ::apollo::perception::Point& PlanningObstacle::_internal_velocity() const { + return *velocity_; +} +inline const ::apollo::perception::Point& PlanningObstacle::velocity() const { + const ::apollo::perception::Point* p = velocity_; + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.velocity) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::perception::_Point_default_instance_); +} +inline ::apollo::perception::Point* PlanningObstacle::release_velocity() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.PlanningObstacle.velocity) + + ::apollo::perception::Point* temp = velocity_; + velocity_ = NULL; + return temp; +} +inline ::apollo::perception::Point* PlanningObstacle::mutable_velocity() { + + if (velocity_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::perception::Point>(GetArenaNoVirtual()); + velocity_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningObstacle.velocity) + return velocity_; +} +inline void PlanningObstacle::set_allocated_velocity(::apollo::perception::Point* velocity) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(velocity_); + } + if (velocity) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + velocity = ::google::protobuf::internal::GetOwnedMessage( + message_arena, velocity, submessage_arena); + } + + } else { + + } + velocity_ = velocity; + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.PlanningObstacle.velocity) +} + +// double speed = 6; +inline void PlanningObstacle::clear_speed() { + speed_ = 0; +} +inline double PlanningObstacle::speed() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.speed) + return speed_; +} +inline void PlanningObstacle::set_speed(double value) { + + speed_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.speed) +} + +// double length = 7; +inline void PlanningObstacle::clear_length() { + length_ = 0; +} +inline double PlanningObstacle::length() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.length) + return length_; +} +inline void PlanningObstacle::set_length(double value) { + + length_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.length) +} + +// double width = 8; +inline void PlanningObstacle::clear_width() { + width_ = 0; +} +inline double PlanningObstacle::width() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.width) + return width_; +} +inline void PlanningObstacle::set_width(double value) { + + width_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.width) +} + +// double height = 9; +inline void PlanningObstacle::clear_height() { + height_ = 0; +} +inline double PlanningObstacle::height() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.height) + return height_; +} +inline void PlanningObstacle::set_height(double value) { + + height_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.height) +} + +// repeated .apollo.perception.Point polygon_point = 10; +inline int PlanningObstacle::polygon_point_size() const { + return polygon_point_.size(); +} +inline ::apollo::perception::Point* PlanningObstacle::mutable_polygon_point(int index) { + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningObstacle.polygon_point) + return polygon_point_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point >* +PlanningObstacle::mutable_polygon_point() { + // @@protoc_insertion_point(field_mutable_list:apollo.planning_internal.PlanningObstacle.polygon_point) + return &polygon_point_; +} +inline const ::apollo::perception::Point& PlanningObstacle::polygon_point(int index) const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.polygon_point) + return polygon_point_.Get(index); +} +inline ::apollo::perception::Point* PlanningObstacle::add_polygon_point() { + // @@protoc_insertion_point(field_add:apollo.planning_internal.PlanningObstacle.polygon_point) + return polygon_point_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::perception::Point >& +PlanningObstacle::polygon_point() const { + // @@protoc_insertion_point(field_list:apollo.planning_internal.PlanningObstacle.polygon_point) + return polygon_point_; +} + +// double tracking_time = 11; +inline void PlanningObstacle::clear_tracking_time() { + tracking_time_ = 0; +} +inline double PlanningObstacle::tracking_time() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.tracking_time) + return tracking_time_; +} +inline void PlanningObstacle::set_tracking_time(double value) { + + tracking_time_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.tracking_time) +} + +// double perception_timestamp = 12; +inline void PlanningObstacle::clear_perception_timestamp() { + perception_timestamp_ = 0; +} +inline double PlanningObstacle::perception_timestamp() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.perception_timestamp) + return perception_timestamp_; +} +inline void PlanningObstacle::set_perception_timestamp(double value) { + + perception_timestamp_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.perception_timestamp) +} + +// .apollo.perception.PerceptionObstacle.Type perception_object_type = 13; +inline void PlanningObstacle::clear_perception_object_type() { + perception_object_type_ = 0; +} +inline ::apollo::perception::PerceptionObstacle_Type PlanningObstacle::perception_object_type() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.perception_object_type) + return static_cast< ::apollo::perception::PerceptionObstacle_Type >(perception_object_type_); +} +inline void PlanningObstacle::set_perception_object_type(::apollo::perception::PerceptionObstacle_Type value) { + + perception_object_type_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.perception_object_type) +} + +// double prediction_timestamp = 14; +inline void PlanningObstacle::clear_prediction_timestamp() { + prediction_timestamp_ = 0; +} +inline double PlanningObstacle::prediction_timestamp() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.prediction_timestamp) + return prediction_timestamp_; +} +inline void PlanningObstacle::set_prediction_timestamp(double value) { + + prediction_timestamp_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.prediction_timestamp) +} + +// repeated .apollo.prediction.Trajectory prediction_trajectory = 15; +inline int PlanningObstacle::prediction_trajectory_size() const { + return prediction_trajectory_.size(); +} +inline ::apollo::prediction::Trajectory* PlanningObstacle::mutable_prediction_trajectory(int index) { + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningObstacle.prediction_trajectory) + return prediction_trajectory_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory >* +PlanningObstacle::mutable_prediction_trajectory() { + // @@protoc_insertion_point(field_mutable_list:apollo.planning_internal.PlanningObstacle.prediction_trajectory) + return &prediction_trajectory_; +} +inline const ::apollo::prediction::Trajectory& PlanningObstacle::prediction_trajectory(int index) const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.prediction_trajectory) + return prediction_trajectory_.Get(index); +} +inline ::apollo::prediction::Trajectory* PlanningObstacle::add_prediction_trajectory() { + // @@protoc_insertion_point(field_add:apollo.planning_internal.PlanningObstacle.prediction_trajectory) + return prediction_trajectory_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory >& +PlanningObstacle::prediction_trajectory() const { + // @@protoc_insertion_point(field_list:apollo.planning_internal.PlanningObstacle.prediction_trajectory) + return prediction_trajectory_; +} + +// .apollo.decision.ObjectDecision.ObjectType decision_object_type = 16; +inline void PlanningObstacle::clear_decision_object_type() { + decision_object_type_ = 0; +} +inline ::apollo::decision::ObjectDecision_ObjectType PlanningObstacle::decision_object_type() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.decision_object_type) + return static_cast< ::apollo::decision::ObjectDecision_ObjectType >(decision_object_type_); +} +inline void PlanningObstacle::set_decision_object_type(::apollo::decision::ObjectDecision_ObjectType value) { + + decision_object_type_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.PlanningObstacle.decision_object_type) +} + +// .apollo.decision.ObjectDecisionType object_decision = 17; +inline bool PlanningObstacle::has_object_decision() const { + return this != internal_default_instance() && object_decision_ != NULL; +} +inline const ::apollo::decision::ObjectDecisionType& PlanningObstacle::_internal_object_decision() const { + return *object_decision_; +} +inline const ::apollo::decision::ObjectDecisionType& PlanningObstacle::object_decision() const { + const ::apollo::decision::ObjectDecisionType* p = object_decision_; + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.object_decision) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_ObjectDecisionType_default_instance_); +} +inline ::apollo::decision::ObjectDecisionType* PlanningObstacle::release_object_decision() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.PlanningObstacle.object_decision) + + ::apollo::decision::ObjectDecisionType* temp = object_decision_; + object_decision_ = NULL; + return temp; +} +inline ::apollo::decision::ObjectDecisionType* PlanningObstacle::mutable_object_decision() { + + if (object_decision_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::ObjectDecisionType>(GetArenaNoVirtual()); + object_decision_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningObstacle.object_decision) + return object_decision_; +} +inline void PlanningObstacle::set_allocated_object_decision(::apollo::decision::ObjectDecisionType* object_decision) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(object_decision_); + } + if (object_decision) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + object_decision = ::google::protobuf::internal::GetOwnedMessage( + message_arena, object_decision, submessage_arena); + } + + } else { + + } + object_decision_ = object_decision; + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.PlanningObstacle.object_decision) +} + +// repeated .apollo.decision.ObjectDecisionType planning_object_decision = 18; +inline int PlanningObstacle::planning_object_decision_size() const { + return planning_object_decision_.size(); +} +inline ::apollo::decision::ObjectDecisionType* PlanningObstacle::mutable_planning_object_decision(int index) { + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningObstacle.planning_object_decision) + return planning_object_decision_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType >* +PlanningObstacle::mutable_planning_object_decision() { + // @@protoc_insertion_point(field_mutable_list:apollo.planning_internal.PlanningObstacle.planning_object_decision) + return &planning_object_decision_; +} +inline const ::apollo::decision::ObjectDecisionType& PlanningObstacle::planning_object_decision(int index) const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningObstacle.planning_object_decision) + return planning_object_decision_.Get(index); +} +inline ::apollo::decision::ObjectDecisionType* PlanningObstacle::add_planning_object_decision() { + // @@protoc_insertion_point(field_add:apollo.planning_internal.PlanningObstacle.planning_object_decision) + return planning_object_decision_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::decision::ObjectDecisionType >& +PlanningObstacle::planning_object_decision() const { + // @@protoc_insertion_point(field_list:apollo.planning_internal.PlanningObstacle.planning_object_decision) + return planning_object_decision_; +} + +// ------------------------------------------------------------------- + +// Debug_DebugMessage + +// .apollo.planning_internal.Debug.ErrorCode error_code = 1; +inline void Debug_DebugMessage::clear_error_code() { + error_code_ = 0; +} +inline ::apollo::planning_internal::Debug_ErrorCode Debug_DebugMessage::error_code() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.DebugMessage.error_code) + return static_cast< ::apollo::planning_internal::Debug_ErrorCode >(error_code_); +} +inline void Debug_DebugMessage::set_error_code(::apollo::planning_internal::Debug_ErrorCode value) { + + error_code_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.error_code) +} + +// int32 id = 2; +inline void Debug_DebugMessage::clear_id() { + id_ = 0; +} +inline ::google::protobuf::int32 Debug_DebugMessage::id() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.DebugMessage.id) + return id_; +} +inline void Debug_DebugMessage::set_id(::google::protobuf::int32 value) { + + id_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.id) +} + +// string trace = 3; +inline bool Debug_DebugMessage::has_trace() const { + return debug_string_case() == kTrace; +} +inline void Debug_DebugMessage::set_has_trace() { + _oneof_case_[0] = kTrace; +} +inline void Debug_DebugMessage::clear_trace() { + if (has_trace()) { + debug_string_.trace_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + clear_has_debug_string(); + } +} +inline const ::std::string& Debug_DebugMessage::trace() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.DebugMessage.trace) + if (has_trace()) { + return debug_string_.trace_.GetNoArena(); + } + return *&::google::protobuf::internal::GetEmptyStringAlreadyInited(); +} +inline void Debug_DebugMessage::set_trace(const ::std::string& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.trace) + if (!has_trace()) { + clear_debug_string(); + set_has_trace(); + debug_string_.trace_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.trace_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.trace) +} +#if LANG_CXX11 +inline void Debug_DebugMessage::set_trace(::std::string&& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.trace) + if (!has_trace()) { + clear_debug_string(); + set_has_trace(); + debug_string_.trace_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.trace_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.planning_internal.Debug.DebugMessage.trace) +} +#endif +inline void Debug_DebugMessage::set_trace(const char* value) { + GOOGLE_DCHECK(value != NULL); + if (!has_trace()) { + clear_debug_string(); + set_has_trace(); + debug_string_.trace_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.trace_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.planning_internal.Debug.DebugMessage.trace) +} +inline void Debug_DebugMessage::set_trace(const char* value, size_t size) { + if (!has_trace()) { + clear_debug_string(); + set_has_trace(); + debug_string_.trace_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.trace_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string( + reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.planning_internal.Debug.DebugMessage.trace) +} +inline ::std::string* Debug_DebugMessage::mutable_trace() { + if (!has_trace()) { + clear_debug_string(); + set_has_trace(); + debug_string_.trace_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.Debug.DebugMessage.trace) + return debug_string_.trace_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Debug_DebugMessage::release_trace() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.Debug.DebugMessage.trace) + if (has_trace()) { + clear_has_debug_string(); + return debug_string_.trace_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } else { + return NULL; + } +} +inline void Debug_DebugMessage::set_allocated_trace(::std::string* trace) { + if (!has_trace()) { + debug_string_.trace_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + clear_debug_string(); + if (trace != NULL) { + set_has_trace(); + debug_string_.trace_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), trace); + } + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.Debug.DebugMessage.trace) +} + +// string info = 4; +inline bool Debug_DebugMessage::has_info() const { + return debug_string_case() == kInfo; +} +inline void Debug_DebugMessage::set_has_info() { + _oneof_case_[0] = kInfo; +} +inline void Debug_DebugMessage::clear_info() { + if (has_info()) { + debug_string_.info_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + clear_has_debug_string(); + } +} +inline const ::std::string& Debug_DebugMessage::info() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.DebugMessage.info) + if (has_info()) { + return debug_string_.info_.GetNoArena(); + } + return *&::google::protobuf::internal::GetEmptyStringAlreadyInited(); +} +inline void Debug_DebugMessage::set_info(const ::std::string& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.info) + if (!has_info()) { + clear_debug_string(); + set_has_info(); + debug_string_.info_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.info_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.info) +} +#if LANG_CXX11 +inline void Debug_DebugMessage::set_info(::std::string&& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.info) + if (!has_info()) { + clear_debug_string(); + set_has_info(); + debug_string_.info_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.info_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.planning_internal.Debug.DebugMessage.info) +} +#endif +inline void Debug_DebugMessage::set_info(const char* value) { + GOOGLE_DCHECK(value != NULL); + if (!has_info()) { + clear_debug_string(); + set_has_info(); + debug_string_.info_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.info_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.planning_internal.Debug.DebugMessage.info) +} +inline void Debug_DebugMessage::set_info(const char* value, size_t size) { + if (!has_info()) { + clear_debug_string(); + set_has_info(); + debug_string_.info_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.info_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string( + reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.planning_internal.Debug.DebugMessage.info) +} +inline ::std::string* Debug_DebugMessage::mutable_info() { + if (!has_info()) { + clear_debug_string(); + set_has_info(); + debug_string_.info_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.Debug.DebugMessage.info) + return debug_string_.info_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Debug_DebugMessage::release_info() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.Debug.DebugMessage.info) + if (has_info()) { + clear_has_debug_string(); + return debug_string_.info_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } else { + return NULL; + } +} +inline void Debug_DebugMessage::set_allocated_info(::std::string* info) { + if (!has_info()) { + debug_string_.info_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + clear_debug_string(); + if (info != NULL) { + set_has_info(); + debug_string_.info_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), info); + } + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.Debug.DebugMessage.info) +} + +// string warn = 5; +inline bool Debug_DebugMessage::has_warn() const { + return debug_string_case() == kWarn; +} +inline void Debug_DebugMessage::set_has_warn() { + _oneof_case_[0] = kWarn; +} +inline void Debug_DebugMessage::clear_warn() { + if (has_warn()) { + debug_string_.warn_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + clear_has_debug_string(); + } +} +inline const ::std::string& Debug_DebugMessage::warn() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.DebugMessage.warn) + if (has_warn()) { + return debug_string_.warn_.GetNoArena(); + } + return *&::google::protobuf::internal::GetEmptyStringAlreadyInited(); +} +inline void Debug_DebugMessage::set_warn(const ::std::string& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.warn) + if (!has_warn()) { + clear_debug_string(); + set_has_warn(); + debug_string_.warn_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.warn_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.warn) +} +#if LANG_CXX11 +inline void Debug_DebugMessage::set_warn(::std::string&& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.warn) + if (!has_warn()) { + clear_debug_string(); + set_has_warn(); + debug_string_.warn_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.warn_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.planning_internal.Debug.DebugMessage.warn) +} +#endif +inline void Debug_DebugMessage::set_warn(const char* value) { + GOOGLE_DCHECK(value != NULL); + if (!has_warn()) { + clear_debug_string(); + set_has_warn(); + debug_string_.warn_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.warn_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.planning_internal.Debug.DebugMessage.warn) +} +inline void Debug_DebugMessage::set_warn(const char* value, size_t size) { + if (!has_warn()) { + clear_debug_string(); + set_has_warn(); + debug_string_.warn_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.warn_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string( + reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.planning_internal.Debug.DebugMessage.warn) +} +inline ::std::string* Debug_DebugMessage::mutable_warn() { + if (!has_warn()) { + clear_debug_string(); + set_has_warn(); + debug_string_.warn_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.Debug.DebugMessage.warn) + return debug_string_.warn_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Debug_DebugMessage::release_warn() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.Debug.DebugMessage.warn) + if (has_warn()) { + clear_has_debug_string(); + return debug_string_.warn_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } else { + return NULL; + } +} +inline void Debug_DebugMessage::set_allocated_warn(::std::string* warn) { + if (!has_warn()) { + debug_string_.warn_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + clear_debug_string(); + if (warn != NULL) { + set_has_warn(); + debug_string_.warn_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), warn); + } + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.Debug.DebugMessage.warn) +} + +// string error = 6; +inline bool Debug_DebugMessage::has_error() const { + return debug_string_case() == kError; +} +inline void Debug_DebugMessage::set_has_error() { + _oneof_case_[0] = kError; +} +inline void Debug_DebugMessage::clear_error() { + if (has_error()) { + debug_string_.error_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + clear_has_debug_string(); + } +} +inline const ::std::string& Debug_DebugMessage::error() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.DebugMessage.error) + if (has_error()) { + return debug_string_.error_.GetNoArena(); + } + return *&::google::protobuf::internal::GetEmptyStringAlreadyInited(); +} +inline void Debug_DebugMessage::set_error(const ::std::string& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.error) + if (!has_error()) { + clear_debug_string(); + set_has_error(); + debug_string_.error_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.error_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.error) +} +#if LANG_CXX11 +inline void Debug_DebugMessage::set_error(::std::string&& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.error) + if (!has_error()) { + clear_debug_string(); + set_has_error(); + debug_string_.error_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.error_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.planning_internal.Debug.DebugMessage.error) +} +#endif +inline void Debug_DebugMessage::set_error(const char* value) { + GOOGLE_DCHECK(value != NULL); + if (!has_error()) { + clear_debug_string(); + set_has_error(); + debug_string_.error_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.error_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.planning_internal.Debug.DebugMessage.error) +} +inline void Debug_DebugMessage::set_error(const char* value, size_t size) { + if (!has_error()) { + clear_debug_string(); + set_has_error(); + debug_string_.error_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.error_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string( + reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.planning_internal.Debug.DebugMessage.error) +} +inline ::std::string* Debug_DebugMessage::mutable_error() { + if (!has_error()) { + clear_debug_string(); + set_has_error(); + debug_string_.error_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.Debug.DebugMessage.error) + return debug_string_.error_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Debug_DebugMessage::release_error() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.Debug.DebugMessage.error) + if (has_error()) { + clear_has_debug_string(); + return debug_string_.error_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } else { + return NULL; + } +} +inline void Debug_DebugMessage::set_allocated_error(::std::string* error) { + if (!has_error()) { + debug_string_.error_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + clear_debug_string(); + if (error != NULL) { + set_has_error(); + debug_string_.error_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), error); + } + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.Debug.DebugMessage.error) +} + +// string fatal = 7; +inline bool Debug_DebugMessage::has_fatal() const { + return debug_string_case() == kFatal; +} +inline void Debug_DebugMessage::set_has_fatal() { + _oneof_case_[0] = kFatal; +} +inline void Debug_DebugMessage::clear_fatal() { + if (has_fatal()) { + debug_string_.fatal_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + clear_has_debug_string(); + } +} +inline const ::std::string& Debug_DebugMessage::fatal() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.DebugMessage.fatal) + if (has_fatal()) { + return debug_string_.fatal_.GetNoArena(); + } + return *&::google::protobuf::internal::GetEmptyStringAlreadyInited(); +} +inline void Debug_DebugMessage::set_fatal(const ::std::string& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.fatal) + if (!has_fatal()) { + clear_debug_string(); + set_has_fatal(); + debug_string_.fatal_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.fatal_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value); + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.fatal) +} +#if LANG_CXX11 +inline void Debug_DebugMessage::set_fatal(::std::string&& value) { + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.DebugMessage.fatal) + if (!has_fatal()) { + clear_debug_string(); + set_has_fatal(); + debug_string_.fatal_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.fatal_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value)); + // @@protoc_insertion_point(field_set_rvalue:apollo.planning_internal.Debug.DebugMessage.fatal) +} +#endif +inline void Debug_DebugMessage::set_fatal(const char* value) { + GOOGLE_DCHECK(value != NULL); + if (!has_fatal()) { + clear_debug_string(); + set_has_fatal(); + debug_string_.fatal_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.fatal_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), + ::std::string(value)); + // @@protoc_insertion_point(field_set_char:apollo.planning_internal.Debug.DebugMessage.fatal) +} +inline void Debug_DebugMessage::set_fatal(const char* value, size_t size) { + if (!has_fatal()) { + clear_debug_string(); + set_has_fatal(); + debug_string_.fatal_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + debug_string_.fatal_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string( + reinterpret_cast(value), size)); + // @@protoc_insertion_point(field_set_pointer:apollo.planning_internal.Debug.DebugMessage.fatal) +} +inline ::std::string* Debug_DebugMessage::mutable_fatal() { + if (!has_fatal()) { + clear_debug_string(); + set_has_fatal(); + debug_string_.fatal_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.Debug.DebugMessage.fatal) + return debug_string_.fatal_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); +} +inline ::std::string* Debug_DebugMessage::release_fatal() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.Debug.DebugMessage.fatal) + if (has_fatal()) { + clear_has_debug_string(); + return debug_string_.fatal_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } else { + return NULL; + } +} +inline void Debug_DebugMessage::set_allocated_fatal(::std::string* fatal) { + if (!has_fatal()) { + debug_string_.fatal_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()); + } + clear_debug_string(); + if (fatal != NULL) { + set_has_fatal(); + debug_string_.fatal_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), fatal); + } + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.Debug.DebugMessage.fatal) +} + +inline bool Debug_DebugMessage::has_debug_string() const { + return debug_string_case() != DEBUG_STRING_NOT_SET; +} +inline void Debug_DebugMessage::clear_has_debug_string() { + _oneof_case_[0] = DEBUG_STRING_NOT_SET; +} +inline Debug_DebugMessage::DebugStringCase Debug_DebugMessage::debug_string_case() const { + return Debug_DebugMessage::DebugStringCase(_oneof_case_[0]); +} +// ------------------------------------------------------------------- + +// Debug + +// .apollo.planning_internal.Debug.ErrorCode error_code = 1; +inline void Debug::clear_error_code() { + error_code_ = 0; +} +inline ::apollo::planning_internal::Debug_ErrorCode Debug::error_code() const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.error_code) + return static_cast< ::apollo::planning_internal::Debug_ErrorCode >(error_code_); +} +inline void Debug::set_error_code(::apollo::planning_internal::Debug_ErrorCode value) { + + error_code_ = value; + // @@protoc_insertion_point(field_set:apollo.planning_internal.Debug.error_code) +} + +// .apollo.planning_internal.PlanningData planning_data = 2; +inline bool Debug::has_planning_data() const { + return this != internal_default_instance() && planning_data_ != NULL; +} +inline void Debug::clear_planning_data() { + if (GetArenaNoVirtual() == NULL && planning_data_ != NULL) { + delete planning_data_; + } + planning_data_ = NULL; +} +inline const ::apollo::planning_internal::PlanningData& Debug::_internal_planning_data() const { + return *planning_data_; +} +inline const ::apollo::planning_internal::PlanningData& Debug::planning_data() const { + const ::apollo::planning_internal::PlanningData* p = planning_data_; + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.planning_data) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::planning_internal::_PlanningData_default_instance_); +} +inline ::apollo::planning_internal::PlanningData* Debug::release_planning_data() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.Debug.planning_data) + + ::apollo::planning_internal::PlanningData* temp = planning_data_; + planning_data_ = NULL; + return temp; +} +inline ::apollo::planning_internal::PlanningData* Debug::mutable_planning_data() { + + if (planning_data_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::planning_internal::PlanningData>(GetArenaNoVirtual()); + planning_data_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.Debug.planning_data) + return planning_data_; +} +inline void Debug::set_allocated_planning_data(::apollo::planning_internal::PlanningData* planning_data) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete planning_data_; + } + if (planning_data) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + planning_data = ::google::protobuf::internal::GetOwnedMessage( + message_arena, planning_data, submessage_arena); + } + + } else { + + } + planning_data_ = planning_data; + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.Debug.planning_data) +} + +// repeated .apollo.planning_internal.Debug.DebugMessage debug_message = 3; +inline int Debug::debug_message_size() const { + return debug_message_.size(); +} +inline void Debug::clear_debug_message() { + debug_message_.Clear(); +} +inline ::apollo::planning_internal::Debug_DebugMessage* Debug::mutable_debug_message(int index) { + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.Debug.debug_message) + return debug_message_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::Debug_DebugMessage >* +Debug::mutable_debug_message() { + // @@protoc_insertion_point(field_mutable_list:apollo.planning_internal.Debug.debug_message) + return &debug_message_; +} +inline const ::apollo::planning_internal::Debug_DebugMessage& Debug::debug_message(int index) const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.Debug.debug_message) + return debug_message_.Get(index); +} +inline ::apollo::planning_internal::Debug_DebugMessage* Debug::add_debug_message() { + // @@protoc_insertion_point(field_add:apollo.planning_internal.Debug.debug_message) + return debug_message_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::Debug_DebugMessage >& +Debug::debug_message() const { + // @@protoc_insertion_point(field_list:apollo.planning_internal.Debug.debug_message) + return debug_message_; +} + +// ------------------------------------------------------------------- + +// PlanningData + +// .apollo.common.Header header = 1; +inline bool PlanningData::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& PlanningData::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& PlanningData::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningData.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* PlanningData::release_header() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.PlanningData.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* PlanningData::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningData.header) + return header_; +} +inline void PlanningData::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.PlanningData.header) +} + +// .apollo.localization.Pose init_status = 2; +inline bool PlanningData::has_init_status() const { + return this != internal_default_instance() && init_status_ != NULL; +} +inline const ::apollo::localization::Pose& PlanningData::_internal_init_status() const { + return *init_status_; +} +inline const ::apollo::localization::Pose& PlanningData::init_status() const { + const ::apollo::localization::Pose* p = init_status_; + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningData.init_status) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::localization::_Pose_default_instance_); +} +inline ::apollo::localization::Pose* PlanningData::release_init_status() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.PlanningData.init_status) + + ::apollo::localization::Pose* temp = init_status_; + init_status_ = NULL; + return temp; +} +inline ::apollo::localization::Pose* PlanningData::mutable_init_status() { + + if (init_status_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::localization::Pose>(GetArenaNoVirtual()); + init_status_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningData.init_status) + return init_status_; +} +inline void PlanningData::set_allocated_init_status(::apollo::localization::Pose* init_status) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(init_status_); + } + if (init_status) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + init_status = ::google::protobuf::internal::GetOwnedMessage( + message_arena, init_status, submessage_arena); + } + + } else { + + } + init_status_ = init_status; + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.PlanningData.init_status) +} + +// .apollo.decision.MainDecision main_decision = 3; +inline bool PlanningData::has_main_decision() const { + return this != internal_default_instance() && main_decision_ != NULL; +} +inline const ::apollo::decision::MainDecision& PlanningData::_internal_main_decision() const { + return *main_decision_; +} +inline const ::apollo::decision::MainDecision& PlanningData::main_decision() const { + const ::apollo::decision::MainDecision* p = main_decision_; + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningData.main_decision) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_MainDecision_default_instance_); +} +inline ::apollo::decision::MainDecision* PlanningData::release_main_decision() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.PlanningData.main_decision) + + ::apollo::decision::MainDecision* temp = main_decision_; + main_decision_ = NULL; + return temp; +} +inline ::apollo::decision::MainDecision* PlanningData::mutable_main_decision() { + + if (main_decision_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::MainDecision>(GetArenaNoVirtual()); + main_decision_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningData.main_decision) + return main_decision_; +} +inline void PlanningData::set_allocated_main_decision(::apollo::decision::MainDecision* main_decision) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(main_decision_); + } + if (main_decision) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + main_decision = ::google::protobuf::internal::GetOwnedMessage( + message_arena, main_decision, submessage_arena); + } + + } else { + + } + main_decision_ = main_decision; + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.PlanningData.main_decision) +} + +// repeated .apollo.planning_internal.PlanningObstacle planning_obstacle = 4; +inline int PlanningData::planning_obstacle_size() const { + return planning_obstacle_.size(); +} +inline void PlanningData::clear_planning_obstacle() { + planning_obstacle_.Clear(); +} +inline ::apollo::planning_internal::PlanningObstacle* PlanningData::mutable_planning_obstacle(int index) { + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningData.planning_obstacle) + return planning_obstacle_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::PlanningObstacle >* +PlanningData::mutable_planning_obstacle() { + // @@protoc_insertion_point(field_mutable_list:apollo.planning_internal.PlanningData.planning_obstacle) + return &planning_obstacle_; +} +inline const ::apollo::planning_internal::PlanningObstacle& PlanningData::planning_obstacle(int index) const { + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningData.planning_obstacle) + return planning_obstacle_.Get(index); +} +inline ::apollo::planning_internal::PlanningObstacle* PlanningData::add_planning_obstacle() { + // @@protoc_insertion_point(field_add:apollo.planning_internal.PlanningData.planning_obstacle) + return planning_obstacle_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::planning_internal::PlanningObstacle >& +PlanningData::planning_obstacle() const { + // @@protoc_insertion_point(field_list:apollo.planning_internal.PlanningData.planning_obstacle) + return planning_obstacle_; +} + +// .apollo.decision.LightSignal light_signal = 5; +inline bool PlanningData::has_light_signal() const { + return this != internal_default_instance() && light_signal_ != NULL; +} +inline const ::apollo::decision::LightSignal& PlanningData::_internal_light_signal() const { + return *light_signal_; +} +inline const ::apollo::decision::LightSignal& PlanningData::light_signal() const { + const ::apollo::decision::LightSignal* p = light_signal_; + // @@protoc_insertion_point(field_get:apollo.planning_internal.PlanningData.light_signal) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::decision::_LightSignal_default_instance_); +} +inline ::apollo::decision::LightSignal* PlanningData::release_light_signal() { + // @@protoc_insertion_point(field_release:apollo.planning_internal.PlanningData.light_signal) + + ::apollo::decision::LightSignal* temp = light_signal_; + light_signal_ = NULL; + return temp; +} +inline ::apollo::decision::LightSignal* PlanningData::mutable_light_signal() { + + if (light_signal_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::decision::LightSignal>(GetArenaNoVirtual()); + light_signal_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.planning_internal.PlanningData.light_signal) + return light_signal_; +} +inline void PlanningData::set_allocated_light_signal(::apollo::decision::LightSignal* light_signal) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(light_signal_); + } + if (light_signal) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + light_signal = ::google::protobuf::internal::GetOwnedMessage( + message_arena, light_signal, submessage_arena); + } + + } else { + + } + light_signal_ = light_signal; + // @@protoc_insertion_point(field_set_allocated:apollo.planning_internal.PlanningData.light_signal) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace planning_internal +} // namespace apollo + +namespace google { +namespace protobuf { + +template <> struct is_proto_enum< ::apollo::planning_internal::Debug_ErrorCode> : ::std::true_type {}; +template <> +inline const EnumDescriptor* GetEnumDescriptor< ::apollo::planning_internal::Debug_ErrorCode>() { + return ::apollo::planning_internal::Debug_ErrorCode_descriptor(); +} + +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fplanning_2fplanning_5finternal_2eproto diff --git a/apollo_msgs/include/apollo_msgs/proto/prediction/prediction_obstacle.pb.cc b/apollo_msgs/include/apollo_msgs/proto/prediction/prediction_obstacle.pb.cc new file mode 100644 index 0000000..e694ac8 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/prediction/prediction_obstacle.pb.cc @@ -0,0 +1,1614 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/prediction/prediction_obstacle.proto + +#include "apollo_msgs/proto/prediction/prediction_obstacle.pb.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +// This is a temporary google only hack +#ifdef GOOGLE_PROTOBUF_ENFORCE_UNIQUENESS +#include "third_party/protobuf/version.h" +#endif +// @@protoc_insertion_point(includes) + +namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Header; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_PerceptionObstacle; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto +namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto { +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto ::google::protobuf::internal::SCCInfo<0> scc_info_TrajectoryPoint; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto ::google::protobuf::internal::SCCInfo<1> scc_info_Trajectory; +extern PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto ::google::protobuf::internal::SCCInfo<2> scc_info_PredictionObstacle; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto +namespace apollo { +namespace prediction { +class TrajectoryPointDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _TrajectoryPoint_default_instance_; +class TrajectoryDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _Trajectory_default_instance_; +class PredictionObstacleDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PredictionObstacle_default_instance_; +class PredictionObstaclesDefaultTypeInternal { + public: + ::google::protobuf::internal::ExplicitlyConstructed + _instance; +} _PredictionObstacles_default_instance_; +} // namespace prediction +} // namespace apollo +namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto { +static void InitDefaultsTrajectoryPoint() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::prediction::_TrajectoryPoint_default_instance_; + new (ptr) ::apollo::prediction::TrajectoryPoint(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::prediction::TrajectoryPoint::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<0> scc_info_TrajectoryPoint = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 0, InitDefaultsTrajectoryPoint}, {}}; + +static void InitDefaultsTrajectory() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::prediction::_Trajectory_default_instance_; + new (ptr) ::apollo::prediction::Trajectory(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::prediction::Trajectory::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<1> scc_info_Trajectory = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 1, InitDefaultsTrajectory}, { + &protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_TrajectoryPoint.base,}}; + +static void InitDefaultsPredictionObstacle() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::prediction::_PredictionObstacle_default_instance_; + new (ptr) ::apollo::prediction::PredictionObstacle(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::prediction::PredictionObstacle::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_PredictionObstacle = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsPredictionObstacle}, { + &protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::scc_info_PerceptionObstacle.base, + &protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_Trajectory.base,}}; + +static void InitDefaultsPredictionObstacles() { + GOOGLE_PROTOBUF_VERIFY_VERSION; + + { + void* ptr = &::apollo::prediction::_PredictionObstacles_default_instance_; + new (ptr) ::apollo::prediction::PredictionObstacles(); + ::google::protobuf::internal::OnShutdownDestroyMessage(ptr); + } + ::apollo::prediction::PredictionObstacles::InitAsDefaultInstance(); +} + +::google::protobuf::internal::SCCInfo<2> scc_info_PredictionObstacles = + {{ATOMIC_VAR_INIT(::google::protobuf::internal::SCCInfoBase::kUninitialized), 2, InitDefaultsPredictionObstacles}, { + &protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::scc_info_Header.base, + &protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_PredictionObstacle.base,}}; + +void InitDefaults() { + ::google::protobuf::internal::InitSCC(&scc_info_TrajectoryPoint.base); + ::google::protobuf::internal::InitSCC(&scc_info_Trajectory.base); + ::google::protobuf::internal::InitSCC(&scc_info_PredictionObstacle.base); + ::google::protobuf::internal::InitSCC(&scc_info_PredictionObstacles.base); +} + +::google::protobuf::Metadata file_level_metadata[4]; + +const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::TrajectoryPoint, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::TrajectoryPoint, x_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::TrajectoryPoint, y_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::TrajectoryPoint, z_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::TrajectoryPoint, velocity_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::TrajectoryPoint, t_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::TrajectoryPoint, heading_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::Trajectory, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::Trajectory, probability_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::Trajectory, trajectory_point_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::PredictionObstacle, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::PredictionObstacle, perception_obstacle_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::PredictionObstacle, time_stamp_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::PredictionObstacle, predicted_period_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::PredictionObstacle, trajectory_), + ~0u, // no _has_bits_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::PredictionObstacles, _internal_metadata_), + ~0u, // no _extensions_ + ~0u, // no _oneof_case_ + ~0u, // no _weak_field_map_ + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::PredictionObstacles, header_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::PredictionObstacles, prediction_obstacle_), + GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::apollo::prediction::PredictionObstacles, perception_error_code_), +}; +static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + { 0, -1, sizeof(::apollo::prediction::TrajectoryPoint)}, + { 11, -1, sizeof(::apollo::prediction::Trajectory)}, + { 18, -1, sizeof(::apollo::prediction::PredictionObstacle)}, + { 27, -1, sizeof(::apollo::prediction::PredictionObstacles)}, +}; + +static ::google::protobuf::Message const * const file_default_instances[] = { + reinterpret_cast(&::apollo::prediction::_TrajectoryPoint_default_instance_), + reinterpret_cast(&::apollo::prediction::_Trajectory_default_instance_), + reinterpret_cast(&::apollo::prediction::_PredictionObstacle_default_instance_), + reinterpret_cast(&::apollo::prediction::_PredictionObstacles_default_instance_), +}; + +void protobuf_AssignDescriptors() { + AddDescriptors(); + AssignDescriptors( + "apollo_msgs/proto/prediction/prediction_obstacle.proto", schemas, file_default_instances, TableStruct::offsets, + file_level_metadata, NULL, NULL); +} + +void protobuf_AssignDescriptorsOnce() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, protobuf_AssignDescriptors); +} + +void protobuf_RegisterTypes(const ::std::string&) GOOGLE_PROTOBUF_ATTRIBUTE_COLD; +void protobuf_RegisterTypes(const ::std::string&) { + protobuf_AssignDescriptorsOnce(); + ::google::protobuf::internal::RegisterAllTypes(file_level_metadata, 4); +} + +void AddDescriptorsImpl() { + InitDefaults(); + static const char descriptor[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = { + "\n6apollo_msgs/proto/prediction/predictio" + "n_obstacle.proto\022\021apollo.prediction\032%apo" + "llo_msgs/proto/common/header.proto\0326apol" + "lo_msgs/proto/perception/perception_obst" + "acle.proto\"`\n\017TrajectoryPoint\022\t\n\001x\030\001 \001(\001" + "\022\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003 \001(\001\022\020\n\010velocity\030\004 \001(\001" + "\022\t\n\001t\030\005 \001(\001\022\017\n\007heading\030\006 \001(\001\"_\n\nTrajecto" + "ry\022\023\n\013probability\030\001 \001(\001\022<\n\020trajectory_po" + "int\030\002 \003(\0132\".apollo.prediction.Trajectory" + "Point\"\271\001\n\022PredictionObstacle\022B\n\023percepti" + "on_obstacle\030\001 \001(\0132%.apollo.perception.Pe" + "rceptionObstacle\022\022\n\ntime_stamp\030\002 \001(\001\022\030\n\020" + "predicted_period\030\003 \001(\001\0221\n\ntrajectory\030\004 \003" + "(\0132\035.apollo.prediction.Trajectory\"\307\001\n\023Pr" + "edictionObstacles\022%\n\006header\030\001 \001(\0132\025.apol" + "lo.common.Header\022B\n\023prediction_obstacle\030" + "\002 \003(\0132%.apollo.prediction.PredictionObst" + "acle\022E\n\025perception_error_code\030\003 \001(\0162&.ap" + "ollo.perception.PerceptionErrorCodeb\006pro" + "to3" + }; + ::google::protobuf::DescriptorPool::InternalAddGeneratedFile( + descriptor, 763); + ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile( + "apollo_msgs/proto/prediction/prediction_obstacle.proto", &protobuf_RegisterTypes); + ::protobuf_apollo_5fmsgs_2fproto_2fcommon_2fheader_2eproto::AddDescriptors(); + ::protobuf_apollo_5fmsgs_2fproto_2fperception_2fperception_5fobstacle_2eproto::AddDescriptors(); +} + +void AddDescriptors() { + static ::google::protobuf::internal::once_flag once; + ::google::protobuf::internal::call_once(once, AddDescriptorsImpl); +} +// Force AddDescriptors() to be called at dynamic initialization time. +struct StaticDescriptorInitializer { + StaticDescriptorInitializer() { + AddDescriptors(); + } +} static_descriptor_initializer; +} // namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto +namespace apollo { +namespace prediction { + +// =================================================================== + +void TrajectoryPoint::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int TrajectoryPoint::kXFieldNumber; +const int TrajectoryPoint::kYFieldNumber; +const int TrajectoryPoint::kZFieldNumber; +const int TrajectoryPoint::kVelocityFieldNumber; +const int TrajectoryPoint::kTFieldNumber; +const int TrajectoryPoint::kHeadingFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +TrajectoryPoint::TrajectoryPoint() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_TrajectoryPoint.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.prediction.TrajectoryPoint) +} +TrajectoryPoint::TrajectoryPoint(const TrajectoryPoint& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::memcpy(&x_, &from.x_, + static_cast(reinterpret_cast(&heading_) - + reinterpret_cast(&x_)) + sizeof(heading_)); + // @@protoc_insertion_point(copy_constructor:apollo.prediction.TrajectoryPoint) +} + +void TrajectoryPoint::SharedCtor() { + ::memset(&x_, 0, static_cast( + reinterpret_cast(&heading_) - + reinterpret_cast(&x_)) + sizeof(heading_)); +} + +TrajectoryPoint::~TrajectoryPoint() { + // @@protoc_insertion_point(destructor:apollo.prediction.TrajectoryPoint) + SharedDtor(); +} + +void TrajectoryPoint::SharedDtor() { +} + +void TrajectoryPoint::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* TrajectoryPoint::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const TrajectoryPoint& TrajectoryPoint::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_TrajectoryPoint.base); + return *internal_default_instance(); +} + + +void TrajectoryPoint::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.prediction.TrajectoryPoint) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + ::memset(&x_, 0, static_cast( + reinterpret_cast(&heading_) - + reinterpret_cast(&x_)) + sizeof(heading_)); + _internal_metadata_.Clear(); +} + +bool TrajectoryPoint::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.prediction.TrajectoryPoint) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double x = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &x_))); + } else { + goto handle_unusual; + } + break; + } + + // double y = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &y_))); + } else { + goto handle_unusual; + } + break; + } + + // double z = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &z_))); + } else { + goto handle_unusual; + } + break; + } + + // double velocity = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(33u /* 33 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &velocity_))); + } else { + goto handle_unusual; + } + break; + } + + // double t = 5; + case 5: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(41u /* 41 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &t_))); + } else { + goto handle_unusual; + } + break; + } + + // double heading = 6; + case 6: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(49u /* 49 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &heading_))); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.prediction.TrajectoryPoint) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.prediction.TrajectoryPoint) + return false; +#undef DO_ +} + +void TrajectoryPoint::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.prediction.TrajectoryPoint) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output); + } + + // double y = 2; + if (this->y() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output); + } + + // double z = 3; + if (this->z() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output); + } + + // double velocity = 4; + if (this->velocity() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->velocity(), output); + } + + // double t = 5; + if (this->t() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->t(), output); + } + + // double heading = 6; + if (this->heading() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->heading(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.prediction.TrajectoryPoint) +} + +::google::protobuf::uint8* TrajectoryPoint::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.prediction.TrajectoryPoint) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double x = 1; + if (this->x() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target); + } + + // double y = 2; + if (this->y() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target); + } + + // double z = 3; + if (this->z() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target); + } + + // double velocity = 4; + if (this->velocity() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->velocity(), target); + } + + // double t = 5; + if (this->t() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->t(), target); + } + + // double heading = 6; + if (this->heading() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->heading(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.prediction.TrajectoryPoint) + return target; +} + +size_t TrajectoryPoint::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.prediction.TrajectoryPoint) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // double x = 1; + if (this->x() != 0) { + total_size += 1 + 8; + } + + // double y = 2; + if (this->y() != 0) { + total_size += 1 + 8; + } + + // double z = 3; + if (this->z() != 0) { + total_size += 1 + 8; + } + + // double velocity = 4; + if (this->velocity() != 0) { + total_size += 1 + 8; + } + + // double t = 5; + if (this->t() != 0) { + total_size += 1 + 8; + } + + // double heading = 6; + if (this->heading() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void TrajectoryPoint::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.prediction.TrajectoryPoint) + GOOGLE_DCHECK_NE(&from, this); + const TrajectoryPoint* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.prediction.TrajectoryPoint) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.prediction.TrajectoryPoint) + MergeFrom(*source); + } +} + +void TrajectoryPoint::MergeFrom(const TrajectoryPoint& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.prediction.TrajectoryPoint) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + if (from.x() != 0) { + set_x(from.x()); + } + if (from.y() != 0) { + set_y(from.y()); + } + if (from.z() != 0) { + set_z(from.z()); + } + if (from.velocity() != 0) { + set_velocity(from.velocity()); + } + if (from.t() != 0) { + set_t(from.t()); + } + if (from.heading() != 0) { + set_heading(from.heading()); + } +} + +void TrajectoryPoint::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.prediction.TrajectoryPoint) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void TrajectoryPoint::CopyFrom(const TrajectoryPoint& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.prediction.TrajectoryPoint) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool TrajectoryPoint::IsInitialized() const { + return true; +} + +void TrajectoryPoint::Swap(TrajectoryPoint* other) { + if (other == this) return; + InternalSwap(other); +} +void TrajectoryPoint::InternalSwap(TrajectoryPoint* other) { + using std::swap; + swap(x_, other->x_); + swap(y_, other->y_); + swap(z_, other->z_); + swap(velocity_, other->velocity_); + swap(t_, other->t_); + swap(heading_, other->heading_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata TrajectoryPoint::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void Trajectory::InitAsDefaultInstance() { +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int Trajectory::kProbabilityFieldNumber; +const int Trajectory::kTrajectoryPointFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +Trajectory::Trajectory() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_Trajectory.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.prediction.Trajectory) +} +Trajectory::Trajectory(const Trajectory& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + trajectory_point_(from.trajectory_point_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + probability_ = from.probability_; + // @@protoc_insertion_point(copy_constructor:apollo.prediction.Trajectory) +} + +void Trajectory::SharedCtor() { + probability_ = 0; +} + +Trajectory::~Trajectory() { + // @@protoc_insertion_point(destructor:apollo.prediction.Trajectory) + SharedDtor(); +} + +void Trajectory::SharedDtor() { +} + +void Trajectory::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* Trajectory::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const Trajectory& Trajectory::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_Trajectory.base); + return *internal_default_instance(); +} + + +void Trajectory::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.prediction.Trajectory) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + trajectory_point_.Clear(); + probability_ = 0; + _internal_metadata_.Clear(); +} + +bool Trajectory::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.prediction.Trajectory) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // double probability = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(9u /* 9 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &probability_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.prediction.TrajectoryPoint trajectory_point = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_trajectory_point())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.prediction.Trajectory) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.prediction.Trajectory) + return false; +#undef DO_ +} + +void Trajectory::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.prediction.Trajectory) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double probability = 1; + if (this->probability() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->probability(), output); + } + + // repeated .apollo.prediction.TrajectoryPoint trajectory_point = 2; + for (unsigned int i = 0, + n = static_cast(this->trajectory_point_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, + this->trajectory_point(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.prediction.Trajectory) +} + +::google::protobuf::uint8* Trajectory::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.prediction.Trajectory) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // double probability = 1; + if (this->probability() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->probability(), target); + } + + // repeated .apollo.prediction.TrajectoryPoint trajectory_point = 2; + for (unsigned int i = 0, + n = static_cast(this->trajectory_point_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->trajectory_point(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.prediction.Trajectory) + return target; +} + +size_t Trajectory::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.prediction.Trajectory) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.prediction.TrajectoryPoint trajectory_point = 2; + { + unsigned int count = static_cast(this->trajectory_point_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->trajectory_point(static_cast(i))); + } + } + + // double probability = 1; + if (this->probability() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void Trajectory::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.prediction.Trajectory) + GOOGLE_DCHECK_NE(&from, this); + const Trajectory* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.prediction.Trajectory) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.prediction.Trajectory) + MergeFrom(*source); + } +} + +void Trajectory::MergeFrom(const Trajectory& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.prediction.Trajectory) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + trajectory_point_.MergeFrom(from.trajectory_point_); + if (from.probability() != 0) { + set_probability(from.probability()); + } +} + +void Trajectory::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.prediction.Trajectory) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void Trajectory::CopyFrom(const Trajectory& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.prediction.Trajectory) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool Trajectory::IsInitialized() const { + return true; +} + +void Trajectory::Swap(Trajectory* other) { + if (other == this) return; + InternalSwap(other); +} +void Trajectory::InternalSwap(Trajectory* other) { + using std::swap; + CastToBase(&trajectory_point_)->InternalSwap(CastToBase(&other->trajectory_point_)); + swap(probability_, other->probability_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata Trajectory::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void PredictionObstacle::InitAsDefaultInstance() { + ::apollo::prediction::_PredictionObstacle_default_instance_._instance.get_mutable()->perception_obstacle_ = const_cast< ::apollo::perception::PerceptionObstacle*>( + ::apollo::perception::PerceptionObstacle::internal_default_instance()); +} +void PredictionObstacle::clear_perception_obstacle() { + if (GetArenaNoVirtual() == NULL && perception_obstacle_ != NULL) { + delete perception_obstacle_; + } + perception_obstacle_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PredictionObstacle::kPerceptionObstacleFieldNumber; +const int PredictionObstacle::kTimeStampFieldNumber; +const int PredictionObstacle::kPredictedPeriodFieldNumber; +const int PredictionObstacle::kTrajectoryFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PredictionObstacle::PredictionObstacle() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_PredictionObstacle.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.prediction.PredictionObstacle) +} +PredictionObstacle::PredictionObstacle(const PredictionObstacle& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + trajectory_(from.trajectory_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_perception_obstacle()) { + perception_obstacle_ = new ::apollo::perception::PerceptionObstacle(*from.perception_obstacle_); + } else { + perception_obstacle_ = NULL; + } + ::memcpy(&time_stamp_, &from.time_stamp_, + static_cast(reinterpret_cast(&predicted_period_) - + reinterpret_cast(&time_stamp_)) + sizeof(predicted_period_)); + // @@protoc_insertion_point(copy_constructor:apollo.prediction.PredictionObstacle) +} + +void PredictionObstacle::SharedCtor() { + ::memset(&perception_obstacle_, 0, static_cast( + reinterpret_cast(&predicted_period_) - + reinterpret_cast(&perception_obstacle_)) + sizeof(predicted_period_)); +} + +PredictionObstacle::~PredictionObstacle() { + // @@protoc_insertion_point(destructor:apollo.prediction.PredictionObstacle) + SharedDtor(); +} + +void PredictionObstacle::SharedDtor() { + if (this != internal_default_instance()) delete perception_obstacle_; +} + +void PredictionObstacle::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PredictionObstacle::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PredictionObstacle& PredictionObstacle::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_PredictionObstacle.base); + return *internal_default_instance(); +} + + +void PredictionObstacle::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.prediction.PredictionObstacle) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + trajectory_.Clear(); + if (GetArenaNoVirtual() == NULL && perception_obstacle_ != NULL) { + delete perception_obstacle_; + } + perception_obstacle_ = NULL; + ::memset(&time_stamp_, 0, static_cast( + reinterpret_cast(&predicted_period_) - + reinterpret_cast(&time_stamp_)) + sizeof(predicted_period_)); + _internal_metadata_.Clear(); +} + +bool PredictionObstacle::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.prediction.PredictionObstacle) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.perception.PerceptionObstacle perception_obstacle = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_perception_obstacle())); + } else { + goto handle_unusual; + } + break; + } + + // double time_stamp = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(17u /* 17 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &time_stamp_))); + } else { + goto handle_unusual; + } + break; + } + + // double predicted_period = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(25u /* 25 & 0xFF */)) { + + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>( + input, &predicted_period_))); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.prediction.Trajectory trajectory = 4; + case 4: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_trajectory())); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.prediction.PredictionObstacle) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.prediction.PredictionObstacle) + return false; +#undef DO_ +} + +void PredictionObstacle::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.prediction.PredictionObstacle) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.perception.PerceptionObstacle perception_obstacle = 1; + if (this->has_perception_obstacle()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_perception_obstacle(), output); + } + + // double time_stamp = 2; + if (this->time_stamp() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->time_stamp(), output); + } + + // double predicted_period = 3; + if (this->predicted_period() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->predicted_period(), output); + } + + // repeated .apollo.prediction.Trajectory trajectory = 4; + for (unsigned int i = 0, + n = static_cast(this->trajectory_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 4, + this->trajectory(static_cast(i)), + output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.prediction.PredictionObstacle) +} + +::google::protobuf::uint8* PredictionObstacle::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.prediction.PredictionObstacle) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.perception.PerceptionObstacle perception_obstacle = 1; + if (this->has_perception_obstacle()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_perception_obstacle(), deterministic, target); + } + + // double time_stamp = 2; + if (this->time_stamp() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->time_stamp(), target); + } + + // double predicted_period = 3; + if (this->predicted_period() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->predicted_period(), target); + } + + // repeated .apollo.prediction.Trajectory trajectory = 4; + for (unsigned int i = 0, + n = static_cast(this->trajectory_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 4, this->trajectory(static_cast(i)), deterministic, target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.prediction.PredictionObstacle) + return target; +} + +size_t PredictionObstacle::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.prediction.PredictionObstacle) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.prediction.Trajectory trajectory = 4; + { + unsigned int count = static_cast(this->trajectory_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->trajectory(static_cast(i))); + } + } + + // .apollo.perception.PerceptionObstacle perception_obstacle = 1; + if (this->has_perception_obstacle()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *perception_obstacle_); + } + + // double time_stamp = 2; + if (this->time_stamp() != 0) { + total_size += 1 + 8; + } + + // double predicted_period = 3; + if (this->predicted_period() != 0) { + total_size += 1 + 8; + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PredictionObstacle::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.prediction.PredictionObstacle) + GOOGLE_DCHECK_NE(&from, this); + const PredictionObstacle* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.prediction.PredictionObstacle) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.prediction.PredictionObstacle) + MergeFrom(*source); + } +} + +void PredictionObstacle::MergeFrom(const PredictionObstacle& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.prediction.PredictionObstacle) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + trajectory_.MergeFrom(from.trajectory_); + if (from.has_perception_obstacle()) { + mutable_perception_obstacle()->::apollo::perception::PerceptionObstacle::MergeFrom(from.perception_obstacle()); + } + if (from.time_stamp() != 0) { + set_time_stamp(from.time_stamp()); + } + if (from.predicted_period() != 0) { + set_predicted_period(from.predicted_period()); + } +} + +void PredictionObstacle::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.prediction.PredictionObstacle) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PredictionObstacle::CopyFrom(const PredictionObstacle& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.prediction.PredictionObstacle) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PredictionObstacle::IsInitialized() const { + return true; +} + +void PredictionObstacle::Swap(PredictionObstacle* other) { + if (other == this) return; + InternalSwap(other); +} +void PredictionObstacle::InternalSwap(PredictionObstacle* other) { + using std::swap; + CastToBase(&trajectory_)->InternalSwap(CastToBase(&other->trajectory_)); + swap(perception_obstacle_, other->perception_obstacle_); + swap(time_stamp_, other->time_stamp_); + swap(predicted_period_, other->predicted_period_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PredictionObstacle::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// =================================================================== + +void PredictionObstacles::InitAsDefaultInstance() { + ::apollo::prediction::_PredictionObstacles_default_instance_._instance.get_mutable()->header_ = const_cast< ::apollo::common::Header*>( + ::apollo::common::Header::internal_default_instance()); +} +void PredictionObstacles::clear_header() { + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; +} +#if !defined(_MSC_VER) || _MSC_VER >= 1900 +const int PredictionObstacles::kHeaderFieldNumber; +const int PredictionObstacles::kPredictionObstacleFieldNumber; +const int PredictionObstacles::kPerceptionErrorCodeFieldNumber; +#endif // !defined(_MSC_VER) || _MSC_VER >= 1900 + +PredictionObstacles::PredictionObstacles() + : ::google::protobuf::Message(), _internal_metadata_(NULL) { + ::google::protobuf::internal::InitSCC( + &protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_PredictionObstacles.base); + SharedCtor(); + // @@protoc_insertion_point(constructor:apollo.prediction.PredictionObstacles) +} +PredictionObstacles::PredictionObstacles(const PredictionObstacles& from) + : ::google::protobuf::Message(), + _internal_metadata_(NULL), + prediction_obstacle_(from.prediction_obstacle_) { + _internal_metadata_.MergeFrom(from._internal_metadata_); + if (from.has_header()) { + header_ = new ::apollo::common::Header(*from.header_); + } else { + header_ = NULL; + } + perception_error_code_ = from.perception_error_code_; + // @@protoc_insertion_point(copy_constructor:apollo.prediction.PredictionObstacles) +} + +void PredictionObstacles::SharedCtor() { + ::memset(&header_, 0, static_cast( + reinterpret_cast(&perception_error_code_) - + reinterpret_cast(&header_)) + sizeof(perception_error_code_)); +} + +PredictionObstacles::~PredictionObstacles() { + // @@protoc_insertion_point(destructor:apollo.prediction.PredictionObstacles) + SharedDtor(); +} + +void PredictionObstacles::SharedDtor() { + if (this != internal_default_instance()) delete header_; +} + +void PredictionObstacles::SetCachedSize(int size) const { + _cached_size_.Set(size); +} +const ::google::protobuf::Descriptor* PredictionObstacles::descriptor() { + ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages].descriptor; +} + +const PredictionObstacles& PredictionObstacles::default_instance() { + ::google::protobuf::internal::InitSCC(&protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::scc_info_PredictionObstacles.base); + return *internal_default_instance(); +} + + +void PredictionObstacles::Clear() { +// @@protoc_insertion_point(message_clear_start:apollo.prediction.PredictionObstacles) + ::google::protobuf::uint32 cached_has_bits = 0; + // Prevent compiler warnings about cached_has_bits being unused + (void) cached_has_bits; + + prediction_obstacle_.Clear(); + if (GetArenaNoVirtual() == NULL && header_ != NULL) { + delete header_; + } + header_ = NULL; + perception_error_code_ = 0; + _internal_metadata_.Clear(); +} + +bool PredictionObstacles::MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) { +#define DO_(EXPRESSION) if (!GOOGLE_PREDICT_TRUE(EXPRESSION)) goto failure + ::google::protobuf::uint32 tag; + // @@protoc_insertion_point(parse_start:apollo.prediction.PredictionObstacles) + for (;;) { + ::std::pair<::google::protobuf::uint32, bool> p = input->ReadTagWithCutoffNoLastTag(127u); + tag = p.first; + if (!p.second) goto handle_unusual; + switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) { + // .apollo.common.Header header = 1; + case 1: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(10u /* 10 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, mutable_header())); + } else { + goto handle_unusual; + } + break; + } + + // repeated .apollo.prediction.PredictionObstacle prediction_obstacle = 2; + case 2: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(18u /* 18 & 0xFF */)) { + DO_(::google::protobuf::internal::WireFormatLite::ReadMessage( + input, add_prediction_obstacle())); + } else { + goto handle_unusual; + } + break; + } + + // .apollo.perception.PerceptionErrorCode perception_error_code = 3; + case 3: { + if (static_cast< ::google::protobuf::uint8>(tag) == + static_cast< ::google::protobuf::uint8>(24u /* 24 & 0xFF */)) { + int value; + DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive< + int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>( + input, &value))); + set_perception_error_code(static_cast< ::apollo::perception::PerceptionErrorCode >(value)); + } else { + goto handle_unusual; + } + break; + } + + default: { + handle_unusual: + if (tag == 0) { + goto success; + } + DO_(::google::protobuf::internal::WireFormat::SkipField( + input, tag, _internal_metadata_.mutable_unknown_fields())); + break; + } + } + } +success: + // @@protoc_insertion_point(parse_success:apollo.prediction.PredictionObstacles) + return true; +failure: + // @@protoc_insertion_point(parse_failure:apollo.prediction.PredictionObstacles) + return false; +#undef DO_ +} + +void PredictionObstacles::SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const { + // @@protoc_insertion_point(serialize_start:apollo.prediction.PredictionObstacles) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 1, this->_internal_header(), output); + } + + // repeated .apollo.prediction.PredictionObstacle prediction_obstacle = 2; + for (unsigned int i = 0, + n = static_cast(this->prediction_obstacle_size()); i < n; i++) { + ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray( + 2, + this->prediction_obstacle(static_cast(i)), + output); + } + + // .apollo.perception.PerceptionErrorCode perception_error_code = 3; + if (this->perception_error_code() != 0) { + ::google::protobuf::internal::WireFormatLite::WriteEnum( + 3, this->perception_error_code(), output); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + ::google::protobuf::internal::WireFormat::SerializeUnknownFields( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), output); + } + // @@protoc_insertion_point(serialize_end:apollo.prediction.PredictionObstacles) +} + +::google::protobuf::uint8* PredictionObstacles::InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const { + (void)deterministic; // Unused + // @@protoc_insertion_point(serialize_to_array_start:apollo.prediction.PredictionObstacles) + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + // .apollo.common.Header header = 1; + if (this->has_header()) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 1, this->_internal_header(), deterministic, target); + } + + // repeated .apollo.prediction.PredictionObstacle prediction_obstacle = 2; + for (unsigned int i = 0, + n = static_cast(this->prediction_obstacle_size()); i < n; i++) { + target = ::google::protobuf::internal::WireFormatLite:: + InternalWriteMessageToArray( + 2, this->prediction_obstacle(static_cast(i)), deterministic, target); + } + + // .apollo.perception.PerceptionErrorCode perception_error_code = 3; + if (this->perception_error_code() != 0) { + target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray( + 3, this->perception_error_code(), target); + } + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance()), target); + } + // @@protoc_insertion_point(serialize_to_array_end:apollo.prediction.PredictionObstacles) + return target; +} + +size_t PredictionObstacles::ByteSizeLong() const { +// @@protoc_insertion_point(message_byte_size_start:apollo.prediction.PredictionObstacles) + size_t total_size = 0; + + if ((_internal_metadata_.have_unknown_fields() && ::google::protobuf::internal::GetProto3PreserveUnknownsDefault())) { + total_size += + ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize( + (::google::protobuf::internal::GetProto3PreserveUnknownsDefault() ? _internal_metadata_.unknown_fields() : _internal_metadata_.default_instance())); + } + // repeated .apollo.prediction.PredictionObstacle prediction_obstacle = 2; + { + unsigned int count = static_cast(this->prediction_obstacle_size()); + total_size += 1UL * count; + for (unsigned int i = 0; i < count; i++) { + total_size += + ::google::protobuf::internal::WireFormatLite::MessageSize( + this->prediction_obstacle(static_cast(i))); + } + } + + // .apollo.common.Header header = 1; + if (this->has_header()) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::MessageSize( + *header_); + } + + // .apollo.perception.PerceptionErrorCode perception_error_code = 3; + if (this->perception_error_code() != 0) { + total_size += 1 + + ::google::protobuf::internal::WireFormatLite::EnumSize(this->perception_error_code()); + } + + int cached_size = ::google::protobuf::internal::ToCachedSize(total_size); + SetCachedSize(cached_size); + return total_size; +} + +void PredictionObstacles::MergeFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_merge_from_start:apollo.prediction.PredictionObstacles) + GOOGLE_DCHECK_NE(&from, this); + const PredictionObstacles* source = + ::google::protobuf::internal::DynamicCastToGenerated( + &from); + if (source == NULL) { + // @@protoc_insertion_point(generalized_merge_from_cast_fail:apollo.prediction.PredictionObstacles) + ::google::protobuf::internal::ReflectionOps::Merge(from, this); + } else { + // @@protoc_insertion_point(generalized_merge_from_cast_success:apollo.prediction.PredictionObstacles) + MergeFrom(*source); + } +} + +void PredictionObstacles::MergeFrom(const PredictionObstacles& from) { +// @@protoc_insertion_point(class_specific_merge_from_start:apollo.prediction.PredictionObstacles) + GOOGLE_DCHECK_NE(&from, this); + _internal_metadata_.MergeFrom(from._internal_metadata_); + ::google::protobuf::uint32 cached_has_bits = 0; + (void) cached_has_bits; + + prediction_obstacle_.MergeFrom(from.prediction_obstacle_); + if (from.has_header()) { + mutable_header()->::apollo::common::Header::MergeFrom(from.header()); + } + if (from.perception_error_code() != 0) { + set_perception_error_code(from.perception_error_code()); + } +} + +void PredictionObstacles::CopyFrom(const ::google::protobuf::Message& from) { +// @@protoc_insertion_point(generalized_copy_from_start:apollo.prediction.PredictionObstacles) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +void PredictionObstacles::CopyFrom(const PredictionObstacles& from) { +// @@protoc_insertion_point(class_specific_copy_from_start:apollo.prediction.PredictionObstacles) + if (&from == this) return; + Clear(); + MergeFrom(from); +} + +bool PredictionObstacles::IsInitialized() const { + return true; +} + +void PredictionObstacles::Swap(PredictionObstacles* other) { + if (other == this) return; + InternalSwap(other); +} +void PredictionObstacles::InternalSwap(PredictionObstacles* other) { + using std::swap; + CastToBase(&prediction_obstacle_)->InternalSwap(CastToBase(&other->prediction_obstacle_)); + swap(header_, other->header_); + swap(perception_error_code_, other->perception_error_code_); + _internal_metadata_.Swap(&other->_internal_metadata_); +} + +::google::protobuf::Metadata PredictionObstacles::GetMetadata() const { + protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::protobuf_AssignDescriptorsOnce(); + return ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::file_level_metadata[kIndexInFileMessages]; +} + + +// @@protoc_insertion_point(namespace_scope) +} // namespace prediction +} // namespace apollo +namespace google { +namespace protobuf { +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::prediction::TrajectoryPoint* Arena::CreateMaybeMessage< ::apollo::prediction::TrajectoryPoint >(Arena* arena) { + return Arena::CreateInternal< ::apollo::prediction::TrajectoryPoint >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::prediction::Trajectory* Arena::CreateMaybeMessage< ::apollo::prediction::Trajectory >(Arena* arena) { + return Arena::CreateInternal< ::apollo::prediction::Trajectory >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::prediction::PredictionObstacle* Arena::CreateMaybeMessage< ::apollo::prediction::PredictionObstacle >(Arena* arena) { + return Arena::CreateInternal< ::apollo::prediction::PredictionObstacle >(arena); +} +template<> GOOGLE_PROTOBUF_ATTRIBUTE_NOINLINE ::apollo::prediction::PredictionObstacles* Arena::CreateMaybeMessage< ::apollo::prediction::PredictionObstacles >(Arena* arena) { + return Arena::CreateInternal< ::apollo::prediction::PredictionObstacles >(arena); +} +} // namespace protobuf +} // namespace google + +// @@protoc_insertion_point(global_scope) diff --git a/apollo_msgs/include/apollo_msgs/proto/prediction/prediction_obstacle.pb.h b/apollo_msgs/include/apollo_msgs/proto/prediction/prediction_obstacle.pb.h new file mode 100644 index 0000000..9fec104 --- /dev/null +++ b/apollo_msgs/include/apollo_msgs/proto/prediction/prediction_obstacle.pb.h @@ -0,0 +1,962 @@ +// Generated by the protocol buffer compiler. DO NOT EDIT! +// source: apollo_msgs/proto/prediction/prediction_obstacle.proto + +#ifndef PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto +#define PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto + +#include + +#include + +#if GOOGLE_PROTOBUF_VERSION < 3006001 +#error This file was generated by a newer version of protoc which is +#error incompatible with your Protocol Buffer headers. Please update +#error your headers. +#endif +#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION +#error This file was generated by an older version of protoc which is +#error incompatible with your Protocol Buffer headers. Please +#error regenerate this file with a newer version of protoc. +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include // IWYU pragma: export +#include // IWYU pragma: export +#include +#include "apollo_msgs/proto/common/header.pb.h" +#include "apollo_msgs/proto/perception/perception_obstacle.pb.h" +// @@protoc_insertion_point(includes) +#define PROTOBUF_INTERNAL_EXPORT_protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto + +namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto { +// Internal implementation detail -- do not use these members. +struct TableStruct { + static const ::google::protobuf::internal::ParseTableField entries[]; + static const ::google::protobuf::internal::AuxillaryParseTableField aux[]; + static const ::google::protobuf::internal::ParseTable schema[4]; + static const ::google::protobuf::internal::FieldMetadata field_metadata[]; + static const ::google::protobuf::internal::SerializationTable serialization_table[]; + static const ::google::protobuf::uint32 offsets[]; +}; +void AddDescriptors(); +} // namespace protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto +namespace apollo { +namespace prediction { +class PredictionObstacle; +class PredictionObstacleDefaultTypeInternal; +extern PredictionObstacleDefaultTypeInternal _PredictionObstacle_default_instance_; +class PredictionObstacles; +class PredictionObstaclesDefaultTypeInternal; +extern PredictionObstaclesDefaultTypeInternal _PredictionObstacles_default_instance_; +class Trajectory; +class TrajectoryDefaultTypeInternal; +extern TrajectoryDefaultTypeInternal _Trajectory_default_instance_; +class TrajectoryPoint; +class TrajectoryPointDefaultTypeInternal; +extern TrajectoryPointDefaultTypeInternal _TrajectoryPoint_default_instance_; +} // namespace prediction +} // namespace apollo +namespace google { +namespace protobuf { +template<> ::apollo::prediction::PredictionObstacle* Arena::CreateMaybeMessage<::apollo::prediction::PredictionObstacle>(Arena*); +template<> ::apollo::prediction::PredictionObstacles* Arena::CreateMaybeMessage<::apollo::prediction::PredictionObstacles>(Arena*); +template<> ::apollo::prediction::Trajectory* Arena::CreateMaybeMessage<::apollo::prediction::Trajectory>(Arena*); +template<> ::apollo::prediction::TrajectoryPoint* Arena::CreateMaybeMessage<::apollo::prediction::TrajectoryPoint>(Arena*); +} // namespace protobuf +} // namespace google +namespace apollo { +namespace prediction { + +// =================================================================== + +class TrajectoryPoint : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.prediction.TrajectoryPoint) */ { + public: + TrajectoryPoint(); + virtual ~TrajectoryPoint(); + + TrajectoryPoint(const TrajectoryPoint& from); + + inline TrajectoryPoint& operator=(const TrajectoryPoint& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + TrajectoryPoint(TrajectoryPoint&& from) noexcept + : TrajectoryPoint() { + *this = ::std::move(from); + } + + inline TrajectoryPoint& operator=(TrajectoryPoint&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const TrajectoryPoint& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const TrajectoryPoint* internal_default_instance() { + return reinterpret_cast( + &_TrajectoryPoint_default_instance_); + } + static constexpr int kIndexInFileMessages = + 0; + + void Swap(TrajectoryPoint* other); + friend void swap(TrajectoryPoint& a, TrajectoryPoint& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline TrajectoryPoint* New() const final { + return CreateMaybeMessage(NULL); + } + + TrajectoryPoint* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const TrajectoryPoint& from); + void MergeFrom(const TrajectoryPoint& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(TrajectoryPoint* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // double x = 1; + void clear_x(); + static const int kXFieldNumber = 1; + double x() const; + void set_x(double value); + + // double y = 2; + void clear_y(); + static const int kYFieldNumber = 2; + double y() const; + void set_y(double value); + + // double z = 3; + void clear_z(); + static const int kZFieldNumber = 3; + double z() const; + void set_z(double value); + + // double velocity = 4; + void clear_velocity(); + static const int kVelocityFieldNumber = 4; + double velocity() const; + void set_velocity(double value); + + // double t = 5; + void clear_t(); + static const int kTFieldNumber = 5; + double t() const; + void set_t(double value); + + // double heading = 6; + void clear_heading(); + static const int kHeadingFieldNumber = 6; + double heading() const; + void set_heading(double value); + + // @@protoc_insertion_point(class_scope:apollo.prediction.TrajectoryPoint) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + double x_; + double y_; + double z_; + double velocity_; + double t_; + double heading_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class Trajectory : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.prediction.Trajectory) */ { + public: + Trajectory(); + virtual ~Trajectory(); + + Trajectory(const Trajectory& from); + + inline Trajectory& operator=(const Trajectory& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + Trajectory(Trajectory&& from) noexcept + : Trajectory() { + *this = ::std::move(from); + } + + inline Trajectory& operator=(Trajectory&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const Trajectory& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const Trajectory* internal_default_instance() { + return reinterpret_cast( + &_Trajectory_default_instance_); + } + static constexpr int kIndexInFileMessages = + 1; + + void Swap(Trajectory* other); + friend void swap(Trajectory& a, Trajectory& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline Trajectory* New() const final { + return CreateMaybeMessage(NULL); + } + + Trajectory* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const Trajectory& from); + void MergeFrom(const Trajectory& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(Trajectory* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.prediction.TrajectoryPoint trajectory_point = 2; + int trajectory_point_size() const; + void clear_trajectory_point(); + static const int kTrajectoryPointFieldNumber = 2; + ::apollo::prediction::TrajectoryPoint* mutable_trajectory_point(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::prediction::TrajectoryPoint >* + mutable_trajectory_point(); + const ::apollo::prediction::TrajectoryPoint& trajectory_point(int index) const; + ::apollo::prediction::TrajectoryPoint* add_trajectory_point(); + const ::google::protobuf::RepeatedPtrField< ::apollo::prediction::TrajectoryPoint >& + trajectory_point() const; + + // double probability = 1; + void clear_probability(); + static const int kProbabilityFieldNumber = 1; + double probability() const; + void set_probability(double value); + + // @@protoc_insertion_point(class_scope:apollo.prediction.Trajectory) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::prediction::TrajectoryPoint > trajectory_point_; + double probability_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class PredictionObstacle : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.prediction.PredictionObstacle) */ { + public: + PredictionObstacle(); + virtual ~PredictionObstacle(); + + PredictionObstacle(const PredictionObstacle& from); + + inline PredictionObstacle& operator=(const PredictionObstacle& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PredictionObstacle(PredictionObstacle&& from) noexcept + : PredictionObstacle() { + *this = ::std::move(from); + } + + inline PredictionObstacle& operator=(PredictionObstacle&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PredictionObstacle& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PredictionObstacle* internal_default_instance() { + return reinterpret_cast( + &_PredictionObstacle_default_instance_); + } + static constexpr int kIndexInFileMessages = + 2; + + void Swap(PredictionObstacle* other); + friend void swap(PredictionObstacle& a, PredictionObstacle& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PredictionObstacle* New() const final { + return CreateMaybeMessage(NULL); + } + + PredictionObstacle* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PredictionObstacle& from); + void MergeFrom(const PredictionObstacle& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PredictionObstacle* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.prediction.Trajectory trajectory = 4; + int trajectory_size() const; + void clear_trajectory(); + static const int kTrajectoryFieldNumber = 4; + ::apollo::prediction::Trajectory* mutable_trajectory(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory >* + mutable_trajectory(); + const ::apollo::prediction::Trajectory& trajectory(int index) const; + ::apollo::prediction::Trajectory* add_trajectory(); + const ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory >& + trajectory() const; + + // .apollo.perception.PerceptionObstacle perception_obstacle = 1; + bool has_perception_obstacle() const; + void clear_perception_obstacle(); + static const int kPerceptionObstacleFieldNumber = 1; + private: + const ::apollo::perception::PerceptionObstacle& _internal_perception_obstacle() const; + public: + const ::apollo::perception::PerceptionObstacle& perception_obstacle() const; + ::apollo::perception::PerceptionObstacle* release_perception_obstacle(); + ::apollo::perception::PerceptionObstacle* mutable_perception_obstacle(); + void set_allocated_perception_obstacle(::apollo::perception::PerceptionObstacle* perception_obstacle); + + // double time_stamp = 2; + void clear_time_stamp(); + static const int kTimeStampFieldNumber = 2; + double time_stamp() const; + void set_time_stamp(double value); + + // double predicted_period = 3; + void clear_predicted_period(); + static const int kPredictedPeriodFieldNumber = 3; + double predicted_period() const; + void set_predicted_period(double value); + + // @@protoc_insertion_point(class_scope:apollo.prediction.PredictionObstacle) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory > trajectory_; + ::apollo::perception::PerceptionObstacle* perception_obstacle_; + double time_stamp_; + double predicted_period_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::TableStruct; +}; +// ------------------------------------------------------------------- + +class PredictionObstacles : public ::google::protobuf::Message /* @@protoc_insertion_point(class_definition:apollo.prediction.PredictionObstacles) */ { + public: + PredictionObstacles(); + virtual ~PredictionObstacles(); + + PredictionObstacles(const PredictionObstacles& from); + + inline PredictionObstacles& operator=(const PredictionObstacles& from) { + CopyFrom(from); + return *this; + } + #if LANG_CXX11 + PredictionObstacles(PredictionObstacles&& from) noexcept + : PredictionObstacles() { + *this = ::std::move(from); + } + + inline PredictionObstacles& operator=(PredictionObstacles&& from) noexcept { + if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) { + if (this != &from) InternalSwap(&from); + } else { + CopyFrom(from); + } + return *this; + } + #endif + static const ::google::protobuf::Descriptor* descriptor(); + static const PredictionObstacles& default_instance(); + + static void InitAsDefaultInstance(); // FOR INTERNAL USE ONLY + static inline const PredictionObstacles* internal_default_instance() { + return reinterpret_cast( + &_PredictionObstacles_default_instance_); + } + static constexpr int kIndexInFileMessages = + 3; + + void Swap(PredictionObstacles* other); + friend void swap(PredictionObstacles& a, PredictionObstacles& b) { + a.Swap(&b); + } + + // implements Message ---------------------------------------------- + + inline PredictionObstacles* New() const final { + return CreateMaybeMessage(NULL); + } + + PredictionObstacles* New(::google::protobuf::Arena* arena) const final { + return CreateMaybeMessage(arena); + } + void CopyFrom(const ::google::protobuf::Message& from) final; + void MergeFrom(const ::google::protobuf::Message& from) final; + void CopyFrom(const PredictionObstacles& from); + void MergeFrom(const PredictionObstacles& from); + void Clear() final; + bool IsInitialized() const final; + + size_t ByteSizeLong() const final; + bool MergePartialFromCodedStream( + ::google::protobuf::io::CodedInputStream* input) final; + void SerializeWithCachedSizes( + ::google::protobuf::io::CodedOutputStream* output) const final; + ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray( + bool deterministic, ::google::protobuf::uint8* target) const final; + int GetCachedSize() const final { return _cached_size_.Get(); } + + private: + void SharedCtor(); + void SharedDtor(); + void SetCachedSize(int size) const final; + void InternalSwap(PredictionObstacles* other); + private: + inline ::google::protobuf::Arena* GetArenaNoVirtual() const { + return NULL; + } + inline void* MaybeArenaPtr() const { + return NULL; + } + public: + + ::google::protobuf::Metadata GetMetadata() const final; + + // nested types ---------------------------------------------------- + + // accessors ------------------------------------------------------- + + // repeated .apollo.prediction.PredictionObstacle prediction_obstacle = 2; + int prediction_obstacle_size() const; + void clear_prediction_obstacle(); + static const int kPredictionObstacleFieldNumber = 2; + ::apollo::prediction::PredictionObstacle* mutable_prediction_obstacle(int index); + ::google::protobuf::RepeatedPtrField< ::apollo::prediction::PredictionObstacle >* + mutable_prediction_obstacle(); + const ::apollo::prediction::PredictionObstacle& prediction_obstacle(int index) const; + ::apollo::prediction::PredictionObstacle* add_prediction_obstacle(); + const ::google::protobuf::RepeatedPtrField< ::apollo::prediction::PredictionObstacle >& + prediction_obstacle() const; + + // .apollo.common.Header header = 1; + bool has_header() const; + void clear_header(); + static const int kHeaderFieldNumber = 1; + private: + const ::apollo::common::Header& _internal_header() const; + public: + const ::apollo::common::Header& header() const; + ::apollo::common::Header* release_header(); + ::apollo::common::Header* mutable_header(); + void set_allocated_header(::apollo::common::Header* header); + + // .apollo.perception.PerceptionErrorCode perception_error_code = 3; + void clear_perception_error_code(); + static const int kPerceptionErrorCodeFieldNumber = 3; + ::apollo::perception::PerceptionErrorCode perception_error_code() const; + void set_perception_error_code(::apollo::perception::PerceptionErrorCode value); + + // @@protoc_insertion_point(class_scope:apollo.prediction.PredictionObstacles) + private: + + ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_; + ::google::protobuf::RepeatedPtrField< ::apollo::prediction::PredictionObstacle > prediction_obstacle_; + ::apollo::common::Header* header_; + int perception_error_code_; + mutable ::google::protobuf::internal::CachedSize _cached_size_; + friend struct ::protobuf_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto::TableStruct; +}; +// =================================================================== + + +// =================================================================== + +#ifdef __GNUC__ + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wstrict-aliasing" +#endif // __GNUC__ +// TrajectoryPoint + +// double x = 1; +inline void TrajectoryPoint::clear_x() { + x_ = 0; +} +inline double TrajectoryPoint::x() const { + // @@protoc_insertion_point(field_get:apollo.prediction.TrajectoryPoint.x) + return x_; +} +inline void TrajectoryPoint::set_x(double value) { + + x_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.TrajectoryPoint.x) +} + +// double y = 2; +inline void TrajectoryPoint::clear_y() { + y_ = 0; +} +inline double TrajectoryPoint::y() const { + // @@protoc_insertion_point(field_get:apollo.prediction.TrajectoryPoint.y) + return y_; +} +inline void TrajectoryPoint::set_y(double value) { + + y_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.TrajectoryPoint.y) +} + +// double z = 3; +inline void TrajectoryPoint::clear_z() { + z_ = 0; +} +inline double TrajectoryPoint::z() const { + // @@protoc_insertion_point(field_get:apollo.prediction.TrajectoryPoint.z) + return z_; +} +inline void TrajectoryPoint::set_z(double value) { + + z_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.TrajectoryPoint.z) +} + +// double velocity = 4; +inline void TrajectoryPoint::clear_velocity() { + velocity_ = 0; +} +inline double TrajectoryPoint::velocity() const { + // @@protoc_insertion_point(field_get:apollo.prediction.TrajectoryPoint.velocity) + return velocity_; +} +inline void TrajectoryPoint::set_velocity(double value) { + + velocity_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.TrajectoryPoint.velocity) +} + +// double t = 5; +inline void TrajectoryPoint::clear_t() { + t_ = 0; +} +inline double TrajectoryPoint::t() const { + // @@protoc_insertion_point(field_get:apollo.prediction.TrajectoryPoint.t) + return t_; +} +inline void TrajectoryPoint::set_t(double value) { + + t_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.TrajectoryPoint.t) +} + +// double heading = 6; +inline void TrajectoryPoint::clear_heading() { + heading_ = 0; +} +inline double TrajectoryPoint::heading() const { + // @@protoc_insertion_point(field_get:apollo.prediction.TrajectoryPoint.heading) + return heading_; +} +inline void TrajectoryPoint::set_heading(double value) { + + heading_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.TrajectoryPoint.heading) +} + +// ------------------------------------------------------------------- + +// Trajectory + +// double probability = 1; +inline void Trajectory::clear_probability() { + probability_ = 0; +} +inline double Trajectory::probability() const { + // @@protoc_insertion_point(field_get:apollo.prediction.Trajectory.probability) + return probability_; +} +inline void Trajectory::set_probability(double value) { + + probability_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.Trajectory.probability) +} + +// repeated .apollo.prediction.TrajectoryPoint trajectory_point = 2; +inline int Trajectory::trajectory_point_size() const { + return trajectory_point_.size(); +} +inline void Trajectory::clear_trajectory_point() { + trajectory_point_.Clear(); +} +inline ::apollo::prediction::TrajectoryPoint* Trajectory::mutable_trajectory_point(int index) { + // @@protoc_insertion_point(field_mutable:apollo.prediction.Trajectory.trajectory_point) + return trajectory_point_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::prediction::TrajectoryPoint >* +Trajectory::mutable_trajectory_point() { + // @@protoc_insertion_point(field_mutable_list:apollo.prediction.Trajectory.trajectory_point) + return &trajectory_point_; +} +inline const ::apollo::prediction::TrajectoryPoint& Trajectory::trajectory_point(int index) const { + // @@protoc_insertion_point(field_get:apollo.prediction.Trajectory.trajectory_point) + return trajectory_point_.Get(index); +} +inline ::apollo::prediction::TrajectoryPoint* Trajectory::add_trajectory_point() { + // @@protoc_insertion_point(field_add:apollo.prediction.Trajectory.trajectory_point) + return trajectory_point_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::prediction::TrajectoryPoint >& +Trajectory::trajectory_point() const { + // @@protoc_insertion_point(field_list:apollo.prediction.Trajectory.trajectory_point) + return trajectory_point_; +} + +// ------------------------------------------------------------------- + +// PredictionObstacle + +// .apollo.perception.PerceptionObstacle perception_obstacle = 1; +inline bool PredictionObstacle::has_perception_obstacle() const { + return this != internal_default_instance() && perception_obstacle_ != NULL; +} +inline const ::apollo::perception::PerceptionObstacle& PredictionObstacle::_internal_perception_obstacle() const { + return *perception_obstacle_; +} +inline const ::apollo::perception::PerceptionObstacle& PredictionObstacle::perception_obstacle() const { + const ::apollo::perception::PerceptionObstacle* p = perception_obstacle_; + // @@protoc_insertion_point(field_get:apollo.prediction.PredictionObstacle.perception_obstacle) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::perception::_PerceptionObstacle_default_instance_); +} +inline ::apollo::perception::PerceptionObstacle* PredictionObstacle::release_perception_obstacle() { + // @@protoc_insertion_point(field_release:apollo.prediction.PredictionObstacle.perception_obstacle) + + ::apollo::perception::PerceptionObstacle* temp = perception_obstacle_; + perception_obstacle_ = NULL; + return temp; +} +inline ::apollo::perception::PerceptionObstacle* PredictionObstacle::mutable_perception_obstacle() { + + if (perception_obstacle_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::perception::PerceptionObstacle>(GetArenaNoVirtual()); + perception_obstacle_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.prediction.PredictionObstacle.perception_obstacle) + return perception_obstacle_; +} +inline void PredictionObstacle::set_allocated_perception_obstacle(::apollo::perception::PerceptionObstacle* perception_obstacle) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(perception_obstacle_); + } + if (perception_obstacle) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + perception_obstacle = ::google::protobuf::internal::GetOwnedMessage( + message_arena, perception_obstacle, submessage_arena); + } + + } else { + + } + perception_obstacle_ = perception_obstacle; + // @@protoc_insertion_point(field_set_allocated:apollo.prediction.PredictionObstacle.perception_obstacle) +} + +// double time_stamp = 2; +inline void PredictionObstacle::clear_time_stamp() { + time_stamp_ = 0; +} +inline double PredictionObstacle::time_stamp() const { + // @@protoc_insertion_point(field_get:apollo.prediction.PredictionObstacle.time_stamp) + return time_stamp_; +} +inline void PredictionObstacle::set_time_stamp(double value) { + + time_stamp_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.PredictionObstacle.time_stamp) +} + +// double predicted_period = 3; +inline void PredictionObstacle::clear_predicted_period() { + predicted_period_ = 0; +} +inline double PredictionObstacle::predicted_period() const { + // @@protoc_insertion_point(field_get:apollo.prediction.PredictionObstacle.predicted_period) + return predicted_period_; +} +inline void PredictionObstacle::set_predicted_period(double value) { + + predicted_period_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.PredictionObstacle.predicted_period) +} + +// repeated .apollo.prediction.Trajectory trajectory = 4; +inline int PredictionObstacle::trajectory_size() const { + return trajectory_.size(); +} +inline void PredictionObstacle::clear_trajectory() { + trajectory_.Clear(); +} +inline ::apollo::prediction::Trajectory* PredictionObstacle::mutable_trajectory(int index) { + // @@protoc_insertion_point(field_mutable:apollo.prediction.PredictionObstacle.trajectory) + return trajectory_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory >* +PredictionObstacle::mutable_trajectory() { + // @@protoc_insertion_point(field_mutable_list:apollo.prediction.PredictionObstacle.trajectory) + return &trajectory_; +} +inline const ::apollo::prediction::Trajectory& PredictionObstacle::trajectory(int index) const { + // @@protoc_insertion_point(field_get:apollo.prediction.PredictionObstacle.trajectory) + return trajectory_.Get(index); +} +inline ::apollo::prediction::Trajectory* PredictionObstacle::add_trajectory() { + // @@protoc_insertion_point(field_add:apollo.prediction.PredictionObstacle.trajectory) + return trajectory_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::prediction::Trajectory >& +PredictionObstacle::trajectory() const { + // @@protoc_insertion_point(field_list:apollo.prediction.PredictionObstacle.trajectory) + return trajectory_; +} + +// ------------------------------------------------------------------- + +// PredictionObstacles + +// .apollo.common.Header header = 1; +inline bool PredictionObstacles::has_header() const { + return this != internal_default_instance() && header_ != NULL; +} +inline const ::apollo::common::Header& PredictionObstacles::_internal_header() const { + return *header_; +} +inline const ::apollo::common::Header& PredictionObstacles::header() const { + const ::apollo::common::Header* p = header_; + // @@protoc_insertion_point(field_get:apollo.prediction.PredictionObstacles.header) + return p != NULL ? *p : *reinterpret_cast( + &::apollo::common::_Header_default_instance_); +} +inline ::apollo::common::Header* PredictionObstacles::release_header() { + // @@protoc_insertion_point(field_release:apollo.prediction.PredictionObstacles.header) + + ::apollo::common::Header* temp = header_; + header_ = NULL; + return temp; +} +inline ::apollo::common::Header* PredictionObstacles::mutable_header() { + + if (header_ == NULL) { + auto* p = CreateMaybeMessage<::apollo::common::Header>(GetArenaNoVirtual()); + header_ = p; + } + // @@protoc_insertion_point(field_mutable:apollo.prediction.PredictionObstacles.header) + return header_; +} +inline void PredictionObstacles::set_allocated_header(::apollo::common::Header* header) { + ::google::protobuf::Arena* message_arena = GetArenaNoVirtual(); + if (message_arena == NULL) { + delete reinterpret_cast< ::google::protobuf::MessageLite*>(header_); + } + if (header) { + ::google::protobuf::Arena* submessage_arena = NULL; + if (message_arena != submessage_arena) { + header = ::google::protobuf::internal::GetOwnedMessage( + message_arena, header, submessage_arena); + } + + } else { + + } + header_ = header; + // @@protoc_insertion_point(field_set_allocated:apollo.prediction.PredictionObstacles.header) +} + +// repeated .apollo.prediction.PredictionObstacle prediction_obstacle = 2; +inline int PredictionObstacles::prediction_obstacle_size() const { + return prediction_obstacle_.size(); +} +inline void PredictionObstacles::clear_prediction_obstacle() { + prediction_obstacle_.Clear(); +} +inline ::apollo::prediction::PredictionObstacle* PredictionObstacles::mutable_prediction_obstacle(int index) { + // @@protoc_insertion_point(field_mutable:apollo.prediction.PredictionObstacles.prediction_obstacle) + return prediction_obstacle_.Mutable(index); +} +inline ::google::protobuf::RepeatedPtrField< ::apollo::prediction::PredictionObstacle >* +PredictionObstacles::mutable_prediction_obstacle() { + // @@protoc_insertion_point(field_mutable_list:apollo.prediction.PredictionObstacles.prediction_obstacle) + return &prediction_obstacle_; +} +inline const ::apollo::prediction::PredictionObstacle& PredictionObstacles::prediction_obstacle(int index) const { + // @@protoc_insertion_point(field_get:apollo.prediction.PredictionObstacles.prediction_obstacle) + return prediction_obstacle_.Get(index); +} +inline ::apollo::prediction::PredictionObstacle* PredictionObstacles::add_prediction_obstacle() { + // @@protoc_insertion_point(field_add:apollo.prediction.PredictionObstacles.prediction_obstacle) + return prediction_obstacle_.Add(); +} +inline const ::google::protobuf::RepeatedPtrField< ::apollo::prediction::PredictionObstacle >& +PredictionObstacles::prediction_obstacle() const { + // @@protoc_insertion_point(field_list:apollo.prediction.PredictionObstacles.prediction_obstacle) + return prediction_obstacle_; +} + +// .apollo.perception.PerceptionErrorCode perception_error_code = 3; +inline void PredictionObstacles::clear_perception_error_code() { + perception_error_code_ = 0; +} +inline ::apollo::perception::PerceptionErrorCode PredictionObstacles::perception_error_code() const { + // @@protoc_insertion_point(field_get:apollo.prediction.PredictionObstacles.perception_error_code) + return static_cast< ::apollo::perception::PerceptionErrorCode >(perception_error_code_); +} +inline void PredictionObstacles::set_perception_error_code(::apollo::perception::PerceptionErrorCode value) { + + perception_error_code_ = value; + // @@protoc_insertion_point(field_set:apollo.prediction.PredictionObstacles.perception_error_code) +} + +#ifdef __GNUC__ + #pragma GCC diagnostic pop +#endif // __GNUC__ +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + +// ------------------------------------------------------------------- + + +// @@protoc_insertion_point(namespace_scope) + +} // namespace prediction +} // namespace apollo + +// @@protoc_insertion_point(global_scope) + +#endif // PROTOBUF_INCLUDED_apollo_5fmsgs_2fproto_2fprediction_2fprediction_5fobstacle_2eproto diff --git a/apollo_msgs/package.xml b/apollo_msgs/package.xml new file mode 100644 index 0000000..6b36d24 --- /dev/null +++ b/apollo_msgs/package.xml @@ -0,0 +1,20 @@ + + + apollo_msgs + 0.0.0 + The apollo_msgs package + forrest + TODO + + catkin + roscpp + roscpp + roscpp + + + + + + + + diff --git a/apollo_msgs/proto/apollo_msgs/proto/canbus/chassis.proto b/apollo_msgs/proto/apollo_msgs/proto/canbus/chassis.proto new file mode 100644 index 0000000..a8e91c7 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/canbus/chassis.proto @@ -0,0 +1,106 @@ +syntax = "proto3"; + +package apollo.canbus; + +import "apollo_msgs/proto/common/header.proto"; + +message Signal { + enum TurnSignal { + TURN_NONE = 0; + TURN_LEFT = 1; + TURN_RIGHT = 2; + }; + TurnSignal turn_signal = 1; + // lights enable command + bool high_beam = 2; + bool low_beam = 3; + bool horn = 4; + bool emergency_light = 5; +} + +// next id :28 +message Chassis { + enum DrivingMode { + COMPLETE_MANUAL = 0; // human drive + COMPLETE_AUTO_DRIVE = 1; + AUTO_STEER_ONLY = 2; // only steer + AUTO_SPEED_ONLY = 3; // include throttle and brake + + // security mode when manual intervention happens, only response status + EMERGENCY_MODE = 4; + } + + // FIXME: To be merged with common::ErrorCode + enum ErrorCode { + NO_ERROR = 0; + + CMD_NOT_IN_PERIOD = 1; // control cmd not in period + + // car chassis report error, like steer, brake, throttle, gear fault + CHASSIS_ERROR = 2; + + MANUAL_INTERVENTION = 3; // human manual intervention + + // receive car chassis can frame not in period + CHASSIS_CAN_NOT_IN_PERIOD = 4; + + UNKNOWN_ERROR = 5; + } + + enum GearPosition { + GEAR_NEUTRAL = 0; + GEAR_DRIVE = 1; + GEAR_REVERSE = 2; + GEAR_PARKING = 3; + GEAR_LOW = 4; + GEAR_INVALID = 5; + GEAR_NONE = 6; + } + + bool engine_started = 3; + // Engine speed in RPM. + float engine_rpm = 4; + // Vehicle Speed in meters per second. + float speed_mps = 5; + // Vehicle odometer in meters. + float odometer_m = 6; + // Fuel range in meters. + int32 fuel_range_m = 7; + // Real throttle location in [%], ranging from 0 to 100. + float throttle_percentage = 8; + // Real brake location in [%], ranging from 0 to 100. + float brake_percentage = 9; + // Real gear location. + // int32 gear_location = 10; deprecated use enum replace this [id 23] + // Real steering location in [%], ranging from 0 to 100. + float steering_percentage = 11; + // Applied steering torque in [Nm]. + float steering_torque_nm = 12; + + // Parking brake status. + bool parking_brake = 13; + + + bool wiper = 19; + bool disengage_status = 20; + DrivingMode driving_mode = 21; + ErrorCode error_code = 22; + GearPosition gear_location = 23; + + // timestamp for steering module + double steering_timestamp = 24; // In seconds, with 1e-6 accuracy + + // chassis also needs it own sending timestamp + apollo.common.Header header = 25; + + int32 chassis_error_mask = 26; + + Signal signal = 27; + + // Light signals. + bool high_beam_signal = 14; + bool low_beam_signal = 15; + bool left_turn_signal = 16; + bool right_turn_signal = 17; + bool horn = 18; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/canbus/chassis_detail.proto b/apollo_msgs/proto/apollo_msgs/proto/canbus/chassis_detail.proto new file mode 100644 index 0000000..b390133 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/canbus/chassis_detail.proto @@ -0,0 +1,503 @@ +syntax = "proto3"; + +package apollo.canbus; + +import "apollo_msgs/proto/canbus/chassis.proto"; + +message ChassisDetail { + enum Type { + QIRUI_EQ_15 = 0; + CHANGAN_RUICHENG = 1; + } + Type car_type = 1; // car type + BasicInfo basic = 2; // basic info + Safety safety = 3; // safety + Gear gear = 4; // gear + Ems ems = 5; // engine manager system + Esp esp = 6; // Electronic Stability Program + Gas gas = 7; // gas pedal + Epb epb = 8; // Electronic parking brake + Brake brake = 9; // brake pedal + Deceleration deceleration = 10; // deceleration + VehicleSpd vehicle_spd = 11; // vehicle speed + Eps eps = 12; // Electronic Power Steering + Light light = 13; // Light + Battery battery = 14; // Battery info + CheckResponseSignal check_response = 15; +} + +// CheckResponseSignal +message CheckResponseSignal { + bool is_eps_online = 1; // byd:0x34C qirui:0x505 + bool is_epb_online = 2; // byd:0x218 + bool is_esp_online = 3; // byd:0x122 qirui:0x451 + bool is_vtog_online = 4; // byd:0x242 + bool is_scu_online = 5; // byd:0x35C + bool is_switch_online = 6; // byd:0x133 + bool is_vcu_online = 7; // qirui:0x400 +} + +// Battery +message Battery { + double battery_percent = 1; // unit:%, battery percentage left + // lincoln fuellevel 72 + double fuel_level = 2; +} + +// light +message Light { + enum TurnLightType { + TURN_LIGHT_OFF = 0; + TURN_LEFT_ON = 1; + TURN_RIGHT_ON = 2; + TURN_LIGHT_ON = 3; + } + enum LampType { + BEAM_OFF = 0; + HIGH_BEAM_ON = 1; + LOW_BEAM_ON = 2; + } + enum LincolnLampType { + BEAM_NULL = 0; + BEAM_FLASH_TO_PASS = 1; + BEAM_HIGH = 2; + BEAM_INVALID = 3; + } + enum LincolnWiperType { + WIPER_OFF = 0; + WIPER_AUTO_OFF = 1; + WIPER_OFF_MOVING = 2; + WIPER_MANUAL_OFF = 3; + WIPER_MANUAL_ON = 4; + WIPER_MANUAL_LOW = 5; + WIPER_MANUAL_HIGH = 6; + WIPER_MIST_FLICK = 7; + WIPER_WASH = 8; + WIPER_AUTO_LOW = 9; + WIPER_AUTO_HIGH = 10; + WIPER_COURTESY_WIPE = 11; + WIPER_AUTO_ADJUST = 12; + WIPER_RESERVED = 13; + WIPER_STALLED = 14; + WIPER_NO_DATA = 15; + } + enum LincolnAmbientType { + AMBIENT_DARK = 0; + AMBIENT_LIGHT = 1; + AMBIENT_TWILIGHT = 2; + AMBIENT_TUNNEL_ON = 3; + AMBIENT_TUNNEL_OFF = 4; + AMBIENT_INVALID = 5; + AMBIENT_NO_DATA = 7; + } + + TurnLightType turn_light_type = 1; + LampType lamp_type = 2; + bool is_brake_lamp_on = 3; + // byd switch 133 + bool is_auto_light = 4; + int32 wiper_gear = 5; + int32 lotion_gear = 6; + bool is_horn_on = 7; + + // lincoln misc 69 + LincolnLampType lincoln_lamp_type = 8; + LincolnWiperType lincoln_wiper = 9; + LincolnAmbientType lincoln_ambient = 10; +} + +// Electrical Power Steering +message Eps { + enum Type { + NOT_AVAILABLE = 0; + READY = 1; + ACTIVE = 2; + INVALID = 3; + } + // changan: eps 2a0 + bool is_eps_fail = 1; + // eps 2a0 + Type eps_control_state = 2; // for changan to control steering + double eps_driver_hand_torq = 3; // unit:Nm + + bool is_steering_angle_valid = 4; + double steering_angle = 5; // unit:degree + double steering_angle_spd = 6; // unit:degree/s + + // byd sas 11f + bool is_trimming_status = 7; + bool is_calibration_status = 8; + bool is_failure_status = 9; + int32 allow_enter_autonomous_mode = 10; + int32 current_driving_mode = 11; + + // lincoln steering 65 + double steering_angle_cmd = 12; + double vehicle_speed = 13; + double epas_torque = 14; + bool steering_enabled = 15; + bool driver_override = 16; + bool driver_activity = 17; + bool watchdog_fault = 18; + bool channel_1_fault = 19; + bool channel_2_fault = 20; + bool calibration_fault = 21; + bool connector_fault = 22; + + double timestamp_65 = 23; + + // lincoln version 7f + int32 major_version = 24; + int32 minor_version = 25; + int32 build_number = 26; +} + +message VehicleSpd { + enum Type { + FORWARD = 0; + BACKWARD = 1; + STANDSTILL = 2; + INVALID = 3; + } + // esp 277 + bool is_vehicle_standstill = 1; + + // esp 218 + bool is_vehicle_spd_valid = 2; + double vehicle_spd = 3; // unit:m/s + // esp 208 + bool is_wheel_spd_rr_valid = 4; + Type wheel_direction_rr = 5; + double wheel_spd_rr = 6; + bool is_wheel_spd_rl_valid = 7; + Type wheel_direction_rl = 8; + double wheel_spd_rl = 9; + bool is_wheel_spd_fr_valid = 10; + Type wheel_direction_fr = 11; + double wheel_spd_fr = 12; + bool is_wheel_spd_fl_valid = 13; + Type wheel_direction_fl = 14; + double wheel_spd_fl = 15; + + // byd esp 222 + bool is_yaw_rate_valid = 16; + double yaw_rate = 17; + double yaw_rate_offset = 18; + + // byd esp 223 + bool is_ax_valid = 19; + double ax = 20; + double ax_offset = 21; + bool is_ay_valid = 22; + double ay = 23; + double ay_offset = 24; + + // lincoln accel 6b + double lat_acc = 25; + double long_acc = 26; + double vert_acc = 27; + + // lincoln gyro 6c + double roll_rate = 28; + + // lincoln brakeinfo 74 + double acc_est = 29; + + // lincoln wheelspeed 6a + double timestamp_sec = 30; +} + +message Deceleration { + // esp 277 + bool is_deceleration_available = + 1; // for changan to send deceleration value + bool is_deceleration_active = + 2; // for changan to send deceleration value + + double deceleration = 3; + + double is_evb_fail = 4; + double evb_pressure = 5; // mpa, 0~25.5 + + double brake_pressure = 6; + double brake_pressure_spd = 7; +} + +message Brake { + enum HSAStatusType { + HSA_INACTIVE = 0; + HSA_FINDING_GRADIENT = 1; + HSA_ACTIVE_PRESSED = 2; + HSA_ACTIVE_RELEASED = 3; + HSA_FAST_RELEASE = 4; + HSA_SLOW_RELEASE = 5; + HSA_FAILED = 6; + HSA_UNDEFINED = 7; + } + enum HSAModeType { + HSA_OFF = 0; + HSA_AUTO = 1; + HSA_MANUAL = 2; + HSA_MODE_UNDEFINED = 3; + } + // ems 255 + bool is_brake_pedal_pressed = 1 + ; // only manual brake + // esp 277 + bool is_brake_force_exist = + 2; // no matter auto mode brake or manual brake + bool is_brake_over_heat = 3; + + bool is_hand_brake_on = 4; // hand brake + double brake_pedal_position = 5; + + // byd vtog 342 + bool is_brake_valid = 6; + + // lincoln brake 61 + double brake_input = 7; + double brake_cmd = 8; + double brake_output = 9; + bool boo_input = 10; + bool boo_cmd = 11; + bool boo_output = 12; + bool watchdog_applying_brakes = 13; + int32 watchdog_source = 14; + bool brake_enabled = 15; + bool driver_override = 16; + bool driver_activity = 17; + bool watchdog_fault = 18; + bool channel_1_fault = 19; + bool channel_2_fault = 20; + bool boo_fault = 21; + bool connector_fault = 22; + + // lincoln brakeinfo 74 + int32 brake_torque_req = 23; + HSAStatusType hsa_status = 24; + int32 brake_torque_act = 25; + HSAModeType hsa_mode = 26; + int32 wheel_torque_act = 27; + + // lincoln version 7f + int32 major_version = 28; + int32 minor_version = 29; + int32 build_number = 30; +} + +// Electrical Parking Brake +message Epb { + enum PBrakeType { + PBRAKE_OFF = 0; + PBRAKE_TRANSITION = 1; + PBRAKE_ON = 2; + PBRAKE_FAULT = 3; + } + // epb 256 + bool is_epb_error = 1; + bool is_epb_released = 2; + + // byd epb 218 + int32 epb_status = 3; + + // lincoln brakeinfo 74 + PBrakeType parking_brake_status = 4; +} + +message Gas { + // ems 255 + bool is_gas_pedal_error = 1; + // ems 26a + bool is_gas_pedal_pressed_more = 2; // more than auto mode gas torq + double gas_pedal_position = 3; // manual gas + // byd vtog 342 + bool is_gas_valid = 4; + + // lincoln throttle 63 + double throttle_input = 5; + double throttle_cmd = 6; + double throttle_output = 7; + int32 watchdog_source = 8; + bool throttle_enabled = 9; + bool driver_override = 10; + bool driver_activity = 11; + bool watchdog_fault = 12; + bool channel_1_fault = 13; + bool channel_2_fault = 14; + bool connector_fault = 15; + + // lincoln throttleinfo 75 + double accelerator_pedal = 16; + double accelerator_pedal_rate = 17; + + // lincoln version 7f + int32 major_version = 18; + int32 minor_version = 19; + int32 build_number = 20; +} + +// Electronic Stability Program +message Esp { + // esp 277 + bool is_esp_acc_error = 1; // for changan to control car + + // esp 218 + bool is_esp_on = 2; + bool is_esp_active = 3; + bool is_abs_error = 4; + bool is_abs_active = 5; + bool is_tcsvdc_fail = 6; + + // lincoln brakeinfo 74 + bool is_abs_enabled = 7; + bool is_stab_active = 8; + bool is_stab_enabled = 9; + bool is_trac_active = 10; + bool is_trac_enabled = 11; +} + +// Engine Manager System +message Ems { + enum Type { + STOP = 0; + CRANK = 1; + RUNNING = 2; + INVALID = 3; + } + // ems 26a + bool is_engine_acc_available = 1; // for changan to control car + bool is_engine_acc_error = 2; // for changan to control car + + // ems 265 + Type engine_state = 3; + double max_engine_torq_percent = + 4; // for engine torq control, unit:% + double min_engine_torq_percent = + 5; // for engine torq control, unit:% + int32 base_engine_torq_constant = + 6; // for engine torq control, unit:Nm + + // ems 255 + bool is_engine_speed_error = 7; + double engine_speed = 8; + + // byd vtog 241 + int32 engine_torque = 9; + // byd vtog 242 + bool is_over_engine_torque = 10; + + // lincoln mkz throttleinfo 75 + double engine_rpm = 11; +} + +message Gear { + // tcu 268 + bool is_shift_position_valid = 1; + // chanan: tcu 268 + Chassis.GearPosition gear_state = 2; + // lincoln gear 67 + bool driver_override = 3; + Chassis.GearPosition gear_cmd = 4; + bool canbus_fault = 5; +} + +message Safety { + // ip 270 + bool is_driver_car_door_close = 1; + // sas 50 + bool is_driver_buckled = 2; + + // byd sws 4a8 + int32 emergency_button = 3; + + // qirui:403 + // when car chassis error, like system fault, or warning report + bool has_error = 4; + bool is_motor_invertor_fault = 5; + bool is_system_fault = 6; + bool is_power_battery_fault = 7; + bool is_motor_invertor_over_temperature = 8; + bool is_small_battery_charge_discharge_fault = 9; + int32 driving_mode = 10; + + // lincoln misc 69 + bool is_passenger_door_open = 11; + bool is_rearleft_door_open = 12; + bool is_rearright_door_open = 13; + bool is_hood_open = 14; + bool is_trunk_open = 15; + bool is_passenger_detected = 16; + bool is_passenger_airbag_enabled = 17; + bool is_passenger_buckled = 18; + + // lincoln tirepressure 71 + int32 front_left_tire_press = 19; + int32 front_right_tire_press = 20; + int32 rear_left_tire_press = 21; + int32 rear_right_tire_press = 22; + Chassis.DrivingMode car_driving_mode = 23; +} + +message BasicInfo { + enum Type { + OFF = 0; + ACC = 1; + ON = 2; + START = 3; + INVALID = 4; + } + enum GpsQuality { + FIX_NO = 0; + FIX_2D = 1; + FIX_3D = 2; + FIX_INVALID = 3; + } + bool is_auto_mode = 1; + Type power_state = 2; + bool is_air_bag_deployed = 3; + double odo_meter = 4; // odo meter, unit:km + double drive_range = + 5; // the meter left when drive continuously, unit:km + bool is_system_error = 6; + bool is_human_interrupt = 7; // human interrupt + + // lincoln misc 69 + bool acc_on_button = 8; // acc on button pressed + bool acc_off_button = 9; + bool acc_res_button = 10; + bool acc_cancel_button = 11; + bool acc_on_off_button = 12; + bool acc_res_cancel_button = 13; + bool acc_inc_spd_button = 14; + bool acc_dec_spd_button = 15; + bool acc_inc_gap_button = 16; + bool acc_dec_gap_button = 17; + bool lka_button = 18; + bool canbus_fault = 19; + + // lincoln gps 6d + double latitude = 20; + double longitude = 21; + bool gps_valid = 22; + + // lincoln gps 6e + int32 year = 23; + int32 month = 24; + int32 day = 25; + int32 hours = 26; + int32 minutes = 27; + int32 seconds = 28; + double compass_direction = 29; + double pdop = 30; + bool is_gps_fault = 31; + bool is_inferred = 32; + + // lincoln gps 6f + double altitude = 33; + double heading = 34; + double hdop = 35; + double vdop = 36; + GpsQuality quality = 37; + int32 num_satellites = 38; + double gps_speed = 39; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/common/adapter_config.proto b/apollo_msgs/proto/apollo_msgs/proto/common/adapter_config.proto new file mode 100644 index 0000000..15510da --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/common/adapter_config.proto @@ -0,0 +1,41 @@ +syntax = "proto3"; + +package apollo.common.adapter; + +// Property of a certain Input/Output that will be used by a module. +message AdapterConfig { + enum MessageType { + POINT_CLOUD = 0; + GPS = 1; + IMU = 2; + CHASSIS = 3; + LOCALIZATION = 4; + PLANNING_TRAJECTORY = 5; + MONITOR = 6; + PAD = 7; + CONTROL_COMMAND = 8; + PREDICTION = 9; + PERCEPTION_OBSTACLES = 10; + TRAFFIC_LIGHT_DETECTION = 11; + CHASSIS_DETAIL = 12; + DECISION = 13; + CANBUS = 14; + } + enum Mode { + RECEIVE_ONLY = 0; + PUBLISH_ONLY = 1; + DUPLEX = 2; + } + MessageType type = 1; + Mode mode = 2; + // The max number of received messages to keep in the adapter, this field + // is not useful for PUBLISH_ONLY mode messages. + int32 message_history_limit = 3; +} + +// A config to specify which messages a certain module would consume and +// produce. +message AdapterManagerConfig { + repeated AdapterConfig config = 1; + bool is_ros = 2; // Whether the message comes from ROS +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/common/config_extrinsics.proto b/apollo_msgs/proto/apollo_msgs/proto/common/config_extrinsics.proto new file mode 100644 index 0000000..eb58556 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/common/config_extrinsics.proto @@ -0,0 +1,21 @@ +syntax = "proto3"; + +package apollo.common.config; + +import "apollo_msgs/proto/common/geometry.proto"; + +message Transform { + bytes source_frame = 1; // Also known as "frame_id." + + bytes target_frame = 2; // Also known as "child_frame_id." + + // Position of target in the source frame. + Point3D translation = 3; + + // Activate rotation from the source frame to the target frame. + Quaternion rotation = 4; +} + +message Extrinsics { + repeated Transform tansforms = 1; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/common/error_code.proto b/apollo_msgs/proto/apollo_msgs/proto/common/error_code.proto new file mode 100644 index 0000000..8eda819 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/common/error_code.proto @@ -0,0 +1,30 @@ +syntax = "proto3"; + +package apollo.common; + +// Error codes enum for API's categorized by modules. +enum ErrorCode { + // No error, reutrns on success. + OK = 0; + + // Control module error codes start from here. + CONTROL_ERROR = 1000; + CONTROL_INIT_ERROR = 1001; + CONTROL_COMPUTE_ERROR = 1002; + + // Canbus module error codes start from here. + CANBUS_ERROR = 2000; + CAN_CLIENT_ERROR_BASE = 2100; + CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101; + CAN_CLIENT_ERROR_FRAME_NUM = 2102; + CAN_CLIENT_ERROR_SEND_FAILED = 2103; + CAN_CLIENT_ERROR_RECV_FAILED = 2104; + + // Localization module error codes start from here. + LOCALIZATION_ERROR = 3000; +} + +message StatusPb { + ErrorCode error_code = 1; + string msg = 2; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/common/geometry.proto b/apollo_msgs/proto/apollo_msgs/proto/common/geometry.proto new file mode 100644 index 0000000..ca37379 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/common/geometry.proto @@ -0,0 +1,48 @@ +syntax = "proto3"; + +package apollo.common; + +// A point in the map reference frame. The map defines an origin, whose coordinate is (0, 0, 0). +// Most modules, including localization, perception, and prediction, generate results based on the +// map reference frame. +// Currently, the map uses Universal Transverse Mercator (UTM) projection. See the link below for +// the definition of map origin. +// https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system +// The z field of PointENU can be omitted. If so, it is a 2D location and we do not care its height. +message PointENU { + double x = 1; // East from the origin, in meters. + double y = 2; // North from the origin, in meters. + double z = 3; // Up from the WGS-84 ellipsoid, in meters. +} + +// A point in the global reference frame. Similar to PointENU, PointLLH allows omitting the height +// field for representing a 2D location. +message PointLLH { + double lon = 1; // Longitude in degrees, ranging from -180 to 180. + double lat = 2; // Latitude in degrees, ranging from -90 to 90. + double height = 3; // WGS-84 ellipsoid height in meters. +} + +// A general 2D point. Its meaning and units depend on context, and must be explained in comments. +message Point2D { + double x = 1; + double y = 2; +} + +// A general 3D point. Its meaning and units depend on context, and must be explained in comments. +message Point3D { + double x = 1; + double y = 2; + double z = 3; +} + +// A unit quaternion that represents a spatial rotation. See the link below for details. +// https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation +// The scalar part qw can be omitted. In this case, qw should be calculated by +// qw = sqrt(1 - qx * qx - qy * qy - qz * qz). +message Quaternion { + double qx = 1; + double qy = 2; + double qz = 3; + double qw = 4; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/common/gnss_status.proto b/apollo_msgs/proto/apollo_msgs/proto/common/gnss_status.proto new file mode 100644 index 0000000..131f793 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/common/gnss_status.proto @@ -0,0 +1,41 @@ + +syntax = "proto3"; + +package apollo.common.gnss_status; + +import "apollo_msgs/proto/common/header.proto"; + +message StreamStatus { + apollo.common.Header header = 1; + enum Type { + DISCONNECTED = 0; + CONNECTED = 1; + } + + Type ins_stream_type = 2; + Type rtk_stream_in_type = 3; + Type rtk_stream_out_type = 4; +} + +message InsStatus { + apollo.common.Header header = 1; + + enum Type { + INVALID = 0; // Invalid solution due to insufficient observations, no initial GNSS, ... + + // Use with caution. The covariance matrix may be unavailable or incorrect. + CONVERGING = 1; // High-variance result due to aligning, insufficient vehicle dynamics, ... + + // Safe to use. The INS has fully converged. + GOOD = 2; + } + Type type = 2; +} + +message GnssStatus { + apollo.common.Header header = 1; + bool solution_completed = 2; + uint32 solution_status = 3; + uint32 position_type = 4; + int32 num_sats = 5; // Number of satellites in position solution. +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/common/header.proto b/apollo_msgs/proto/apollo_msgs/proto/common/header.proto new file mode 100644 index 0000000..b134c80 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/common/header.proto @@ -0,0 +1,32 @@ +syntax = "proto3"; + +package apollo.common; + +import "apollo_msgs/proto/common/error_code.proto"; + +message Header { + // Message publishing time in seconds. It is recommended to obtain timestamp_sec from + // ros::Time::now(), right before calling SerializeToString() and publish(). + double timestamp_sec = 1; + + // Module name. + string module_name = 2; + + // Sequence number for each message. Each module maintains its own counter for sequence_num, + // always starting from 0 on boot. + uint32 sequence_num = 3; + + // Lidar Sensor timestamp for nano-second. + uint64 lidar_timestamp = 4; + + // Camera Sensor timestamp for nano-second. + uint64 camera_timestamp = 5; + + // Radar Sensor timestamp for nano-second. + uint64 radar_timestamp = 6; + + // data version + uint32 version = 7; + + StatusPb status = 8; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/common/monitor.proto b/apollo_msgs/proto/apollo_msgs/proto/common/monitor.proto new file mode 100644 index 0000000..4fc305d --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/common/monitor.proto @@ -0,0 +1,37 @@ +syntax = "proto3"; + +package apollo.common.monitor; + +import "apollo_msgs/proto/common/header.proto"; + +message MonitorMessageItem { + enum MessageSource { + UNKNOWN = 0; + CANBUS = 1; + CONTROL = 2; + DECISION = 3; + LOCALIZATION = 4; + PLANNING = 5; + PREDICTION = 6; + SIMULATOR = 7; + HWSYS = 8; + } + + MessageSource source = 1; + + string msg = 2; + + enum LogLevel { + INFO = 0; + WARN = 1; + ERROR = 2; + FATAL = 3; + } + LogLevel log_level = 3; +} + +message MonitorMessage { + apollo.common.Header header = 1; + + repeated MonitorMessageItem item = 2; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/common/vehicle_config.proto b/apollo_msgs/proto/apollo_msgs/proto/common/vehicle_config.proto new file mode 100644 index 0000000..970f0b2 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/common/vehicle_config.proto @@ -0,0 +1,44 @@ +syntax = "proto3"; + +package apollo.common.config; + +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/common/config_extrinsics.proto"; + +// Vehicle parameters shared among several modules. +// By default, all are measured with the SI units (meters, meters per second, +// etc.). +message VehicleParam { + // Car center point is car reference point, i.e., center of rear axle. + double front_edge_to_center = 1; + double back_edge_to_center = 2; + double left_edge_to_center = 3; + double right_edge_to_center = 4; + + double length = 5; + double width = 6; + double height = 7; + + double min_turn_radius = 8; + double max_acceleration = 9; + double max_deceleration = 10; + + // The following items are used to compute trajectory constraints in planning. + // vehicle max steer angle + double max_steer_angle = 11; + // vehicle max steer rate; how fast can the steering wheel turn. + double max_steer_angle_rate = 12; + // ratio between the turn of steering wheel and the turn of wheels + double steer_ratio = 13; + // the distance between the front and back wheels + double wheel_base = 14; + // Tire effective rolling radius (vertical distance between the wheel center + // and the ground). + double wheel_rolling_radius = 15; +} + +message VehicleConfig { + apollo.common.Header header = 1; + VehicleParam vehicle_param = 2; + Extrinsics extrinsics = 3; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/control/calibration_table.proto b/apollo_msgs/proto/apollo_msgs/proto/control/calibration_table.proto new file mode 100644 index 0000000..8080ac2 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/control/calibration_table.proto @@ -0,0 +1,13 @@ +syntax = "proto3"; + +package apollo.control.calibrationtable; + +message ControlCalibrationTable { + repeated ControlCalibrationInfo calibration = 1; +} + +message ControlCalibrationInfo { + double speed = 1; + double acceleration = 2; + double command = 3; +} \ No newline at end of file diff --git a/apollo_msgs/proto/apollo_msgs/proto/control/control_cmd.proto b/apollo_msgs/proto/apollo_msgs/proto/control/control_cmd.proto new file mode 100644 index 0000000..8ded164 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/control/control_cmd.proto @@ -0,0 +1,115 @@ +syntax = "proto3"; +package apollo.control; + +import "apollo_msgs/proto/canbus/chassis.proto"; +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/control/pad_msg.proto"; + +enum TurnSignal { + TURN_NONE = 0; + TURN_LEFT = 1; + TURN_RIGHT = 2; +} + +message LatencyStats { + double total_time_ms = 1; + repeated double controller_time_ms = 2; +} + +message ControlCommand { + apollo.common.Header header = 1; + // target throttle in percentage [0, 100] + double throttle = 3; + + // target brake in percentage [0, 100] + double brake = 4; + + // target steering rate, in percentage of full scale per second [-100, 100] + double steering_rate = 6; + + // target steerig angle, in percentage of full scalce [-100, 100] + double steering_target = 7; + + // parking brake engage. true: engaged + bool parking_brake = 8; + + // target speed, in km/h + double speed = 9; + + // target acceleration in m`s^-2 + double acceleration = 10; + + // model reset + bool reset_model = 16; + // engine on/off, true: engine on + bool engine_on_off = 17; + // completion percentage of trajectory planned in last cycle + double trajectory_fraction = 18; + apollo.canbus.Chassis.DrivingMode driving_mode = 19; + apollo.canbus.Chassis.GearPosition gear_location = 20; + + Debug debug = 22; + apollo.canbus.Signal signal = 23; + LatencyStats latency_stats = 24; + PadMessage pad_msg = 25; + + // deprecated fields + bool left_turn = 13; + bool right_turn = 14; + bool high_beam = 11; + bool low_beam = 12; + bool horn = 15; + TurnSignal turnsignal = 21; +} + +message SimpleLongitudinalDebug { + double station_reference = 1; + double station_error = 2; + double station_error_limited = 3; + double preview_station_error = 4; + double speed_reference = 5; + double speed_error = 6; + double speed_controller_input_limited = 7; + double preview_speed_reference = 8; + double preview_speed_error = 9; + double preview_acceleration_reference = 10; + double acceleration_cmd_closeloop = 11; + double acceleration_cmd = 12; + double acceleration_lookup = 13; + double speed_lookup = 14; + double calibration_value = 15; + double throttle_cmd = 16; + double brake_cmd = 17; + bool is_full_stop = 18; +} + +message SimpleLateralDebug { + double lateral_error = 1; + double ref_heading = 2; + double heading = 3; + double heading_error = 4; + double heading_error_rate = 5; + double lateral_error_rate = 6; + double curvature = 7; + double steer_angle = 8; + double steer_angle_feedforward = 9; + double steer_angle_lateral_contribution = 10; + double steer_angle_lateral_rate_contribution = 11; + double steer_angle_heading_contribution = 12; + double steer_angle_heading_rate_contribution = 13; + double steer_angle_feedback = 14; + double steering_position = 15; + double ref_speed = 16; +} + +message InputDebug { + apollo.common.Header localization_header = 1; + apollo.common.Header canbus_header = 2; + apollo.common.Header trajectory_header = 3; + } + +message Debug { + SimpleLongitudinalDebug simple_lon_debug = 1; + SimpleLateralDebug simple_lat_debug = 2; + InputDebug input_debug = 3; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/control/control_conf.proto b/apollo_msgs/proto/apollo_msgs/proto/control/control_conf.proto new file mode 100644 index 0000000..35f0957 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/control/control_conf.proto @@ -0,0 +1,34 @@ +syntax = "proto3"; + +package apollo.control; + +import "apollo_msgs/proto/canbus/chassis.proto"; +import "apollo_msgs/proto/control/pad_msg.proto"; +import "apollo_msgs/proto/control/lat_controller_conf.proto"; +import "apollo_msgs/proto/control/lon_controller_conf.proto"; + +message ControlConf { + enum ControllerType { + LAT_CONTROLLER = 0; + LON_CONTROLLER = 1; + }; + + double control_period = 1; + double max_planning_interval_sec = 2; + double max_planning_delay_threshold = 3; + // 0 - manual; 1 - auto_drive; 2 - speed_only; 3 - steer_only + apollo.canbus.Chassis.DrivingMode driving_mode = 4; + // 0: stop, at first should stop, then receive pad msg to start + apollo.control.DrivingAction action = 5; + double soft_estop_brake = 6; + repeated ControllerType active_controllers = 7; + int32 max_steering_percentage_allowed = 8; + double max_status_interval_sec = 9; + + apollo.control.LatControllerConf lat_controller_conf = 10; + apollo.control.LonControllerConf lon_controller_conf = 11; + + double trajectory_period = 12; + double chassis_period = 13; + double localization_period = 14; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/control/lat_controller_conf.proto b/apollo_msgs/proto/apollo_msgs/proto/control/lat_controller_conf.proto new file mode 100644 index 0000000..a19c0e6 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/control/lat_controller_conf.proto @@ -0,0 +1,23 @@ +syntax = "proto3"; + +package apollo.control; + +// simple optimal steer control param +message LatControllerConf { + double ts = 1; // sample time (dt) 0.01 now, configurable + int32 preview_window = 2; // preview window n, preview time = preview window * ts + double cf = 3; + double cr = 4; // N/rad + double wheelbase = 5; // meter + int32 mass_fl = 6; + int32 mass_fr = 7; + int32 mass_rl = 8; + int32 mass_rr = 9; + double eps = 10; // converge threshold for lqr solver + repeated double matrix_q = 11; // matrix_q size = 4 + preview_window + int32 cutoff_freq = 12; // cutoff frequency + int32 mean_filter_window_size = 13; // window size of mean filter + int32 steer_transmission_ratio = 14; // for a normal car, it should be in range[16, 18] + int32 steer_single_direction_max_degree = 15; // in degree + int32 max_iteration = 16; // maximum iteration for lqr solve +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/control/lon_controller_conf.proto b/apollo_msgs/proto/apollo_msgs/proto/control/lon_controller_conf.proto new file mode 100644 index 0000000..1267cde --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/control/lon_controller_conf.proto @@ -0,0 +1,40 @@ +syntax = "proto3"; + +package apollo.control; + +import "apollo_msgs/proto/control/calibration_table.proto"; + +message PidConf { + bool integrator_enable = 1; + double integrator_saturation_level = 2; + double kp = 3; + double ki = 4; + double kd = 5; +} + +message FilterConf { + int32 cutoff_freq = 1; +} + +// controller param +message LonControllerConf { + double ts = 1; // longitudinal controller sampling time + + double brake_deadzone = 2; + double throttle_deadzone = 3; + double speed_controller_input_limit = 4; + double station_error_limit = 5; + double preview_window = 6; + double standstill_acceleration = 7; + + PidConf station_pid_conf = 8; + PidConf low_speed_pid_conf = 9; + PidConf high_speed_pid_conf = 10; + double switch_speed = 11; // low/high speed controller switch speed + + FilterConf throttle_filter_conf = 12; + FilterConf brake_filter_conf = 13; + FilterConf acceleration_filter_conf = 14; + + calibrationtable.ControlCalibrationTable calibration_table = 15; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/control/pad_msg.proto b/apollo_msgs/proto/apollo_msgs/proto/control/pad_msg.proto new file mode 100644 index 0000000..f099fe5 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/control/pad_msg.proto @@ -0,0 +1,22 @@ +syntax = "proto3"; +package apollo.control; + +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/canbus/chassis.proto"; + +enum DrivingAction { + STOP = 0; + START = 1; + RESET = 2; +}; + +message PadMessage { + // control mode, set mode according to low level defination + apollo.common.Header header = 1; + + // send driving mode to drive + apollo.canbus.Chassis.DrivingMode driving_mode = 2; + + // action in the driving_mode + DrivingAction action = 3; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/decision/decision.proto b/apollo_msgs/proto/apollo_msgs/proto/decision/decision.proto new file mode 100644 index 0000000..e5a7d4e --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/decision/decision.proto @@ -0,0 +1,317 @@ +syntax = "proto3"; + +package apollo.decision; + +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/common/geometry.proto"; +import "apollo_msgs/proto/prediction/prediction_obstacle.proto"; +import "apollo_msgs/proto/canbus/chassis.proto"; + +message Range { + double start = 1; + double end = 2; +} + +message TargetLane { + // lane id + string id = 1; + double start_s = 2; // in meters + double end_s = 3; // in meters + double speed_limit = 4; // in m/s +} + +message ObjectIgnore { +} + +enum StopReasonCode { + STOP_REASON_HEAD_VEHICLE = 0; + STOP_REASON_DESTINATION = 1; + STOP_REASON_PEDESTRIAN = 2; + STOP_REASON_OBSTACLE = 3; + STOP_REASON_PREPARKING = 4; + STOP_REASON_SIGNAL = 100; + STOP_REASON_STOP_SIGN = 101; + STOP_REASON_YIELD_SIGN = 102; + STOP_REASON_CLEAR_ZONE = 103; + STOP_REASON_CROSSWALK = 104; +} + +message ObjectStop { + // stop at least distance_s before the object + double distance_s = 1; // in meters + Range preferred_distance_s = 2; // NOT SUPPORTED FIELD + StopReasonCode reason_code = 3; + apollo.common.PointENU stop_point = 4; // stop point +} + +message ObjectNudge { + // minimum lateral distance with the object + double distance_l = 1; // in meters + enum Type { + LEFT_NUDGE = 0; + RIGHT_NUDGE = 1; + }; + Type type = 2; + Range preferred_distance_l = 3; // NOT SUPPORTED FIELD +} + +message ObjectYield { + // minimum longitutional distance with the object + double distance_s = 1; // in meters + Range preferred_distance_s = 2; // NOT SUPPORTED FIELD + apollo.common.PointENU yield_point = 3; +} + +message ObjectFollow { + // minimum longitutional distance with the object + double distance_s = 1; // in meters + Range preferred_distance_s = 2; // NOT SUPPORTED FIELD + apollo.common.PointENU follow_point = 3; +} + +message ObjectOvertake { + // minimum longitutional distance with the object + double distance_s = 1; // in meters + Range preferred_distance_s = 2; // NOT SUPPORTED FIELD + apollo.common.PointENU overtake_point = 3; +} + +message ObjectSidePass { + // follow or lead the object from side lane keeping a longitutional distance to it. + // if you want to cut in the neighbored lane, you may need to sidepass a neighbored object + // first. + double distance_s = 1; // in meters + Range preferred_distance_s = 2; // in meters, relative to the object + enum Type { + FOLLOW = 0; //follow the object from side lane + LEAD = 1; //lead the object from side lane + }; + Type type = 3; +} + +message ObjectAvoid { +} + +message ObjectDecisionType { + oneof object_tag { + ObjectIgnore ignore = 1; + ObjectStop stop = 2; + ObjectFollow follow = 3; + ObjectYield yield = 4; + ObjectOvertake overtake = 5; + ObjectNudge nudge = 6; + ObjectSidePass sidepass = 7; + ObjectAvoid avoid = 8; // unified object decision while estop + } +} + +message ObjectDecision { + enum ObjectType { + PREDICTION = 0; + PERCEPTION = 1; + VIRTUAL = 2; + } + apollo.prediction.PredictionObstacle prediction = 1; + string id = 2; + ObjectType type = 3; + ObjectDecisionType decision = 4; + repeated ObjectDecisionType object_decision = 5; +} + +message ObjectDecisions { + repeated ObjectDecision decision = 1; +} + +// stop at distance_s on lane +message StopLine { + string lane_id = 1; + double distance_s = 2; +} + +message MainStop { + // stop at or before distance_s relative to the lane_id + StopLine enforced_line = 1; + StopLine preferred_start = 2; // NOT SUPPORTED FIELD + StopLine preferred_end = 3; // NOT SUPPORTED FIELD + string reason = 4; + StopReasonCode reason_code = 5; + //when stopped, the front center of vehicle should be at this point + apollo.common.PointENU stop_point = 6; + //when stopped, the heading of the vehicle should be stop_heading + double stop_heading = 7; +} + +message EmergencyStopHardBrake { +} + +message EmergencyStopCruiseToStop { +} + +message MainEmergencyStop { + // unexpected event happened, human driver is required to take over the vehicle. + string reason = 1; + enum ReasonCode { + ESTOP_REASON_INTERNAL_ERR = 0; + ESTOP_REASON_COLLISION = 1; + ESTOP_REASON_ST_FIND_PATH = 2; + ESTOP_REASON_ST_MAKE_DECISION = 3; + ESTOP_REASON_SENSOR_ERROR = 4; + } + ReasonCode reason_code = 2; + oneof task { + EmergencyStopHardBrake hard_brake = 3; // hard brake + EmergencyStopCruiseToStop cruise_to_stop = 4; // cruise to stop + } +} + +message MainCruise { + // cruise current lane +} + +message MainChangeLane { + enum Type { + LEFT = 0; + RIGHT = 1; + }; + Type type = 1; + repeated TargetLane default_lane = 2; + MainStop default_lane_stop = 3; + MainStop target_lane_stop = 4; +} + +message MainMissionComplete { + // arrived at routing destination +} + +message MainNotReady { + // decision system is not ready. + // e.g. wait for routing data. + string reason = 1; +} + +message MainParking { + enum Type { + FORWARD_PARKING = 0; + REVERSE_PARKING = 1; + }; + Type type = 1; + // the heading of the final car position + double heading = 2; + // stop point + apollo.common.PointENU stop_point = 3; + // the polygon of the parking spot + repeated apollo.common.PointENU parking_polygon = 4; +} + +message MainDecision { + oneof task { + MainCruise cruise = 1; + MainStop stop = 2; + MainEmergencyStop estop = 3; + MainChangeLane change_lane = 4; + MainMissionComplete mission_complete = 6; + MainNotReady not_ready = 7; + MainParking parking = 8; + } + repeated TargetLane target_lane = 5; +} + +message MasterVehicleDebug { + apollo.common.PointENU position = 1; + string current_lane_id = 2; + double lane_s = 3; + double lane_l = 4; + double route_s = 5; + double route_l = 6; + double heading = 7; + double heading_speed = 8; + double heading_acceleration = 9; + Range route_s_range = 10; + Range route_l_range = 11; +} + +message ObjectDebug { + string id = 1; + string path_id = 2; + Range route_s = 3; + Range route_l = 4; + bool on_route = 5; + string lane_id = 6; + double lane_s = 7; + bool on_lane = 8; + double path_speed = 9; + // x is time (t), y is s + repeated apollo.common.Point3D st_region = 10; +} + +message LatencyStats { + double total_time_ms = 1; + double sensor_read_time_ms = 2; + double adc_prepare_time_ms = 3; + double obj_prepare_time_ms = 4; + double world_rule_time_ms = 5; + double st_graph_time_ms = 6; + // time diff between gateway_msg_receive_timestamp and gateway_msg_timestamp + double gateway_receive_delay_ms = 8; + // time diff between perception_msg_receive_timestamp and perception_msg_timestamp + double perception_receive_delay_ms = 9; + // time diff between prediction_msg_receive_timestamp and prediction_msg_timestamp + double prediction_receive_delay_ms = 10; + // time diff between signal_msg_receive_timestamp and signal_msg_timestamp + double signal_receive_delay_ms = 11; + // time interval in ms between perception last and its previous msg + double perception_interval_ms = 12; + // time interval in ms between prediction last and its previous msg + double prediction_interval_ms = 13; +} + +message Stats { + LatencyStats latency_stats = 1; +} + +message ModuleDebug { + uint32 gateway_sequence_num = 1; + uint32 perception_sequence_num = 2; + uint32 prediction_sequence_num = 3; + uint32 signal_sequence_num = 4; +} + +// next id: 8 +message Debug { + MasterVehicleDebug master_vehicle = 1; + // stores current frame's original decision when current decision has be modified. + // E.g., when current decision is the first encountered estop, we may use + // a valid history decision to replace current decision, but the estop decision + // will be stored in original_decision + MainDecision original_decision = 2; + repeated ObjectDebug object = 3; + // some meta data will be dumped into debug per sample frequency: + // e.g. every 500 decision, meta data will be dumped once. + bytes map_version = 5; + bytes decision_version = 7; + + // record per module debug info + ModuleDebug module_debug = 6; +} + +// The light signal of the adc +// naming reference https://en.wikipedia.org/wiki/Automotive_lighting +message LightSignal { + bool emergency = 1; // hazard signal + enum TurnSignal { + NO_TURN = 0; + LEFT_TURN = 1; + RIGHT_TURN = 2; + }; + TurnSignal turn_signal = 2; +} + +message DecisionResult { + apollo.common.Header header = 1; + ObjectDecisions object_decision = 2; + MainDecision main_decision = 3; + Debug debug = 4; + Stats stats = 6; + apollo.canbus.Signal signal = 7; + LightSignal light_signal = 5; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/localization/camera.proto b/apollo_msgs/proto/apollo_msgs/proto/localization/camera.proto new file mode 100644 index 0000000..88dcce1 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/localization/camera.proto @@ -0,0 +1,16 @@ +syntax = "proto3"; + +package apollo.localization; + +import "apollo_msgs/proto/common/header.proto"; + +message Camera { + apollo.common.Header header = 1; + + // The image from camera + bytes image = 2; + // The image width + uint32 width = 3; + // The image height + uint32 height = 4; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/localization/camera_parameter.proto b/apollo_msgs/proto/apollo_msgs/proto/localization/camera_parameter.proto new file mode 100644 index 0000000..5f9694c --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/localization/camera_parameter.proto @@ -0,0 +1,30 @@ +syntax = "proto3"; + +package apollo.localization; + +message CameraIntrinsicParameter { + // focus x pixels + double fx = 1; // pixels + // focus y pixels + double fy = 2; // pixels + // center x pixels + double cx = 3; // pixels + // center y pixels + double cy = 4; // pixels +} + +message CameraExtrinsicParameter { + // camera rotation parameters [-pi - pi] + double roll = 1; + double pitch = 2; + double yaw = 3; + // coordinates in the vehicle coordinates [meters] + double tx = 4; // meters + double ty = 5; // meters + double tz = 6; // meters +} + +message CameraParameter { + CameraIntrinsicParameter intrisic_parameter = 1; + CameraExtrinsicParameter extrisic_parameter = 2; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/localization/gps.proto b/apollo_msgs/proto/apollo_msgs/proto/localization/gps.proto new file mode 100644 index 0000000..3e88b7e --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/localization/gps.proto @@ -0,0 +1,13 @@ +syntax = "proto3"; + +package apollo.localization; + +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/localization/pose.proto"; + +message Gps { + apollo.common.Header header = 1; + + // Localization message: from GPS or localization + apollo.localization.Pose localization = 2; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/localization/imu.proto b/apollo_msgs/proto/apollo_msgs/proto/localization/imu.proto new file mode 100644 index 0000000..cff2c3d --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/localization/imu.proto @@ -0,0 +1,13 @@ +syntax = "proto3"; + +package apollo.localization; + +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/localization/pose.proto"; + +message Imu { + apollo.common.Header header = 1; + + // Inertial Measurement Unit(IMU) + apollo.localization.Pose imu = 3; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/localization/localization.proto b/apollo_msgs/proto/apollo_msgs/proto/localization/localization.proto new file mode 100644 index 0000000..8062cb6 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/localization/localization.proto @@ -0,0 +1,69 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +syntax = "proto3"; + +package apollo.localization; + +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/localization/pose.proto"; +import "apollo_msgs/proto/common/geometry.proto"; + +message Uncertainty { + // Standard deviation of position, east/north/up in meters. + apollo.common.Point3D position_std_dev = 1; + + // Standard deviation of quaternion qx/qy/qz, unitless. + apollo.common.Point3D orientation_std_dev = 2; + + // Standard deviation of linear velocity, east/north/up in meters per second. + apollo.common.Point3D linear_velocity_std_dev = 3; + + // Standard deviation of linear acceleration, right/forward/up in meters per + // square second. + apollo.common.Point3D linear_acceleration_std_dev = 4; + + // Standard deviation of angular velocity, right/forward/up in radians per + // second. + apollo.common.Point3D angular_velocity_std_dev = 5; + + // TODO: Define covariance items when needed. +} + +message LocalizationEstimate { + apollo.common.Header header = 1; + apollo.localization.Pose pose = 2; + Uncertainty uncertainty = 3; + + // The time of pose measurement, seconds since the GPS epoch (Jan 6, 1980). + double measurement_time = 4; // In seconds. +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/localization/localization_config.proto b/apollo_msgs/proto/apollo_msgs/proto/localization/localization_config.proto new file mode 100644 index 0000000..cbb32d1 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/localization/localization_config.proto @@ -0,0 +1,11 @@ +syntax = "proto3"; + +package apollo.localization; + +message LocalizationConfig { + enum LocalizationType { + RTK = 0; + CAMERA = 1; + }; + LocalizationType localization_type = 1; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/localization/pose.proto b/apollo_msgs/proto/apollo_msgs/proto/localization/pose.proto new file mode 100644 index 0000000..e9d0803 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/localization/pose.proto @@ -0,0 +1,71 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +syntax = "proto3"; + +package apollo.localization; + +import "apollo_msgs/proto/common/geometry.proto"; + +message Pose { + // Position of the vehicle reference point (VRP) in the map reference frame. + // The VRP is the center of rear axle. + apollo.common.PointENU position = 1; + + // A quaternion that represents the rotation from the map coordinate + // (East/North/Up) to the + // vehicle coordinate (Right/Forward/Up). + apollo.common.Quaternion orientation = 2; + + // Linear velocity of the VRP in the map reference frame. + // East/north/up in meters per second. + apollo.common.Point3D linear_velocity = 3; + + // Linear acceleration of the VRP in the map reference frame. + // East/north/up in meters per second. + apollo.common.Point3D linear_acceleration = 4; + + // Angular velocity of the vehicle in the map reference frame. + // Around east/north/up axes in radians per second. + apollo.common.Point3D angular_velocity = 5; + + // heading + double heading = 6; + + // Linear acceleration of the VRP in the vehicle reference frame. + // Right/forward/up in meters per square second. + apollo.common.Point3D linear_acceleration_vrf = 7; + + // Angular velocity of the vehicle in the vehicle reference frame. + // Around right/forward/up axes in radians per second. + apollo.common.Point3D angular_velocity_vrf = 8; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/perception/perception_obstacle.proto b/apollo_msgs/proto/apollo_msgs/proto/perception/perception_obstacle.proto new file mode 100644 index 0000000..282b963 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/perception/perception_obstacle.proto @@ -0,0 +1,55 @@ +syntax = "proto3"; + +package apollo.perception; + +import "apollo_msgs/proto/common/header.proto"; + +// FIXME: To be merged with common::ErrorCode +enum PerceptionErrorCode { + ERROR_NONE = 0; + ERROR_TF = 1; + ERROR_PROCESS = 2; + ERROR_UNKNOWN = 3; +} + +message Point { + double x = 1; // in meters. + double y = 2; // in meters. + double z = 3; // height in meters. +} + +message PerceptionObstacle { + int32 id = 1; // obstacle ID. + Point position = 2; // obstacle position in the world coordinate system. + double theta = 3; // heading in the world coordinate system. + Point velocity = 4; // obstacle velocity. + + // Size of obstacle bounding box. + double length = 5; // obstacle length. + double width = 6; // obstacle width. + double height = 7; // obstacle height. + + repeated Point polygon_point = 8; // obstacle corner points. + double tracking_time = 9; // duration of an obstacle since detection in s. + + enum Type { + UNKNOWN = 0; + UNKNOWN_MOVABLE = 1; + UNKNOWN_UNMOVABLE = 2; + PEDESTRIAN = 3; // Pedestrian, usually determined by moving behaviour. + BICYCLE = 4; // bike, motor bike + VEHICLE = 5; // Passenger car or truck. + }; + Type type = 10; // obstacle type + double timestamp = 11; // GPS time in seconds. + + // Just for offline debuging, onboard will not fill this field. + // Format like : [x0, y0, z0, x1, y1, z1...] + repeated double point_cloud = 12; +} + +message PerceptionObstacles { + repeated PerceptionObstacle perception_obstacle = 1; // An array of obstacles + apollo.common.Header header = 2; // Header + PerceptionErrorCode error_code = 3; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/perception/traffic_light_detection.proto b/apollo_msgs/proto/apollo_msgs/proto/perception/traffic_light_detection.proto new file mode 100644 index 0000000..d6847ee --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/perception/traffic_light_detection.proto @@ -0,0 +1,30 @@ +syntax = "proto3"; + +package apollo.perception; + +import "apollo_msgs/proto/common/header.proto"; + +message TrafficLight { + enum Color { + UNKNOWN = 0; + RED = 1; + YELLOW = 2; + GREEN = 3; + }; + Color color = 1; + + // Traffic light string-ID in the map data. + string id = 2; + + // How confidence about the detected results, between 0 and 1. + double confidence = 3; + + // Duration of the traffic light since detected. + double tracking_time = 4; +} + +message TrafficLightDetection { + apollo.common.Header header = 2; + + repeated TrafficLight traffic_light = 1; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/planning/planning.proto b/apollo_msgs/proto/apollo_msgs/proto/planning/planning.proto new file mode 100644 index 0000000..88cfec7 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/planning/planning.proto @@ -0,0 +1,63 @@ +syntax = "proto3"; + +package apollo.planning; + +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/canbus/chassis.proto"; +import "apollo_msgs/proto/planning/planning_internal.proto"; + +message ADCTrajectoryPoint { + double x = 1; // in meters. + double y = 2; // in meters. + double z = 3; // height in meters. + + double speed = 6; // speed, in meters / second + double acceleration_s = 7; // acceleration in s direction + double curvature = 8; // curvature (k = 1/r), unit: (1/meters) + double curvature_change_rate = 9; // change of curvature in unit s (dk/ds) + double relative_time = 10; // in seconds relative time (relative_time = time_of_this_state - timestamp_in_header) + double theta = 11; // relative to absolute coordinate system + double accumulated_s = 12; // calculated from the first point in this trajectory + + double s = 4; // in meters, reference to route SL-coordinate + double l = 5; // in meters, reference to route SL-coordinate +} + +message ADCSignals { + enum SignalType { + LEFT_TURN = 0; + RIGHT_TURN = 1; + LOW_BEAM_LIGHT = 2; + HIGH_BEAM_LIGHT = 3; + FOG_LIGHT = 4; + EMERGENCY_LIGHT = 5; + } + repeated SignalType signal = 1; +} + +message EStop { + bool is_estop = 1; // is_estop == true when emergency stop is required +} + +message ADCPathPoint { + double x = 1; // in meters + double y = 2; // in meters + double z = 3; // in meters + double curvature = 4; // curvature (k = 1/r), unit: (1/meters) + double heading = 5; // relative to absolute coordinate system +} + +message ADCTrajectory { + apollo.common.Header header = 1; + double total_path_length = 2; // in meters + double total_path_time = 3; // in seconds + repeated ADCTrajectoryPoint adc_trajectory_point = 4; + EStop estop = 6; + repeated ADCPathPoint adc_path_point = 7; + bool is_replan = 9; // is_replan == true mean replan triggered + apollo.canbus.Chassis.GearPosition gear = 10; // Specify trajectory gear + apollo.planning_internal.Debug debug = 8; + apollo.canbus.Signal signal = 11; + + ADCSignals signals = 5; +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/planning/planning_internal.proto b/apollo_msgs/proto/apollo_msgs/proto/planning/planning_internal.proto new file mode 100644 index 0000000..fbc6c23 --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/planning/planning_internal.proto @@ -0,0 +1,86 @@ +syntax = "proto3"; + +package apollo.planning_internal; + +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/decision/decision.proto"; +import "apollo_msgs/proto/localization/localization.proto"; +import "apollo_msgs/proto/localization/pose.proto"; +import "apollo_msgs/proto/perception/perception_obstacle.proto"; +import "apollo_msgs/proto/prediction/prediction_obstacle.proto"; + +message PlanningObstacle { + int32 perception_id = 1; + string decision_id = 2; + + apollo.perception.Point position = 3; // obstacle position in the world coordinate system. + double theta = 4; // heading in the world coordinate system + apollo.perception.Point velocity = 5; // obstacle velocity. + // obstacle speed ( == sqrt(velocity.x^2 + velocity.y^2) + double speed = 6; + + // Size of obstacle bounding box. + double length = 7; // obstacle length. + double width = 8; // obstacle width. + double height = 9; // obstacle height. + + // obstacle corner points. + repeated apollo.perception.Point polygon_point = 10; + // duration of an obstacle since detection. + double tracking_time = 11; + + // perception timestamp in ms + double perception_timestamp = 12; + // object type in perception + apollo.perception.PerceptionObstacle.Type perception_object_type = 13; + + double prediction_timestamp = 14; // prediction_timestamp in ms + // from prediction + repeated apollo.prediction.Trajectory prediction_trajectory = 15; + + // object type in decision + apollo.decision.ObjectDecision.ObjectType decision_object_type = 16; + apollo.decision.ObjectDecisionType object_decision = 17; + repeated apollo.decision.ObjectDecisionType planning_object_decision = 18; +} + +message Debug { + enum ErrorCode { + OK = 0; + ERR_NOT_READY = 1; + ERR_ESTOP = 2; + ERR_PATH_OPTIMIZER = 3; + ERR_SPEED_OPTIMIZER = 4; + ERR_ST_GRAPH = 5; + ERR_SANITY_CHECK = 6; + } + + /* + PLEASE add id here + id = 1: st_graph_info + */ + message DebugMessage { + ErrorCode error_code = 1; + int32 id = 2; + oneof debug_string { + string trace = 3; + string info = 4; + string warn = 5; + string error = 6; + string fatal = 7; + } + } + + ErrorCode error_code = 1; + PlanningData planning_data = 2; + repeated DebugMessage debug_message = 3; +} + +message PlanningData { + apollo.common.Header header = 1; + apollo.localization.Pose init_status = 2; // initial status of adc + apollo.decision.MainDecision main_decision = 3; // from decision + // processed planning_obstacles + repeated PlanningObstacle planning_obstacle = 4; + apollo.decision.LightSignal light_signal = 5; // light signal from decision +} diff --git a/apollo_msgs/proto/apollo_msgs/proto/prediction/prediction_obstacle.proto b/apollo_msgs/proto/apollo_msgs/proto/prediction/prediction_obstacle.proto new file mode 100644 index 0000000..0d40ecf --- /dev/null +++ b/apollo_msgs/proto/apollo_msgs/proto/prediction/prediction_obstacle.proto @@ -0,0 +1,33 @@ +syntax = "proto3"; + +package apollo.prediction; + +import "apollo_msgs/proto/common/header.proto"; +import "apollo_msgs/proto/perception/perception_obstacle.proto"; + +message TrajectoryPoint { + double x = 1; // in meters. + double y = 2; // in meters. + double z = 3; // height in meters. + double velocity = 4; // velocity, in meters / second + double t = 5; // in seconds, relative to the time_stamp of this message (t = t_this_state - t_timestamp) + double heading = 6; // heading in angle +} + +message Trajectory { + double probability = 1; //probability of this trajectory + repeated TrajectoryPoint trajectory_point = 2; +} + +message PredictionObstacle { + apollo.perception.PerceptionObstacle perception_obstacle = 1; + double time_stamp = 2; // GPS time in seconds + double predicted_period = 3; // the length of the time for this prediction (e.g. 10s) + repeated Trajectory trajectory = 4; // can have multiple trajectories per obstacle +} + +message PredictionObstacles { + apollo.common.Header header = 1; // timestamp is included in header + repeated PredictionObstacle prediction_obstacle = 2; // make prediction for multiple obstacles + apollo.perception.PerceptionErrorCode perception_error_code = 3; // perception error code +} diff --git a/apollo_planning/CMakeLists.txt b/apollo_planning/CMakeLists.txt new file mode 100644 index 0000000..169a300 --- /dev/null +++ b/apollo_planning/CMakeLists.txt @@ -0,0 +1,54 @@ +cmake_minimum_required(VERSION 3.0.2) +project(apollo_planning) + +add_compile_options(-std=c++17) +# set(CMAKE_BUILD_TYPE "Debug") +set(CMAKE_BUILD_TYPE "Release") + +find_package(Eigen3 REQUIRED) + +find_package(catkin REQUIRED COMPONENTS + roscpp + apollo_msgs + apollo_common +) + +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES apollo_planning +# CATKIN_DEPENDS roscpp +# DEPENDS system_lib +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +add_executable(${PROJECT_NAME} + src/main.cc + src/planning_node.cc + src/planning.cc + src/planner_factory.cc + # common + src/common/planning_gflags.cc + # planner + src/planner/rtk_replay_planner.cc +) +add_dependencies(${PROJECT_NAME} + ${${PROJECT_NAME}_EXPORTED_TARGETS} + ${catkin_EXPORTED_TARGETS} +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + protobuf + glog + gflags +) + +# install +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) \ No newline at end of file diff --git a/apollo_planning/README.md b/apollo_planning/README.md new file mode 100644 index 0000000..7ec31cd --- /dev/null +++ b/apollo_planning/README.md @@ -0,0 +1,19 @@ +# Planning + +## Introduction + Given localization (vehicle status (position, velocity, acceleration)), + perception (future work), prediction (future work) and decision (future work), + compute a trajectory that is safe and comfortable for controller to execute. + + Current version of planning is in actual an RTK replayer. + It first loads a recorded trajectory in the initialization and sends the proper segment of the trajectory according to current system time and vehicle position. + +## Input + * Localization + * Perception (future work) + * Prediction (future work) + * Decision (future work) + * (For current RTK replayer) Recorded RTK trajectory (put into the folder modules/planning/data, and change the gflag file name in planning/common/planning_gflags) + +## Output + * A collision-free and comfortable trajectory. (For current RTK replayer, a segment of the recorded RTK trajectory for execution.) \ No newline at end of file diff --git a/apollo_planning/conf/adapter.conf b/apollo_planning/conf/adapter.conf new file mode 100644 index 0000000..eebf8be --- /dev/null +++ b/apollo_planning/conf/adapter.conf @@ -0,0 +1,16 @@ +config { + type: LOCALIZATION + mode: RECEIVE_ONLY + message_history_limit: 10 +} +config { + type: CHASSIS + mode: RECEIVE_ONLY + message_history_limit: 10 +} +config { + type: PLANNING_TRAJECTORY + mode: PUBLISH_ONLY + message_history_limit: 10 +} +is_ros: true diff --git a/apollo_planning/conf/planning.conf b/apollo_planning/conf/planning.conf new file mode 100644 index 0000000..54beac9 --- /dev/null +++ b/apollo_planning/conf/planning.conf @@ -0,0 +1,5 @@ +--planning_loop_rate=10.0 + +# glog +--colorlogtostderr=1 +--stderrthreshold=0 \ No newline at end of file diff --git a/apollo_planning/data/garage.csv b/apollo_planning/data/garage.csv new file mode 100644 index 0000000..d9d7e6d --- /dev/null +++ b/apollo_planning/data/garage.csv @@ -0,0 +1,2083 @@ +x,y,z,speed,acceleration,curvature,curvature_change_rate,time,theta,gear,s,throttle,brake,steering +0.858607, 0.7357, -28.367020, 0.216667, 0.887545, 0.022767, -0.017740, 1496957374.614000, 2.834701, 1.000000, 0.002167, 22.015717, 13.693446, 12.638298 +0.855147, 0.73686, -28.367176, 0.216667, 0.913475, 0.022767, 0.000000, 1496957374.624600, 2.834818, 1.000000, 0.004333, 22.015717, 13.675136, 12.638298 +0.851608, 0.73803, -28.367333, 0.252778, 0.884692, 0.022690, -0.030410, 1496957374.634200, 2.834939, 1.000000, 0.006861, 22.102694, 13.675136, 12.595745 +0.847987, 0.73924, -28.367502, 0.252778, 0.874161, 0.022690, 0.000000, 1496957374.643800, 2.835011, 1.000000, 0.009389, 22.102694, 13.723965, 12.595745 +0.84427, 0.74047, -28.367668, 0.283333, 0.934227, 0.022652, -0.013566, 1496957374.654300, 2.835118, 1.000000, 0.012222, 22.102694, 13.723965, 12.574468 +0.840443, 0.74175, -28.367820, 0.283333, 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All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PLANNING_COMMON_BASE_TYPES_H_ +#define MODULES_PLANNING_COMMON_BASE_TYPES_H_ + +/** + * @namespace apollo::planning + * @brief apollo::planning + */ +namespace apollo { +namespace planning { + +/** + * @class PathPoint + * @brief PathPoint is a data structure class + * for discretized path representation. + */ +class PathPoint { + public: + /// x coordinate + double x = 0.0; + /// y coordinate + double y = 0.0; + /// z coordinate + double z = 0.0; + /// derivative direction on the x-y plane + double theta = 0.0; + /// curvature on the x-y planning + double kappa = 0.0; + /// accumulated distance from beginning of the path + double s = 0.0; +}; + +/** + * @class TrajectoryPoint + * @brief TrajectoryPoint is a data structure class + * for discretized trajectory representation. + * It inherits the variables from base class PathPoint. + */ +class TrajectoryPoint : public PathPoint { + public: + /// relative time from beginning of the trajectory + double relative_time = 0.0; + /// linear velocity + double v = 0.0; + /// linear acceleration + double a = 0.0; + /// curvature change rate w.r.t. time + double dkappa = 0.0; +}; + +} // namespace planning +} // namespace apollo + +#endif /* MODULES_PLANNING_COMMON_BASE_TYPES_H_ */ diff --git a/apollo_planning/include/apollo_planning/common/planning_gflags.h b/apollo_planning/include/apollo_planning/common/planning_gflags.h new file mode 100644 index 0000000..5173256 --- /dev/null +++ b/apollo_planning/include/apollo_planning/common/planning_gflags.h @@ -0,0 +1,45 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PLANNING_COMMON_PLANNING_GFLAGS_H_ +#define MODULES_PLANNING_COMMON_PLANNING_GFLAGS_H_ + +#include + +DECLARE_double(planning_loop_rate); +DECLARE_string(rtk_trajectory_filename); +DECLARE_uint64(rtk_trajectory_backward); +DECLARE_uint64(rtk_trajectory_forward); +DECLARE_double(replanning_threshold); +DECLARE_double(trajectory_resolution); + +#endif /* MODULES_PLANNING_COMMON_PLANNING_GFLAGS_H_ */ diff --git a/apollo_planning/include/apollo_planning/planner/planner.h b/apollo_planning/include/apollo_planning/planner/planner.h new file mode 100644 index 0000000..f6c919f --- /dev/null +++ b/apollo_planning/include/apollo_planning/planner/planner.h @@ -0,0 +1,79 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PLANNING_PLANNER_PLANNER_H_ +#define MODULES_PLANNING_PLANNER_PLANNER_H_ + +#include + +#include "apollo_common/vehicle_state/vehicle_state.h" +#include "apollo_planning/common/base_types.h" + +/** + * @namespace apollo::planning + * @brief apollo::planning + */ +namespace apollo { +namespace planning { + +/** + * @class Planner + * @brief Planner is a base class for specific planners. + * It contains a pure virtual function Plan which must be implemented in + * derived class. + */ +class Planner { + public: + /** + * @brief Constructor + */ + Planner() = default; + + /** + * @brief Destructor + */ + virtual ~Planner() = default; + + /** + * @brief Compute a trajectory for execution. + * @param start_point The trajectory point where planning starts + * @param discretized_trajectory The computed trajectory + * @return true if planning succeeds; false otherwise. + */ + virtual bool Plan(const TrajectoryPoint& start_point, + std::vector* discretized_trajectory) = 0; +}; + +} // namespace planning +} // namespace apollo + +#endif /* MODULES_PLANNING_PLANNER_PLANNER_H_ */ diff --git a/apollo_planning/include/apollo_planning/planner/rtk_replay_planner.h b/apollo_planning/include/apollo_planning/planner/rtk_replay_planner.h new file mode 100644 index 0000000..63ba799 --- /dev/null +++ b/apollo_planning/include/apollo_planning/planner/rtk_replay_planner.h @@ -0,0 +1,93 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PLANNING_PLANNER_RTK_REPLAY_PLANNER_H_ +#define MODULES_PLANNING_PLANNER_RTK_REPLAY_PLANNER_H_ + +#include "apollo_planning/planner/planner.h" + +#include +#include + +/** + * @namespace apollo::planning + * @brief apollo::planning + */ +namespace apollo { +namespace planning { + +/** + * @class RTKReplayPlanner + * @brief RTKReplayPlanner is a derived class of Planner. + * It reads a recorded trajectory from a trajectory file and + * outputs proper segment of the trajectory according to vehicle + * position. + */ +class RTKReplayPlanner : public Planner { + public: + /** + * @brief Constructor + */ + RTKReplayPlanner(); + + /** + * @brief Destructor + */ + virtual ~RTKReplayPlanner() = default; + + /** + * @brief Overrode function Plan in parent class Planner. + * @param start_point The trajectory point where planning starts + * @param discretized_trajectory The computed trajectory + * @return true if planning succeeds; false otherwise. + */ + bool Plan(const TrajectoryPoint& start_point, + std::vector* ptr_trajectory) override; + + /** + * @brief Read the recorded trajectory file. + * @param filename The name of the trajectory file. + */ + void ReadTrajectoryFile(const std::string& filename); + + private: + std::size_t QueryPositionMatchedPoint( + const TrajectoryPoint& start_point, + const std::vector& trajectory) const; + + std::vector complete_rtk_trajectory_; +}; + +} // namespace planning +} // nameapace apollo + +#endif /* MODULES_PLANNING_PLANNER_RTK_REPLAY_PLANNER_H_ */ diff --git a/apollo_planning/include/apollo_planning/planner_factory.h b/apollo_planning/include/apollo_planning/planner_factory.h new file mode 100644 index 0000000..a04e72c --- /dev/null +++ b/apollo_planning/include/apollo_planning/planner_factory.h @@ -0,0 +1,74 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PLANNING_PLANNER_FACTORY_H_ +#define MODULES_PLANNING_PLANNER_FACTORY_H_ + +#include "apollo_planning/planner/planner.h" + +#include + +/** + * @namespace apollo::planning + * @brief apollo::planning + */ +namespace apollo { +namespace planning { + +/** + * @class PlanningType + * @brief PlanningType is a enum class used to specify a planner instance. + */ +enum class PlannerType { RTK_PLANNER, OTHER }; + +/** + * @class PlannerFactory + * @brief PlannerFactory is a creator class that + * creates an instance of a specific planner. + */ +class PlannerFactory { + public: + PlannerFactory() = delete; + /** + * @brief Generate a planner instance. + * @param planner_type The specific type of planner, + * currently only supports PlannerType::RTK_PLANNER + * @return A unique pointer pointing to the planner instance. + */ + static std::unique_ptr CreateInstance( + const PlannerType& planner_type); +}; + +} // namespace planning +} // namespace apollo + +#endif /* MODULES_PLANNING_PLANNER_FACTORY_H_ */ diff --git a/apollo_planning/include/apollo_planning/planning.h b/apollo_planning/include/apollo_planning/planning.h new file mode 100644 index 0000000..e0cc14c --- /dev/null +++ b/apollo_planning/include/apollo_planning/planning.h @@ -0,0 +1,94 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PLANNING_PLANNING_H_ +#define MODULES_PLANNING_PLANNING_H_ + +#include "apollo_common/vehicle_state/vehicle_state.h" +#include "apollo_planning/planner/planner.h" + +#include + +namespace apollo { +namespace planning { + +class Planning { + public: + /** + * @brief Constructor + */ + Planning(); + + /** + * @brief Destructor + */ + ~Planning() = default; + + /** + * @brief Plan the trajectory given current vehicle state + * @param vehicle_state variable describes the vehicle state, including + * position, + * velocity, acceleration, heading, etc + * @param is_on_auto_mode whether the current system is on auto-driving mode + * @param publishable_trajectory the computed planning trajectory + */ + bool Plan(const common::vehicle_state::VehicleState& vehicle_state, + const bool is_on_auto_mode, const double publish_time, + std::vector* discretized_trajectory); + + /** + * @brief Reset the planner to initial state. + */ + void Reset(); + + private: + std::pair + ComputeStartingPointFromLastTrajectory(const double curr_time) const; + + TrajectoryPoint ComputeStartingPointFromVehicleState( + const common::vehicle_state::VehicleState& vehicle_state, + const double forward_time) const; + + std::vector GetOverheadTrajectory( + const std::size_t matched_index, const std::size_t buffer_size); + + std::unique_ptr ptr_planner_; + + std::vector last_trajectory_; + + double last_header_time_ = 0.0; +}; + +} // namespace planning +} // namespace apollo + +#endif /* MODULES_PLANNING_PLANNING_H_ */ diff --git a/apollo_planning/include/apollo_planning/planning_node.h b/apollo_planning/include/apollo_planning/planning_node.h new file mode 100644 index 0000000..a1e2177 --- /dev/null +++ b/apollo_planning/include/apollo_planning/planning_node.h @@ -0,0 +1,91 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PLANNING_PLANNING_NODE_H_ +#define MODULES_PLANNING_PLANNING_NODE_H_ + +#include + +#include "apollo_common/vehicle_state/vehicle_state.h" +#include "apollo_msgs/proto/planning/planning.pb.h" + +#include "apollo_planning/common/base_types.h" +#include "apollo_planning/planning.h" + +/** + * @namespace apollo::planning + * @brief apollo::planning + */ +namespace apollo { +namespace planning { + +/** + * @class PlanningNode + * @brief PlanningNode is a class that + * implements a ros node for planning module. + */ +class PlanningNode { + public: + /** + * @brief Constructor + */ + PlanningNode(); + + /** + * @brief Destructor + */ + virtual ~PlanningNode(); + + /** + * @brief Start the planning node. + */ + void Run(); + + /** + * @brief Reset the planning node. + */ + void Reset(); + + private: + void RunOnce(); + + ADCTrajectory ToTrajectoryPb( + const double header_time, + const std::vector& discretized_trajectory); + + Planning planning_; +}; + +} // namespace planning +} // namespace apollo + +#endif /* MODULES_PLANNING_PLANNING_NODE_H_ */ diff --git a/apollo_planning/launch/planning.launch b/apollo_planning/launch/planning.launch new file mode 100644 index 0000000..705b8b6 --- /dev/null +++ b/apollo_planning/launch/planning.launch @@ -0,0 +1,8 @@ + + + + \ No newline at end of file diff --git a/apollo_planning/package.xml b/apollo_planning/package.xml new file mode 100644 index 0000000..e368c84 --- /dev/null +++ b/apollo_planning/package.xml @@ -0,0 +1,29 @@ + + + apollo_planning + 0.0.0 + The apollo_planning package + + forrest + TODO + + catkin + + roscpp + roscpp + roscpp + + apollo_msgs + apollo_msgs + apollo_msgs + + apollo_common + apollo_common + apollo_common + + + + + + + diff --git a/apollo_planning/src/common/planning_gflags.cc b/apollo_planning/src/common/planning_gflags.cc new file mode 100644 index 0000000..e1fd684 --- /dev/null +++ b/apollo_planning/src/common/planning_gflags.cc @@ -0,0 +1,53 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_planning/common/planning_gflags.h" + +DEFINE_double(planning_loop_rate, 5.0, "Loop rate for planning node"); + +DEFINE_string(rtk_trajectory_filename, "modules/planning/data/garage.csv", + "Loop rate for planning node"); + +DEFINE_uint64(rtk_trajectory_backward, 10, + "The number of points to be included in RTK trajectory " + "before the matched point"); + +DEFINE_uint64(rtk_trajectory_forward, 800, + "The number of points to be included in RTK trajectory " + "after the matched point"); + +DEFINE_double(replanning_threshold, 2.0, + "The threshold of position deviation " + "that triggers the planner replanning"); + +DEFINE_double(trajectory_resolution, 0.01, "The time resolution of " + "output trajectory."); diff --git a/apollo_planning/src/main.cc b/apollo_planning/src/main.cc new file mode 100644 index 0000000..a35d3ff --- /dev/null +++ b/apollo_planning/src/main.cc @@ -0,0 +1,49 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include +#include + +#include "apollo_common/log.h" +#include "apollo_planning/planning_node.h" + +int main(int argc, char **argv) { + google::InitGoogleLogging(argv[0]); + google::ParseCommandLineFlags(&argc, &argv, true); + + ros::init(argc, argv, "planning"); + + ::apollo::planning::PlanningNode planning_node; + planning_node.Run(); + + return 0; +} diff --git a/apollo_planning/src/planner/rtk_replay_planner.cc b/apollo_planning/src/planner/rtk_replay_planner.cc new file mode 100644 index 0000000..9f24c82 --- /dev/null +++ b/apollo_planning/src/planner/rtk_replay_planner.cc @@ -0,0 +1,178 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_planning/planner/rtk_replay_planner.h" + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "apollo_common/log.h" +#include "apollo_common/util/string_tokenizer.h" +#include "apollo_planning/common/planning_gflags.h" + +namespace apollo { +namespace planning { + +using apollo::common::vehicle_state::VehicleState; + +RTKReplayPlanner::RTKReplayPlanner() { + ReadTrajectoryFile(FLAGS_rtk_trajectory_filename); +} + +bool RTKReplayPlanner::Plan( + const TrajectoryPoint& start_point, + std::vector* ptr_discretized_trajectory) { + + if (complete_rtk_trajectory_.empty() || complete_rtk_trajectory_.size() < 2) { + AERROR << "RTKReplayPlanner doesn't have a recorded trajectory or " + "the recorded trajectory doesn't have enough valid trajectory " + "points."; + return false; + } + + std::size_t matched_index = + QueryPositionMatchedPoint(start_point, complete_rtk_trajectory_); + + std::size_t forward_buffer = FLAGS_rtk_trajectory_forward; + std::size_t end_index = + matched_index + forward_buffer >= complete_rtk_trajectory_.size() + ? complete_rtk_trajectory_.size() - 1 + : matched_index + forward_buffer - 1; + + if (ptr_discretized_trajectory->size() > 0) { + ptr_discretized_trajectory->clear(); + } + + ptr_discretized_trajectory->insert( + ptr_discretized_trajectory->begin(), + complete_rtk_trajectory_.begin() + matched_index, + complete_rtk_trajectory_.begin() + end_index + 1); + + // reset relative time + double zero_time = complete_rtk_trajectory_[matched_index].relative_time;; + for (std::size_t i = 0; i < ptr_discretized_trajectory->size(); ++i) { + (*ptr_discretized_trajectory)[i].relative_time -= zero_time; + } + + // check if the trajectory has enough points; + // if not, append the last points multiple times and + // adjust their corresponding time stamps. + while (ptr_discretized_trajectory->size() < FLAGS_rtk_trajectory_forward) { + const auto& last_point = ptr_discretized_trajectory->back(); + ptr_discretized_trajectory->push_back(last_point); + ptr_discretized_trajectory->back().relative_time += FLAGS_trajectory_resolution; + } + return true; +} + +void RTKReplayPlanner::ReadTrajectoryFile(const std::string& filename) { + if (!complete_rtk_trajectory_.empty()) { + complete_rtk_trajectory_.clear(); + } + + std::ifstream file_in(filename.c_str()); + if (!file_in.is_open()) { + AERROR << "RTKReplayPlanner cannot open trajectory file: " << filename; + return; + } + + std::string line; + // skip the header line. + getline(file_in, line); + + while (true) { + getline(file_in, line); + if (line == "") { + break; + } + + auto tokens = apollo::common::util::StringTokenizer::Split(line, "\t "); + if (tokens.size() < 11) { + AERROR << "RTKReplayPlanner parse line failed; the data dimension does not match."; + AERROR << line; + continue; + } + + TrajectoryPoint point; + point.x = std::stod(tokens[0]); + point.y = std::stod(tokens[1]); + point.z = std::stod(tokens[2]); + + point.v = std::stod(tokens[3]); + point.a = std::stod(tokens[4]); + + point.kappa = std::stod(tokens[5]); + point.dkappa = std::stod(tokens[6]); + + point.relative_time = std::stod(tokens[7]); + + point.theta = std::stod(tokens[8]); + + point.s = std::stod(tokens[10]); + complete_rtk_trajectory_.push_back(point); + } + + file_in.close(); +} + +std::size_t RTKReplayPlanner::QueryPositionMatchedPoint( + const TrajectoryPoint& start_point, + const std::vector& trajectory) const { + auto func_distance_square = [](const PathPoint& point, const double x, + const double y) { + double dx = point.x - x; + double dy = point.y - y; + return dx * dx + dy * dy; + }; + double d_min = func_distance_square(trajectory.front(), start_point.x, + start_point.y); + std::size_t index_min = 0; + for (std::size_t i = 1; i < trajectory.size(); ++i) { + double d_temp = func_distance_square(trajectory[i], start_point.x, + start_point.y); + if (d_temp < d_min) { + d_min = d_temp; + index_min = i; + } + } + return index_min; +} + +} // namespace planning +} // nameapace apollo diff --git a/apollo_planning/src/planner_factory.cc b/apollo_planning/src/planner_factory.cc new file mode 100644 index 0000000..97e2328 --- /dev/null +++ b/apollo_planning/src/planner_factory.cc @@ -0,0 +1,51 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_planning/planner_factory.h" + +#include "apollo_planning/planner/rtk_replay_planner.h" + +namespace apollo { +namespace planning { + +std::unique_ptr PlannerFactory::CreateInstance( + const PlannerType& planner_type) { + switch (planner_type) { + case PlannerType::RTK_PLANNER: + return std::unique_ptr(new RTKReplayPlanner()); + default: + return nullptr; + } +} + +} // namespace planning +} // namespace apollo diff --git a/apollo_planning/src/planning.cc b/apollo_planning/src/planning.cc new file mode 100644 index 0000000..260a17e --- /dev/null +++ b/apollo_planning/src/planning.cc @@ -0,0 +1,186 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_planning/planning.h" + +#include "apollo_common/adapters/adapter_manager.h" +#include "apollo_common/time/time.h" + +#include "apollo_planning/common/planning_gflags.h" +#include "apollo_planning/planner_factory.h" + +namespace apollo { +namespace planning { + +using apollo::common::adapter::AdapterManager; +using TrajectoryPb = ADCTrajectory; + +Planning::Planning() { + ptr_planner_ = PlannerFactory::CreateInstance(PlannerType::RTK_PLANNER); +} + +bool Planning::Plan(const common::vehicle_state::VehicleState& vehicle_state, + const bool is_on_auto_mode, const double publish_time, + std::vector* planning_trajectory) { + double planning_cycle_time = 1.0 / FLAGS_planning_loop_rate; + double execution_start_time = publish_time; + + if (is_on_auto_mode && !last_trajectory_.empty()) { + // if the auto-driving mode is on and we have the trajectory from last + // cycle, then + // find the planning starting point from the last planning result. + // this ensures the smoothness of planning output and + // therefore the smoothness of control execution. + + auto matched_info = + ComputeStartingPointFromLastTrajectory(execution_start_time); + TrajectoryPoint matched_point = matched_info.first; + std::size_t matched_index = matched_info.second; + + // Compute the position deviation between current vehicle + // position and target vehicle position. + // If the deviation exceeds a specific threshold, + // it will be unsafe to planning from the matched point. + double dx = matched_point.x - vehicle_state.x(); + double dy = matched_point.y - vehicle_state.y(); + double position_deviation = std::sqrt(dx * dx + dy * dy); + + if (position_deviation < FLAGS_replanning_threshold) { + // planned trajectory from the matched point, the matched point has + // relative time 0. + bool planning_succeeded = + ptr_planner_->Plan(matched_point, planning_trajectory); + + if (!planning_succeeded) { + last_trajectory_.clear(); + return false; + } + + // a segment of last trajectory to be attached to planned trajectory in + // case controller needs. + auto overhead_trajectory = GetOverheadTrajectory( + matched_index, (std::size_t)FLAGS_rtk_trajectory_backward); + planning_trajectory->insert(planning_trajectory->begin(), + overhead_trajectory.begin(), + overhead_trajectory.end()); + + // store the planned trajectory and header info for next planning cycle. + last_trajectory_ = *planning_trajectory; + last_header_time_ = execution_start_time; + return true; + } + } + + // if 1. the auto-driving mode is off or + // 2. we don't have the trajectory from last planning cycle or + // 3. the position deviation from actual and target is too high + // then planning from current vehicle state. + TrajectoryPoint vehicle_state_point = + ComputeStartingPointFromVehicleState(vehicle_state, planning_cycle_time); + + bool planning_succeeded = + ptr_planner_->Plan(vehicle_state_point, planning_trajectory); + if (!planning_succeeded) { + last_trajectory_.clear(); + return false; + } + // store the planned trajectory and header info for next planning cycle. + last_trajectory_ = *planning_trajectory; + last_header_time_ = execution_start_time; + return true; +} + +std::pair +Planning::ComputeStartingPointFromLastTrajectory( + const double start_time) const { + auto comp = [](const TrajectoryPoint& p, const double t) { + return p.relative_time < t; + }; + + auto it_lower = + std::lower_bound(last_trajectory_.begin(), last_trajectory_.end(), + start_time - last_header_time_, comp); + if (it_lower == last_trajectory_.end()) { + it_lower--; + } + std::size_t index = it_lower - last_trajectory_.begin(); + return std::pair(*it_lower, index); +} + +TrajectoryPoint Planning::ComputeStartingPointFromVehicleState( + const common::vehicle_state::VehicleState& vehicle_state, + const double forward_time) const { + // Eigen::Vector2d estimated_position = + // vehicle_state.EstimateFuturePosition(forward_time); + TrajectoryPoint point; + // point.x = estimated_position.x(); + // point.y = estimated_position.y(); + point.x = vehicle_state.x(); + point.y = vehicle_state.y(); + point.z = vehicle_state.z(); + point.v = vehicle_state.linear_velocity(); + point.a = vehicle_state.linear_acceleration(); + point.kappa = 0.0; + if (point.v > 0.1) { + point.kappa = + vehicle_state.angular_velocity() / vehicle_state.linear_velocity(); + } + point.dkappa = 0.0; + point.s = 0.0; + point.relative_time = 0.0; + return point; +} + +void Planning::Reset() { + last_header_time_ = 0.0; + last_trajectory_.clear(); +} + +std::vector Planning::GetOverheadTrajectory( + const std::size_t matched_index, const std::size_t buffer_size) { + const std::size_t start_index = + matched_index < buffer_size ? 0 : matched_index - buffer_size; + + auto overhead_trajectory = + std::vector(last_trajectory_.begin() + start_index, + last_trajectory_.begin() + matched_index); + + double zero_relative_time = last_trajectory_[matched_index].relative_time; + // reset relative time + for (auto& p : overhead_trajectory) { + p.relative_time -= zero_relative_time; + } + return overhead_trajectory; +} + +} // namespace planning +} // namespace apollo diff --git a/apollo_planning/src/planning_node.cc b/apollo_planning/src/planning_node.cc new file mode 100644 index 0000000..220c639 --- /dev/null +++ b/apollo_planning/src/planning_node.cc @@ -0,0 +1,144 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_planning/planning_node.h" + +#include "apollo_common/adapters/adapter_manager.h" +#include "apollo_common/log.h" +#include "apollo_msgs/proto/planning/planning.pb.h" + +#include "apollo_planning/common/planning_gflags.h" + +namespace apollo { +namespace planning { + +using apollo::common::vehicle_state::VehicleState; +using apollo::common::adapter::AdapterManager; +using apollo::common::time::Clock; +using TrajectoryPb = ADCTrajectory; + +PlanningNode::PlanningNode() { + AdapterManager::Init(FLAGS_adapter_config_path); +} + +PlanningNode::~PlanningNode() {} + +void PlanningNode::Run() { + static ros::Rate loop_rate(FLAGS_planning_loop_rate); + while (ros::ok()) { + RunOnce(); + ros::spinOnce(); + loop_rate.sleep(); + } +} + +void PlanningNode::RunOnce() { + AdapterManager::Observe(); + if (AdapterManager::GetLocalization() == nullptr) { + AERROR << "Localization is not available; skip the planning cycle"; + return; + } + if (AdapterManager::GetLocalization()->Empty()) { + AERROR << "localization messages are missing; skip the planning cycle"; + return; + } else { + AINFO << "Get localization message;"; + } + + if (AdapterManager::GetChassis() == nullptr) { + AERROR << "Chassis is not available; skip the planning cycle"; + return; + } + if (AdapterManager::GetChassis()->Empty()) { + AERROR << "Chassis messages are missing; skip the planning cycle"; + return; + } else { + AINFO << "Get localization message;"; + } + + AINFO << "Start planning ..."; + + const auto& localization = + AdapterManager::GetLocalization()->GetLatestObserved(); + VehicleState vehicle_state(localization); + + const auto& chassis = AdapterManager::GetChassis()->GetLatestObserved(); + bool is_on_auto_mode = chassis.driving_mode() == chassis.COMPLETE_AUTO_DRIVE; + + double planning_cycle_time = 1.0 / FLAGS_planning_loop_rate; + // the execution_start_time is the estimated time when the planned trajectory + // will be executed by the controller. + double execution_start_time = + apollo::common::time::ToSecond(apollo::common::time::Clock::Now()) + + planning_cycle_time; + + std::vector planning_trajectory; + bool res_planning = planning_.Plan(vehicle_state, is_on_auto_mode, + execution_start_time, &planning_trajectory); + if (res_planning) { + TrajectoryPb trajectory_pb = ToTrajectoryPb(execution_start_time, planning_trajectory); + AdapterManager::PublishPlanningTrajectory(trajectory_pb); + AINFO << "Planning succeeded"; + } else { + AINFO << "Planning failed"; + } +} + +void PlanningNode::Reset() { + planning_.Reset(); +} + +TrajectoryPb PlanningNode::ToTrajectoryPb( + const double header_time, + const std::vector& discretized_trajectory) { + TrajectoryPb trajectory_pb; + AdapterManager::FillPlanningTrajectoryHeader("planning", + trajectory_pb.mutable_header()); + + trajectory_pb.mutable_header()->set_timestamp_sec(header_time); + + for (const auto& trajectory_point : discretized_trajectory) { + auto ptr_trajectory_point_pb = trajectory_pb.add_adc_trajectory_point(); + ptr_trajectory_point_pb->set_x(trajectory_point.x); + ptr_trajectory_point_pb->set_y(trajectory_point.y); + ptr_trajectory_point_pb->set_theta(trajectory_point.theta); + ptr_trajectory_point_pb->set_curvature(trajectory_point.kappa); + ptr_trajectory_point_pb->set_relative_time(trajectory_point.relative_time); + ptr_trajectory_point_pb->set_speed(trajectory_point.v); + ptr_trajectory_point_pb->set_acceleration_s(trajectory_point.a); + ptr_trajectory_point_pb->set_accumulated_s(trajectory_point.s); + } + return std::move(trajectory_pb); +} + +} // namespace planning +} // namespace apollo diff --git a/apollo_simulator/CMakeLists.txt b/apollo_simulator/CMakeLists.txt new file mode 100644 index 0000000..ef73c7e --- /dev/null +++ b/apollo_simulator/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 2.8.3) +project(apollo_simulator) + +add_compile_options(-std=c++11) +# set(CMAKE_BUILD_TYPE "Debug") +set(CMAKE_BUILD_TYPE "Release") + +find_package(Eigen3 REQUIRED) +find_package(catkin REQUIRED COMPONENTS + roscpp + tf + tf2 + std_msgs + geometry_msgs + apollo_msgs + apollo_common +) + +catkin_package() + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +add_executable(${PROJECT_NAME} + src/main.cpp + src/apollo_simulator.cpp + src/vehicle_sim_model/sim_model_constant_acceleration.cpp + src/vehicle_sim_model/sim_model_ideal.cpp + src/vehicle_sim_model/sim_model_interface.cpp + src/vehicle_sim_model/sim_model_time_delay.cpp + src/vehicle_sim_model/sim_model_util.cpp +) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + protobuf + glog + gflags +) + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch param + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) \ No newline at end of file diff --git a/apollo_simulator/README.md b/apollo_simulator/README.md new file mode 100644 index 0000000..d185f74 --- /dev/null +++ b/apollo_simulator/README.md @@ -0,0 +1,3 @@ +# Simulator + +This node simulates the vehicle motion for a vehicle command in 2D using a simple vehicle model. \ No newline at end of file diff --git a/apollo_simulator/conf/adapter.conf b/apollo_simulator/conf/adapter.conf new file mode 100644 index 0000000..290d5b8 --- /dev/null +++ b/apollo_simulator/conf/adapter.conf @@ -0,0 +1,21 @@ +config { + type: PLANNING_TRAJECTORY + mode: RECEIVE_ONLY + message_history_limit: 10 +} +config { + type: CONTROL_COMMAND + mode: RECEIVE_ONLY + message_history_limit: 10 +} +config { + type: LOCALIZATION + mode: PUBLISH_ONLY + message_history_limit: 10 +} +config { + type: CHASSIS + mode: PUBLISH_ONLY + message_history_limit: 10 +} +is_ros: true diff --git a/apollo_simulator/include/apollo_simulator/apollo_simulator.h b/apollo_simulator/include/apollo_simulator/apollo_simulator.h new file mode 100644 index 0000000..c7eb5cc --- /dev/null +++ b/apollo_simulator/include/apollo_simulator/apollo_simulator.h @@ -0,0 +1,197 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#pragma once + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "apollo_simulator/vehicle_sim_model/sim_model_constant_acceleration.h" +#include "apollo_simulator/vehicle_sim_model/sim_model_ideal.h" +#include "apollo_simulator/vehicle_sim_model/sim_model_interface.h" +#include "apollo_simulator/vehicle_sim_model/sim_model_time_delay.h" + +class Simulator { + public: + /** + * @brief constructor + */ + explicit Simulator(tf2_ros::Buffer &tf_buffer); + + /** + * @brief default destructor + */ + // ~Simulator() = default; + + protected: + /** + * @brief set initial pose for simulation with received message + */ + void CallbackInitialPoseWithCov( + const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg); + + /** + * @brief set initial pose with received message + */ + void CallbackInitialPoseStamped(const geometry_msgs::PoseStamped::ConstPtr &msg); + + /** + * @brief set initial twist with received message + */ + void CallbackInitialTwistStamped(const geometry_msgs::TwistStamped::ConstPtr &msg); + + /** + * @brief get transform from two frame_ids + * @param [in] parent_frame parent frame id + * @param [in] child frame id + * @param [out] transform transform from parent frame to child frame + */ + void GetTransformFromTF( + const std::string parent_frame, const std::string child_frame, + geometry_msgs::TransformStamped &transform); + + /** + * @brief timer callback for simulation with loop_rate + */ + void TimerCallbackSimulation(const ros::TimerEvent &event); + + /** + * @brief set initial state of simulated vehicle + * @param [in] pose initial position and orientation + * @param [in] twist initial velocity and angular velocity + */ + void SetInitialState(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist); + + /** + * @brief set initial state of simulated vehicle with pose transformation based on frame_id + * @param [in] pose initial position and orientation with header + * @param [in] twist initial velocity and angular velocity + */ + void SetInitialStateWithPoseTransform( + const geometry_msgs::PoseStamped &pose, const geometry_msgs::Twist &twist); + + /** + * @brief set initial state of simulated vehicle with pose transformation based on frame_id + * @param [in] pose initial position and orientation with header + * @param [in] twist initial velocity and angular velocity + */ + void SetInitialStateWithPoseTransform( + const geometry_msgs::PoseWithCovarianceStamped &pose, + const geometry_msgs::Twist &twist); + + /** + * @brief publish tf + * @param [in] pose pose used for tf + */ + void PublishTF(const geometry_msgs::Pose &pose); + + /** + * @brief convert roll-pitch-yaw Euler angle to ros Quaternion + * @param [in] roll roll angle [rad] + * @param [in] pitch pitch angle [rad] + * @param [in] yaw yaw angle [rad] + */ + geometry_msgs::Quaternion GetQuaternionFromRPY( + const double &roll, const double &pitch, const double &yaw); + + void PublishChassis(const double &steering_angle, const geometry_msgs::Twist &twist); + void PublishLocalization(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist); + void PublishPlanningTrajectory(); + + double GetNumberFromXMLRPC(XmlRpc::XmlRpcValue &value, const std::string &full_param_name); + std::vector MakeFootprintFromXMLRPC(XmlRpc::XmlRpcValue &footprint_xmlrpc, + const std::string &full_param_name, const size_t min_size = 1); + + private: + /* ros system */ + ros::Publisher pub_pose_; //!< @brief topic ros publisher for current pose + ros::Publisher pub_speed_; //!< @brief topic ros publisher for current speed + ros::Publisher pub_footprint_; //!< @brief topic ros publisher for vehicle footprint + ros::Publisher pub_trajectory_; + + ros::Subscriber sub_initialpose_; //!< @brief topic subscriber for initialpose topic + ros::Subscriber sub_initialtwist_; //!< @brief topic subscriber for initialtwist topic + + ros::Timer timer_simulation_; //!< @brief timer for simulation + + /* tf */ + tf2_ros::TransformBroadcaster tf_broadcaster_; + tf2_ros::Buffer &tf_buffer_; + + /* received & published topics */ + geometry_msgs::PoseStamped::ConstPtr initial_pose_ptr_; //!< @brief initial vehicle pose + geometry_msgs::PoseWithCovarianceStamped::ConstPtr initial_pose_with_cov_ptr_; //!< @brief initial vehicle pose with cov + geometry_msgs::TwistStamped::ConstPtr initial_twist_ptr_; //!< @brief initial vehicle velocity + geometry_msgs::Pose current_pose_; //!< @brief current vehicle position and angle + geometry_msgs::Twist current_twist_; //!< @brief current vehicle velocity + double closest_pos_z_; //!< @brief z position on closest trajectory + + /* frame_id */ + std::string simulation_frame_id_; //!< @brief vehicle frame id simulated by apollo_simulator + std::string map_frame_id_; //!< @brief map frame_id + + /* apollo_simulator parameters */ + double loop_rate_; //!< @brief frequency to calculate vehicle model & publish result + double wheelbase_; //!< @brief wheelbase length to convert angular-velocity & steering + std::vector footprint_; + double steer_transmission_ratio_; + double steer_single_direction_max_degree_; + + /* flags */ + bool is_initialized_ = false; //!< @brief flag to check the initial position is set + bool add_measurement_noise_; //!< @brief flag to add measurement noise + + /* saved values */ + std::shared_ptr prev_update_time_ptr_; //!< @brief previously updated time + + /* vehicle model */ + enum class VehicleModelType { + IDEAL_TWIST = 0, + IDEAL_STEER = 1, + DELAY_TWIST = 2, + DELAY_STEER = 3, + CONST_ACCEL_TWIST = 4, + IDEAL_FORKLIFT_RLS = 5, + DELAY_FORKLIFT_RLS = 6, + IDEAL_ACCEL = 7, + DELAY_STEER_ACC = 8, + } vehicle_model_type_; //!< @brief vehicle model type to decide the model dynamics + std::shared_ptr vehicle_model_ptr_; //!< @brief vehicle model pointer + + /* to generate measurement noise */ + std::shared_ptr rand_engine_ptr_; //!< @brief random engine for measurement noise + std::shared_ptr> pos_norm_dist_ptr_; //!< @brief Gaussian noise for position + std::shared_ptr> vel_norm_dist_ptr_; //!< @brief Gaussian noise for velocity + std::shared_ptr> rpy_norm_dist_ptr_; //!< @brief Gaussian noise for roll-pitch-yaw + std::shared_ptr> angvel_norm_dist_ptr_; //!< @brief Gaussian noise for angular velocity + std::shared_ptr> steer_norm_dist_ptr_; //!< @brief Gaussian noise for steering angle +}; diff --git a/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_constant_acceleration.h b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_constant_acceleration.h new file mode 100644 index 0000000..d4dbaf3 --- /dev/null +++ b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_constant_acceleration.h @@ -0,0 +1,105 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#pragma once + +#include +#include +#include + +#include "apollo_simulator/vehicle_sim_model/sim_model_interface.h" + +/** + * @class simple_planning_simulator constant acceleration twist model + * @brief calculate velocity & angular-velocity with constant acceleration + */ +class SimModelConstantAccelTwist : public SimModelInterface { + public: + /** + * @brief constructor + * @param [in] vx_lim velocity limit [m/s] + * @param [in] wz_lim angular velocity limit [m/s] + * @param [in] vx_rate acceleration for velocity [m/ss] + * @param [in] wz_rate acceleration for angular velocity [rad/ss] + */ + SimModelConstantAccelTwist(double vx_lim, double wz_lim, double vx_rate, double wz_rate); + + /** + * @brief default destructor + */ + ~SimModelConstantAccelTwist() = default; + + private: + enum IDX { + X = 0, + Y, + YAW, + VX, + WZ, + }; + enum IDX_U { + VX_DES = 0, + WZ_DES, + }; + + const double vx_lim_; //!< @brief velocity limit + const double wz_lim_; //!< @brief angular velocity limit + const double vx_rate_; //!< @brief velocity rate + const double wz_rate_; //!< @brief angular velocity rate + + /** + * @brief get vehicle position x + */ + double getX() override; + + /** + * @brief get vehicle position y + */ + double getY() override; + + /** + * @brief get vehicle angle yaw + */ + double getYaw() override; + + /** + * @brief get vehicle velocity vx + */ + double getVx() override; + + /** + * @brief get vehicle angular-velocity wz + */ + double getWz() override; + + /** + * @brief get vehicle steering angle + */ + double getSteer() override; + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double &dt) override; + + /** + * @brief calculate derivative of states with constant acceleration + * @param [in] state current model state + * @param [in] input input vector to model + */ + Eigen::VectorXd calcModel(const Eigen::VectorXd &state, const Eigen::VectorXd &input) override; +}; diff --git a/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_ideal.h b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_ideal.h new file mode 100644 index 0000000..b6ef0fd --- /dev/null +++ b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_ideal.h @@ -0,0 +1,243 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#pragma once + +#include +#include +#include + +#include "apollo_simulator/vehicle_sim_model/sim_model_interface.h" + +/** + * @class simple_planning_simulator ideal twist model + * @brief calculate ideal twist dynamics + */ +class SimModelIdealTwist : public SimModelInterface { + public: + /** + * @brief constructor + */ + SimModelIdealTwist(); + + /** + * @brief destructor + */ + ~SimModelIdealTwist() = default; + + private: + enum IDX { + X = 0, + Y, + YAW, + }; + enum IDX_U { + VX_DES = 0, + WZ_DES, + }; + + /** + * @brief get vehicle position x + */ + double getX() override; + + /** + * @brief get vehicle position y + */ + double getY() override; + + /** + * @brief get vehicle angle yaw + */ + double getYaw() override; + + /** + * @brief get vehicle velocity vx + */ + double getVx() override; + + /** + * @brief get vehicle angular-velocity wz + */ + double getWz() override; + + /** + * @brief get vehicle steering angle + */ + double getSteer() override; + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double &dt) override; + + /** + * @brief calculate derivative of states with ideal twist model + * @param [in] state current model state + * @param [in] input input vector to model + */ + Eigen::VectorXd calcModel(const Eigen::VectorXd &state, const Eigen::VectorXd &input) override; +}; + +/** + * @class simple_planning_simulator ideal steering model + * @brief calculate ideal steering dynamics + */ +class SimModelIdealSteer : public SimModelInterface { + public: + /** + * @brief constructor + * @param [in] wheelbase vehicle wheelbase length [m] + */ + explicit SimModelIdealSteer(double wheelbase); + + /** + * @brief destructor + */ + ~SimModelIdealSteer() = default; + + private: + enum IDX { + X = 0, + Y, + YAW, + }; + enum IDX_U { + VX_DES = 0, + STEER_DES, + }; + + const double wheelbase_; //!< @brief vehicle wheelbase length + + /** + * @brief get vehicle position x + */ + double getX() override; + + /** + * @brief get vehicle position y + */ + double getY() override; + + /** + * @brief get vehicle angle yaw + */ + double getYaw() override; + + /** + * @brief get vehicle velocity vx + */ + double getVx() override; + + /** + * @brief get vehicle angular-velocity wz + */ + double getWz() override; + + /** + * @brief get vehicle steering angle + */ + double getSteer() override; + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double &dt) override; + + /** + * @brief calculate derivative of states with ideal steering model + * @param [in] state current model state + * @param [in] input input vector to model + */ + Eigen::VectorXd calcModel(const Eigen::VectorXd &state, const Eigen::VectorXd &input) override; +}; + +/** + * @class wf_simulator ideal acceleration and steering model + * @brief calculate ideal steering dynamics + */ +class SimModelIdealAccel : public SimModelInterface { + public: + /** + * @brief constructor + * @param [in] wheelbase vehicle wheelbase length [m] + */ + explicit SimModelIdealAccel(double wheelbase); + + /** + * @brief destructor + */ + ~SimModelIdealAccel() = default; + + private: + enum IDX { + X = 0, + Y, + YAW, + VX, + }; + enum IDX_U { + AX_DES = 0, + STEER_DES, + }; + + const double wheelbase_; //!< @brief vehicle wheelbase length + + /** + * @brief get vehicle position x + */ + double getX() override; + + /** + * @brief get vehicle position y + */ + double getY() override; + + /** + * @brief get vehicle angle yaw + */ + double getYaw() override; + + /** + * @brief get vehicle velocity vx + */ + double getVx() override; + + /** + * @brief get vehicle angular-velocity wz + */ + double getWz() override; + + /** + * @brief get vehicle steering angle + */ + double getSteer() override; + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double &dt) override; + + /** + * @brief calculate derivative of states with ideal steering model + * @param [in] state current model state + * @param [in] input input vector to model + */ + Eigen::VectorXd calcModel(const Eigen::VectorXd &state, const Eigen::VectorXd &input) override; +}; diff --git a/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_interface.h b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_interface.h new file mode 100644 index 0000000..ba4894a --- /dev/null +++ b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_interface.h @@ -0,0 +1,126 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#pragma once + +#include + +/** + * @class simple_planning_simulator vehicle model class + * @brief calculate vehicle dynamics + */ +class SimModelInterface { + protected: + const int dim_x_; //!< @brief dimension of state x + const int dim_u_; //!< @brief dimension of input u + Eigen::VectorXd state_; //!< @brief vehicle state vector + Eigen::VectorXd input_; //!< @brief vehicle input vector + + public: + /** + * @brief constructor + * @param [in] dim_x dimension of state x + * @param [in] dim_u dimension of input u + */ + SimModelInterface(int dim_x, int dim_u); + + /** + * @brief destructor + */ + ~SimModelInterface() = default; + + /** + * @brief get state vector of model + * @param [out] state state vector + */ + void getState(Eigen::VectorXd &state); + + /** + * @brief get input vector of model + * @param [out] input input vector + */ + void getInput(Eigen::VectorXd &input); + + /** + * @brief set state vector of model + * @param [in] state state vector + */ + void setState(const Eigen::VectorXd &state); + + /** + * @brief set input vector of model + * @param [in] input input vector + */ + void setInput(const Eigen::VectorXd &input); + + /** + * @brief update vehicle states with Runge-Kutta methods + * @param [in] dt delta time [s] + * @param [in] input vehicle input + */ + void updateRungeKutta(const double &dt, const Eigen::VectorXd &input); + + /** + * @brief update vehicle states with Euler methods + * @param [in] dt delta time [s] + * @param [in] input vehicle input + */ + void updateEuler(const double &dt, const Eigen::VectorXd &input); + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + virtual void update(const double &dt) = 0; + + /** + * @brief get vehicle position x + */ + virtual double getX() = 0; + + /** + * @brief get vehicle position y + */ + virtual double getY() = 0; + + /** + * @brief get vehicle angle yaw + */ + virtual double getYaw() = 0; + + /** + * @brief get vehicle velocity vx + */ + virtual double getVx() = 0; + + /** + * @brief get vehicle angular-velocity wz + */ + virtual double getWz() = 0; + + /** + * @brief get vehicle steering angle + */ + virtual double getSteer() = 0; + + /** + * @brief calculate derivative of states with vehicle model + * @param [in] state current model state + * @param [in] input input vector to model + */ + virtual Eigen::VectorXd calcModel( + const Eigen::VectorXd &state, const Eigen::VectorXd &input) = 0; +}; diff --git a/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_time_delay.h b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_time_delay.h new file mode 100644 index 0000000..f5c194b --- /dev/null +++ b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_time_delay.h @@ -0,0 +1,347 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#pragma once + +#include +#include +#include + +#include +#include + +#include "apollo_simulator/vehicle_sim_model/sim_model_interface.h" +#include "apollo_simulator/vehicle_sim_model/sim_model_util.h" + +/** + * @class simple_planning_simulator time delay twist model + * @brief calculate time delay twist dynamics + */ +class SimModelTimeDelayTwist : public SimModelInterface { + public: + /** + * @brief constructor + * @param [in] vx_lim velocity limit [m/s] + * @param [in] angvel_lim angular velocity limit [m/s] + * @param [in] vx_rate_lim acceleration limit [m/ss] + * @param [in] wz_rate_lim angular acceleration limit [rad/ss] + * @param [in] dt delta time information to set input buffer for delay + * @param [in] vx_delay time delay for velocity command [s] + * @param [in] vx_time_constant time constant for 1D model of velocity dynamics + * @param [in] wx_delay time delay for angular-velocity command [s] + * @param [in] wz_time_constant time constant for 1D model of angular-velocity dynamics + * @param [in] deadzone_delta_steer deadzone value of steer + */ + SimModelTimeDelayTwist( + double vx_lim, double angvel_lim, double vx_rate_lim, double wz_rate_lim, double dt, + double vx_delay, double vx_time_constant, double wz_delay, double wz_time_constant, + double deadzone_delta_steer); + + /** + * @brief default destructor + */ + ~SimModelTimeDelayTwist() = default; + + private: + const double MIN_TIME_CONSTANT; //!< @brief minimum time constant + + enum IDX { + X = 0, + Y, + YAW, + VX, + WZ, + }; + enum IDX_U { + VX_DES = 0, + WZ_DES, + }; + + const double vx_lim_; //!< @brief velocity limit + const double vx_rate_lim_; //!< @brief acceleration limit + const double wz_lim_; //!< @brief angular velocity limit + const double wz_rate_lim_; //!< @brief angular acceleration limit + + std::deque vx_input_queue_; //!< @brief buffer for velocity command + std::deque wz_input_queue_; //!< @brief buffer for angular velocity command + const double vx_delay_; //!< @brief time delay for velocity command [s] + const double vx_time_constant_; //!< @brief time constant for 1D model of velocity dynamics + const double wz_delay_; //!< @brief time delay for angular-velocity command [s] + const double + wz_time_constant_; //!< @brief time constant for 1D model of angular-velocity dynamics + const double deadzone_delta_steer_; //!<@ brief deadzone value of steer + + /** + * @brief set queue buffer for input command + * @param [in] dt delta time + */ + void initializeInputQueue(const double &dt); + + /** + * @brief get vehicle position x + */ + double getX() override; + + /** + * @brief get vehicle position y + */ + double getY() override; + + /** + * @brief get vehicle angle yaw + */ + double getYaw() override; + + /** + * @brief get vehicle velocity vx + */ + double getVx() override; + + /** + * @brief get vehicle angular-velocity wz + */ + double getWz() override; + + /** + * @brief get vehicle steering angle + */ + double getSteer() override; + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double &dt) override; + + /** + * @brief calculate derivative of states with time delay twist model + * @param [in] state current model state + * @param [in] input input vector to model + */ + Eigen::VectorXd calcModel(const Eigen::VectorXd &state, const Eigen::VectorXd &input) override; +}; + +class SimModelTimeDelaySteer : public SimModelInterface { + public: + /** + * @brief constructor + * @param [in] vx_lim velocity limit [m/s] + * @param [in] steer_lim steering limit [rad] + * @param [in] vx_rate_lim acceleration limit [m/ss] + * @param [in] steer_rate_lim steering angular velocity limit [rad/ss] + * @param [in] wheelbase vehicle wheelbase length [m] + * @param [in] dt delta time information to set input buffer for delay + * @param [in] vx_delay time delay for velocity command [s] + * @param [in] vx_time_constant time constant for 1D model of velocity dynamics + * @param [in] steer_delay time delay for steering command [s] + * @param [in] steer_time_constant time constant for 1D model of steering dynamics + * @param [in] deadzone_delta_steer deadzone value of steer + */ + SimModelTimeDelaySteer( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double vx_delay, double vx_time_constant, double steer_delay, + double steer_time_constant, double deadzone_delta_steer); + + /** + * @brief default destructor + */ + ~SimModelTimeDelaySteer() = default; + + private: + const double MIN_TIME_CONSTANT; //!< @brief minimum time constant + + enum IDX { + X = 0, + Y, + YAW, + VX, + STEER, + }; + enum IDX_U { + VX_DES = 0, + STEER_DES, + }; + + const double vx_lim_; //!< @brief velocity limit [m/s] + const double vx_rate_lim_; //!< @brief acceleration limit [m/ss] + const double steer_lim_; //!< @brief steering limit [rad] + const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] + const double wheelbase_; //!< @brief vehicle wheelbase length [m] + + std::deque vx_input_queue_; //!< @brief buffer for velocity command + std::deque steer_input_queue_; //!< @brief buffer for steering command + const double vx_delay_; //!< @brief time delay for velocity command [s] + const double vx_time_constant_; //!< @brief time constant for 1D model of velocity dynamics + const double steer_delay_; //!< @brief time delay for steering command [s] + const double steer_time_constant_; //!< @brief time constant for 1D model of steering dynamics + const double deadzone_delta_steer_; //!<@ brief deadzone value of steer + + /** + * @brief set queue buffer for input command + * @param [in] dt delta time + */ + void initializeInputQueue(const double &dt); + + /** + * @brief get vehicle position x + */ + double getX() override; + + /** + * @brief get vehicle position y + */ + double getY() override; + + /** + * @brief get vehicle angle yaw + */ + double getYaw() override; + + /** + * @brief get vehicle velocity vx + */ + double getVx() override; + + /** + * @brief get vehicle angular-velocity wz + */ + double getWz() override; + + /** + * @brief get vehicle steering angle + */ + double getSteer() override; + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double &dt) override; + + /** + * @brief calculate derivative of states with time delay steering model + * @param [in] state current model state + * @param [in] input input vector to model + */ + Eigen::VectorXd calcModel(const Eigen::VectorXd &state, const Eigen::VectorXd &input) override; +}; + +class SimModelTimeDelaySteerAccel : public SimModelInterface { + public: + /** + * @brief constructor + * @param [in] vx_lim velocity limit [m/s] + * @param [in] steer_lim steering limit [rad] + * @param [in] vx_rate_lim acceleration limit [m/ss] + * @param [in] steer_rate_lim steering angular velocity limit [rad/ss] + * @param [in] wheelbase vehicle wheelbase length [m] + * @param [in] dt delta time information to set input buffer for delay + * @param [in] acc_delay time delay for accel command [s] + * @param [in] acc_time_constant time constant for 1D model of accel dynamics + * @param [in] steer_delay time delay for steering command [s] + * @param [in] steer_time_constant time constant for 1D model of steering dynamics + * @param [in] deadzone_delta_steer deadzone value of steer + */ + SimModelTimeDelaySteerAccel( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double acc_delay, double acc_time_constant, double steer_delay, + double steer_time_constant, double deadzone_delta_steer); + + /** + * @brief default destructor + */ + ~SimModelTimeDelaySteerAccel() = default; + + private: + const double MIN_TIME_CONSTANT; //!< @brief minimum time constant + + enum IDX { + X = 0, + Y, + YAW, + VX, + STEER, + ACCX, + }; + enum IDX_U { + ACCX_DES = 0, + STEER_DES, + DRIVE_SHIFT, + }; + + const double vx_lim_; //!< @brief velocity limit [m/s] + const double vx_rate_lim_; //!< @brief acceleration limit [m/ss] + const double steer_lim_; //!< @brief steering limit [rad] + const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] + const double wheelbase_; //!< @brief vehicle wheelbase length [m] + + std::deque acc_input_queue_; //!< @brief buffer for accel command + std::deque steer_input_queue_; //!< @brief buffer for steering command + const double acc_delay_; //!< @brief time delay for accel command [s] + const double acc_time_constant_; //!< @brief time constant for 1D model of accel dynamics + const double steer_delay_; //!< @brief time delay for steering command [s] + const double steer_time_constant_; //!< @brief time constant for 1D model of steering dynamics + const double deadzone_delta_steer_; //!<@ brief deadzone value of steer + + /** + * @brief set queue buffer for input command + * @param [in] dt delta time + */ + void initializeInputQueue(const double &dt); + + /** + * @brief get vehicle position x + */ + double getX() override; + + /** + * @brief get vehicle position y + */ + double getY() override; + + /** + * @brief get vehicle angle yaw + */ + double getYaw() override; + + /** + * @brief get vehicle velocity vx + */ + double getVx() override; + + /** + * @brief get vehicle angular-velocity wz + */ + double getWz() override; + + /** + * @brief get vehicle steering angle + */ + double getSteer() override; + + /** + * @brief update vehicle states + * @param [in] dt delta time [s] + */ + void update(const double &dt) override; + + /** + * @brief calculate derivative of states with time delay steering model + * @param [in] state current model state + * @param [in] input input vector to model + */ + Eigen::VectorXd calcModel(const Eigen::VectorXd &state, const Eigen::VectorXd &input) override; +}; diff --git a/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_util.h b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_util.h new file mode 100644 index 0000000..252b48e --- /dev/null +++ b/apollo_simulator/include/apollo_simulator/vehicle_sim_model/sim_model_util.h @@ -0,0 +1,24 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#pragma once + +#include + +namespace sim_model_util { +double getDummySteerCommandWithFriction( + const double steer, const double steer_command, const double deadzone_delta_steer); +} \ No newline at end of file diff --git a/apollo_simulator/launch/simulation.launch b/apollo_simulator/launch/simulation.launch new file mode 100644 index 0000000..aa2640a --- /dev/null +++ b/apollo_simulator/launch/simulation.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/apollo_simulator/launch/simulator.launch b/apollo_simulator/launch/simulator.launch new file mode 100644 index 0000000..b2bc3f3 --- /dev/null +++ b/apollo_simulator/launch/simulator.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/apollo_simulator/package.xml b/apollo_simulator/package.xml new file mode 100644 index 0000000..2479951 --- /dev/null +++ b/apollo_simulator/package.xml @@ -0,0 +1,22 @@ + + + apollo_simulator + 1.0.0 + The apollo_simulator package + Forrest + Forrest + + Apache 2 + + catkin + + roscpp + tf2 + tf + roslint + std_msgs + geometry_msgs + apollo_msgs + apollo_common + + diff --git a/apollo_simulator/param/simulator_params.yaml b/apollo_simulator/param/simulator_params.yaml new file mode 100644 index 0000000..8060eef --- /dev/null +++ b/apollo_simulator/param/simulator_params.yaml @@ -0,0 +1,32 @@ +loop_rate: 100.0 +footprint: [[-1.0, 0.8],[3.0, 0.8], [3.0, -0.8], [-1.0, -0.8]] +wheelbase: 2.85 +simulation_frame_id: base_link +map_frame_id: map +add_measurement_noise: true + +# Option for vehicle_model_type: +# - IDEAL_STEER : reads velocity command. The steering and velocity changes exactly the same as commanded. +# - DELAY_STEER : reads velocity command. The steering and velocity changes with delay model. +# - DELAY_STEER_ACC : reads acceleration command. The steering and acceleration changes with delay model. +vehicle_model_type: DELAY_STEER_ACC + +vel_lim: 4.0 +vel_time_constant: 0.61 +vel_time_delay: 0.25 + +accel_rate: 7.0 +acc_time_delay: 0.1 +acc_time_constant: 0.1 + +steer_lim: 1.0 +steer_rate_lim: 5.0 +steer_time_constant: 0.27 +steer_time_delay: 0.24 +deadzone_delta_steer: 0.00 + +pos_noise_stddev: 0.01 +vel_noise_stddev: 0.0 +rpy_noise_stddev: 0.0001 +angvel_noise_stddev: 0.0 +steer_noise_stddev: 0.0001 diff --git a/apollo_simulator/rviz/simulation.rviz b/apollo_simulator/rviz/simulation.rviz new file mode 100644 index 0000000..39b66c0 --- /dev/null +++ b/apollo_simulator/rviz/simulation.rviz @@ -0,0 +1,161 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 719 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: current_pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /current_pose + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: footprint + Queue Size: 10 + Topic: /apollo_simulator/footprint + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.5 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /apollo_simulator/trajectory + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0.034999772906303406 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 16.274085998535156 + Target Frame: + X: -1.9362672567367554 + Y: -3.652482748031616 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f80000003efc0100000002fb0000000800540069006d00650100000000000004f8000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000039c0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1272 + X: 648 + Y: 27 diff --git a/apollo_simulator/src/apollo_simulator.cpp b/apollo_simulator/src/apollo_simulator.cpp new file mode 100644 index 0000000..cbf32c3 --- /dev/null +++ b/apollo_simulator/src/apollo_simulator.cpp @@ -0,0 +1,475 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_simulator/apollo_simulator.h" + +#include +#include +#include + +#include "apollo_common/adapters/adapter_manager.h" +#include "apollo_common/log.h" +#include "apollo_common/math/quaternion.h" +#include "apollo_common/math/math_utils.h" +#include "apollo_msgs/proto/localization/localization.pb.h" +#include "apollo_msgs/proto/canbus/chassis.pb.h" + +using apollo::common::adapter::AdapterManager; + +Simulator::Simulator(tf2_ros::Buffer &tf_buffer) + : tf_buffer_(tf_buffer) { + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + /* simple_planning_simulator parameters */ + private_nh.param("loop_rate", loop_rate_, 30.0); + private_nh.param("wheelbase", wheelbase_, 0.0); + private_nh.param("steer_transmission_ratio", steer_transmission_ratio_, 16.0); + private_nh.param("steer_single_direction_max_degree", steer_single_direction_max_degree_, 470.0); + private_nh.param("simulation_frame_id", simulation_frame_id_, std::string("base_link")); + private_nh.param("map_frame_id", map_frame_id_, std::string("map")); + private_nh.param("add_measurement_noise", add_measurement_noise_, false); + std::string full_param_name; + if (private_nh.searchParam("footprint", full_param_name)) { + XmlRpc::XmlRpcValue footprint_xmlrpc; + private_nh.getParam(full_param_name, footprint_xmlrpc); + if (footprint_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeArray) { + footprint_ = MakeFootprintFromXMLRPC(footprint_xmlrpc, full_param_name); + } else { + ROS_FATAL("Values in the footprint specification must be numbers"); + throw std::runtime_error("Values in the footprint specification must be numbers"); + } + } else { + ROS_FATAL("search footprint param fail"); + throw std::runtime_error("search footprint param fail."); + } + + /* set pub sub topic name */ + pub_pose_ = private_nh.advertise("current_pose", 1); + pub_speed_ = private_nh.advertise("current_speed", 1); + pub_footprint_ = private_nh.advertise("footprint", 1); + pub_trajectory_ = private_nh.advertise("trajectory", 1); + + sub_initialtwist_ = nh.subscribe("/initial_twist", 10, &Simulator::CallbackInitialTwistStamped, this); + sub_initialpose_ = nh.subscribe("/initial_pose", 10, &Simulator::CallbackInitialPoseWithCov, this); + + const double dt = 1.0 / loop_rate_; + + /* Timer */ + timer_simulation_ = nh.createTimer(ros::Duration(dt), &Simulator::TimerCallbackSimulation, this); + + /* set vehicle model parameters */ + { + std::string vehicle_model_type_str; + private_nh.param("vehicle_model_type", vehicle_model_type_str, std::string("IDEAL_STEER")); + ROS_INFO("vehicle_model_type = %s", vehicle_model_type_str.c_str()); + double vel_lim, vel_time_delay, vel_time_constant; + private_nh.param("vel_lim", vel_lim, 50.0); + private_nh.param("vel_time_delay", vel_time_delay, 0.25); + private_nh.param("vel_time_constant", vel_time_constant, 0.5); + double accel_rate, acc_time_delay, acc_time_constant; + private_nh.param("accel_rate", accel_rate, 10.0); + private_nh.param("acc_time_delay", acc_time_delay, 0.1); + private_nh.param("acc_time_constant", acc_time_constant, 0.1); + double steer_lim, steer_rate_lim, steer_time_delay, steer_time_constant, deadzone_delta_steer; + private_nh.param("steer_lim", steer_lim, 1.0); + private_nh.param("steer_rate_lim", steer_rate_lim, 5.0); + private_nh.param("steer_time_delay", steer_time_delay, 0.3); + private_nh.param("steer_time_constant", steer_time_constant, 0.3); + private_nh.param("deadzone_delta_steer", steer_time_constant, 0.0); + + if (vehicle_model_type_str == "IDEAL_STEER") { + vehicle_model_type_ = VehicleModelType::IDEAL_STEER; + vehicle_model_ptr_ = std::make_shared(wheelbase_); + } else if (vehicle_model_type_str == "DELAY_STEER") { + vehicle_model_type_ = VehicleModelType::DELAY_STEER; + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, accel_rate, steer_rate_lim, wheelbase_, dt, vel_time_delay, + vel_time_constant, steer_time_delay, steer_time_constant, deadzone_delta_steer); + } else if (vehicle_model_type_str == "DELAY_STEER_ACC") { + vehicle_model_type_ = VehicleModelType::DELAY_STEER_ACC; + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, accel_rate, steer_rate_lim, wheelbase_, dt, acc_time_delay, + acc_time_constant, steer_time_delay, steer_time_constant, deadzone_delta_steer); + } else { + ROS_ERROR("Invalid vehicle_model_type. Initialization failed."); + } + } + + /* set normal distribution noises */ + { + int random_seed; + private_nh.param("random_seed", random_seed, 1); + if (random_seed >= 0) { + rand_engine_ptr_ = std::make_shared(random_seed); + } else { + std::random_device seed; + rand_engine_ptr_ = std::make_shared(seed()); + } + double pos_noise_stddev, vel_noise_stddev, rpy_noise_stddev, angvel_noise_stddev, steer_noise_stddev; + private_nh.param("pos_noise_stddev", pos_noise_stddev, 0.01); + private_nh.param("vel_noise_stddev", vel_noise_stddev, 0.0); + private_nh.param("rpy_noise_stddev", rpy_noise_stddev, 0.0001); + private_nh.param("angvel_noise_stddev", angvel_noise_stddev, 0.0); + private_nh.param("steer_noise_stddev", steer_noise_stddev, 0.0001); + pos_norm_dist_ptr_ = std::make_shared>(0.0, pos_noise_stddev); + vel_norm_dist_ptr_ = std::make_shared>(0.0, vel_noise_stddev); + rpy_norm_dist_ptr_ = std::make_shared>(0.0, rpy_noise_stddev); + angvel_norm_dist_ptr_ = std::make_shared>(0.0, angvel_noise_stddev); + steer_norm_dist_ptr_ = std::make_shared>(0.0, steer_noise_stddev); + } + + current_pose_.orientation.w = 1.0; + closest_pos_z_ = 0.0; + + std::string adapter_config_path; + private_nh.param("adapter_config_path", adapter_config_path, std::string("")); + AdapterManager::Init(adapter_config_path); +} + +void Simulator::PublishChassis(const double &steering_angle, const geometry_msgs::Twist &twist) { + apollo::canbus::Chassis chassis; + AdapterManager::FillChassisHeader("chassis", chassis.mutable_header()); + chassis.set_driving_mode(apollo::canbus::Chassis_DrivingMode_COMPLETE_AUTO_DRIVE); + chassis.set_speed_mps(twist.linear.x); + + AdapterManager::PublishChassis(chassis); + ADEBUG << chassis.ShortDebugString(); +} + +void Simulator::PublishLocalization(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist) { + apollo::localization::LocalizationEstimate localization; + // header + AdapterManager::FillLocalizationHeader("localization", localization.mutable_header()); + // position + auto mutable_pose = localization.mutable_pose(); + mutable_pose->mutable_position()->set_x(pose.position.x); + mutable_pose->mutable_position()->set_y(pose.position.y); + mutable_pose->mutable_position()->set_z(pose.position.z); + // orientation(RFU) + double roll, pitch, yaw; + tf2::getEulerYPR(pose.orientation, yaw, pitch, roll); + yaw = apollo::common::math::NormalizeAngle(yaw - M_PI_2); + auto rfu_orientation = GetQuaternionFromRPY(roll, pitch, yaw); + mutable_pose->mutable_orientation()->set_qw(rfu_orientation.w); + mutable_pose->mutable_orientation()->set_qx(rfu_orientation.x); + mutable_pose->mutable_orientation()->set_qy(rfu_orientation.y); + mutable_pose->mutable_orientation()->set_qz(rfu_orientation.z); + // car heading + double heading = ::apollo::common::math::QuaternionToHeading( + rfu_orientation.w, rfu_orientation.x, + rfu_orientation.y, rfu_orientation.z); + mutable_pose->set_heading(heading); + // linear velocity(RFU) + mutable_pose->mutable_linear_velocity()->set_x(-twist.linear.y); + mutable_pose->mutable_linear_velocity()->set_y(twist.linear.x); + mutable_pose->mutable_linear_velocity()->set_z(twist.linear.z); + // angular velocity(RFU) + mutable_pose->mutable_angular_velocity()->set_x(-twist.angular.y); + mutable_pose->mutable_angular_velocity()->set_y(twist.angular.x); + mutable_pose->mutable_angular_velocity()->set_z(twist.angular.z); + + // publish localization messages + AdapterManager::PublishLocalization(localization); + AINFO << "[OnTimer]: Localization message publish success!"; +} + +void Simulator::PublishPlanningTrajectory() { + if (AdapterManager::GetPlanningTrajectory() == nullptr) { + return; + } + if (AdapterManager::GetPlanningTrajectory()->Empty()) { + return; + } + const auto &trajectory = AdapterManager::GetPlanningTrajectory()->GetLatestObserved(); + // AERROR << "trajectory: " << trajectory.ShortDebugString(); + nav_msgs::Path path; + path.header.frame_id = map_frame_id_; + path.header.stamp = ros::Time::now(); + geometry_msgs::PoseStamped ps; + ps.header = path.header; + for (size_t i = 0; i < trajectory.adc_trajectory_point_size(); ++i) { + ps.pose.position.x = trajectory.adc_trajectory_point(i).x(); + ps.pose.position.y = trajectory.adc_trajectory_point(i).y(); + ps.pose.position.z = 0; + ps.pose.orientation = GetQuaternionFromRPY(0, 0, trajectory.adc_trajectory_point(i).theta()); + path.poses.push_back(ps); + } + pub_trajectory_.publish(path); +} + +void Simulator::TimerCallbackSimulation(const ros::TimerEvent &event) { + if (!is_initialized_) { + ROS_INFO("waiting initial position..."); + return; + } + + if (prev_update_time_ptr_ == nullptr) { + prev_update_time_ptr_ = std::make_shared(ros::Time::now()); + } + + AdapterManager::Observe(); + if (AdapterManager::GetControlCommand() != nullptr && !AdapterManager::GetControlCommand()->Empty()) { + const auto &ctrl_cmd = AdapterManager::GetControlCommand()->GetLatestObserved(); + // AERROR << "control_command: " << ctrl_cmd.ShortDebugString(); + + double linear_vel = ctrl_cmd.debug().simple_lon_debug().speed_reference(); + double steer_angle = ctrl_cmd.debug().simple_lat_debug().steer_angle(); + steer_angle /= (180.0 / M_PI * steer_transmission_ratio_ / steer_single_direction_max_degree_ * 100.0); + if (vehicle_model_type_ == VehicleModelType::IDEAL_STEER || + vehicle_model_type_ == VehicleModelType::DELAY_STEER) { + Eigen::VectorXd input(2); + input << linear_vel, steer_angle; + vehicle_model_ptr_->setInput(input); + } else if (vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC) { + Eigen::VectorXd input(3); + double drive_shift = (linear_vel < 0) ? -1.0 : 1.0; + // 注意：这里的input中acceleration不管前进还是后退都是正向增大的，但是msg中后退是负向增大的 + double acceleration = ctrl_cmd.debug().simple_lon_debug().acceleration_cmd(); + input << (acceleration * drive_shift), steer_angle, drive_shift; + vehicle_model_ptr_->setInput(input); + // ROS_INFO("target linear_vel: %.2f", linear_vel); + // ROS_INFO("target acceleration: %.2f", acceleration); + // ROS_INFO("target steer_angle: %.2f", steer_angle); + } else { + ROS_WARN("invalid vehicle_model_type_ error."); + } + } + + /* calculate delta time */ + const double dt = (ros::Time::now() - *prev_update_time_ptr_).toSec(); + *prev_update_time_ptr_ = ros::Time::now(); + + /* update vehicle dynamics*/ + vehicle_model_ptr_->update(dt); + + /* save current vehicle pose & twist */ + current_pose_.position.x = vehicle_model_ptr_->getX(); + current_pose_.position.y = vehicle_model_ptr_->getY(); + closest_pos_z_ = 0.0; + current_pose_.position.z = closest_pos_z_; + double roll = 0.0; + double pitch = 0.0; + double yaw = vehicle_model_ptr_->getYaw(); + current_twist_.linear.x = vehicle_model_ptr_->getVx(); + current_twist_.angular.z = vehicle_model_ptr_->getWz(); + + if (add_measurement_noise_) { + current_pose_.position.x += (*pos_norm_dist_ptr_)(*rand_engine_ptr_); + current_pose_.position.y += (*pos_norm_dist_ptr_)(*rand_engine_ptr_); + current_pose_.position.z += (*pos_norm_dist_ptr_)(*rand_engine_ptr_); + roll += (*rpy_norm_dist_ptr_)(*rand_engine_ptr_); + pitch += (*rpy_norm_dist_ptr_)(*rand_engine_ptr_); + yaw += (*rpy_norm_dist_ptr_)(*rand_engine_ptr_); + if (current_twist_.linear.x >= 0.0) { + current_twist_.linear.x += (*vel_norm_dist_ptr_)(*rand_engine_ptr_); + } else { + current_twist_.linear.x -= (*vel_norm_dist_ptr_)(*rand_engine_ptr_); + } + current_twist_.angular.z += (*angvel_norm_dist_ptr_)(*rand_engine_ptr_); + } + + current_pose_.orientation = GetQuaternionFromRPY(roll, pitch, yaw); + + /* publish pose */ + ros::Time current_time = ros::Time::now(); + geometry_msgs::PoseStamped sim_ps; + sim_ps.header.frame_id = map_frame_id_; + sim_ps.header.stamp = current_time; + sim_ps.pose = current_pose_; + pub_pose_.publish(sim_ps); + + /* publish speed */ + pub_speed_.publish(current_twist_); + + /* publish for apollo */ + double steering_angle = vehicle_model_ptr_->getSteer(); + if (add_measurement_noise_) { + steering_angle += (*steer_norm_dist_ptr_)(*rand_engine_ptr_); + } + PublishChassis(steering_angle, current_twist_); + PublishLocalization(current_pose_, current_twist_); + PublishPlanningTrajectory(); + + /* publish tf */ + PublishTF(current_pose_); + + /* publish footprint polygon */ + geometry_msgs::PolygonStamped footprint; + footprint.header.frame_id = simulation_frame_id_; + footprint.header.stamp = current_time; + for (const auto &point : footprint_) { + geometry_msgs::Point32 new_pt; + new_pt.x = point.x; + new_pt.y = point.y; + footprint.polygon.points.push_back(new_pt); + } + pub_footprint_.publish(footprint); +} + +void Simulator::CallbackInitialPoseWithCov(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg) { + geometry_msgs::Twist initial_twist; // initialized with zero for all components + if (initial_twist_ptr_) { + initial_twist = initial_twist_ptr_->twist; + } + // save initial pose + initial_pose_with_cov_ptr_ = msg; + SetInitialStateWithPoseTransform(*initial_pose_with_cov_ptr_, initial_twist); +} + +void Simulator::CallbackInitialPoseStamped(const geometry_msgs::PoseStamped::ConstPtr &msg) { + geometry_msgs::Twist initial_twist; // initialized with zero for all components + if (initial_twist_ptr_) { + initial_twist = initial_twist_ptr_->twist; + } + // save initial pose + initial_pose_ptr_ = msg; + SetInitialStateWithPoseTransform(*initial_pose_ptr_, initial_twist); +} + +void Simulator::CallbackInitialTwistStamped(const geometry_msgs::TwistStamped::ConstPtr &msg) { + // save initial pose + initial_twist_ptr_ = msg; + if (initial_pose_ptr_) { + SetInitialStateWithPoseTransform(*initial_pose_ptr_, initial_twist_ptr_->twist); + // input twist to simulator's internal parameter + current_pose_ = initial_pose_ptr_->pose; + current_twist_ = initial_twist_ptr_->twist; + } else if (initial_pose_with_cov_ptr_) { + SetInitialStateWithPoseTransform(*initial_pose_with_cov_ptr_, initial_twist_ptr_->twist); + } +} + +void Simulator::SetInitialStateWithPoseTransform( + const geometry_msgs::PoseStamped &pose_stamped, const geometry_msgs::Twist &twist) { + geometry_msgs::TransformStamped transform; + GetTransformFromTF(map_frame_id_, pose_stamped.header.frame_id, transform); + geometry_msgs::Pose pose; + pose.position.x = pose_stamped.pose.position.x + transform.transform.translation.x; + pose.position.y = pose_stamped.pose.position.y + transform.transform.translation.y; + pose.position.z = pose_stamped.pose.position.z + transform.transform.translation.z; + pose.orientation = pose_stamped.pose.orientation; + SetInitialState(pose, twist); +} + +void Simulator::SetInitialStateWithPoseTransform(const geometry_msgs::PoseWithCovarianceStamped &pose, + const geometry_msgs::Twist &twist) { + geometry_msgs::PoseStamped ps; + ps.header = pose.header; + ps.pose = pose.pose.pose; + SetInitialStateWithPoseTransform(ps, twist); +} + +void Simulator::SetInitialState(const geometry_msgs::Pose &pose, const geometry_msgs::Twist &twist) { + const double x = pose.position.x; + const double y = pose.position.y; + const double yaw = tf2::getYaw(pose.orientation); + const double vx = twist.linear.x; + const double steer = 0.0; + const double acc = 0.0; + + if (vehicle_model_type_ == VehicleModelType::IDEAL_STEER) { + Eigen::VectorXd state(3); + state << x, y, yaw; + vehicle_model_ptr_->setState(state); + } else if (vehicle_model_type_ == VehicleModelType::DELAY_STEER) { + Eigen::VectorXd state(5); + state << x, y, yaw, vx, steer; + vehicle_model_ptr_->setState(state); + } else if (vehicle_model_type_ == VehicleModelType::DELAY_STEER_ACC) { + Eigen::VectorXd state(6); + state << x, y, yaw, vx, steer, acc; + vehicle_model_ptr_->setState(state); + } else { + ROS_WARN("undesired vehicle model type! Initialization failed."); + return; + } + + is_initialized_ = true; +} + +void Simulator::GetTransformFromTF(const std::string parent_frame, const std::string child_frame, + geometry_msgs::TransformStamped &transform) { + while (ros::ok()) { + try { + transform = tf_buffer_.lookupTransform(parent_frame, child_frame, ros::Time(0)); + break; + } catch (tf2::TransformException &ex) { + ROS_ERROR("%s", ex.what()); + } + } +} + +void Simulator::PublishTF(const geometry_msgs::Pose &pose) { + ros::Time current_time = ros::Time::now(); + + // send odom transform + geometry_msgs::TransformStamped odom_trans; + odom_trans.header.stamp = current_time; + odom_trans.header.frame_id = map_frame_id_; + odom_trans.child_frame_id = simulation_frame_id_; + odom_trans.transform.translation.x = pose.position.x; + odom_trans.transform.translation.y = pose.position.y; + odom_trans.transform.translation.z = pose.position.z; + odom_trans.transform.rotation = pose.orientation; + tf_broadcaster_.sendTransform(odom_trans); +} + +geometry_msgs::Quaternion Simulator::GetQuaternionFromRPY( + const double &roll, const double &pitch, const double &yaw) { + tf2::Quaternion q; + q.setRPY(roll, pitch, yaw); + return tf2::toMsg(q); +} + +double Simulator::GetNumberFromXMLRPC(XmlRpc::XmlRpcValue &value, const std::string &full_param_name) { + // Make sure that the value we're looking at is either a double or an int. + if (value.getType() != XmlRpc::XmlRpcValue::TypeInt && value.getType() != XmlRpc::XmlRpcValue::TypeDouble) { + std::string &value_string = value; + ROS_FATAL("Values in the footprint specification (param %s) must be numbers. Found value %s.", + full_param_name.c_str(), value_string.c_str()); + throw std::runtime_error("Values in the footprint specification must be numbers"); + } + return value.getType() == XmlRpc::XmlRpcValue::TypeInt ? (int)(value) : (double)(value); +} + +std::vector Simulator::MakeFootprintFromXMLRPC(XmlRpc::XmlRpcValue &footprint_xmlrpc, + const std::string &full_param_name, const size_t min_size) { + // Make sure we have an array of at least 3 elements. + if (footprint_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeArray || footprint_xmlrpc.size() < min_size) { + ROS_FATAL("The footprint must be specified as list of lists on the parameter server, %s was specified as %s", + full_param_name.c_str(), std::string(footprint_xmlrpc).c_str()); + throw std::runtime_error("The footprint must be specified as list of lists on the parameter server with at least " + "1 points eg: [[x1, y1], [x2, y2], ..., [xn, yn]]"); + } + std::vector footprint; + geometry_msgs::Point pt; + for (int i = 0; i < footprint_xmlrpc.size(); ++i) { + // Make sure each element of the list is an array of size 2. (x and y coordinates) + XmlRpc::XmlRpcValue point = footprint_xmlrpc[ i ]; + if (point.getType() != XmlRpc::XmlRpcValue::TypeArray || point.size() != 2) { + ROS_FATAL("The footprint (parameter %s) must be specified as list of lists on the parameter server eg: " + "[[x1, y1], [x2, y2], ..., [xn, yn]], but this spec is not of that form.", + full_param_name.c_str()); + throw std::runtime_error("The footprint must be specified as list of lists on the parameter server eg: " + "[[x1, y1], [x2, y2], ..., [xn, yn]], but this spec is not of that form"); + } + pt.x = GetNumberFromXMLRPC(point[0], full_param_name); + pt.y = GetNumberFromXMLRPC(point[1], full_param_name); + footprint.push_back(pt); + } + return footprint; +} diff --git a/apollo_simulator/src/main.cpp b/apollo_simulator/src/main.cpp new file mode 100644 index 0000000..ca863a9 --- /dev/null +++ b/apollo_simulator/src/main.cpp @@ -0,0 +1,39 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include +#include +#include + +#include "apollo_common/log.h" +#include "apollo_simulator/apollo_simulator.h" + +int main(int argc, char **argv) { + google::InitGoogleLogging(argv[0]); + google::ParseCommandLineFlags(&argc, &argv, true); + + ros::init(argc, argv, "apollo_simulator"); + + tf2_ros::Buffer buffer(ros::Duration(10)); + tf2_ros::TransformListener tf(buffer); + + Simulator obj(buffer); + + ros::spin(); + ros::waitForShutdown(); + + return 0; +}; diff --git a/apollo_simulator/src/vehicle_sim_model/sim_model_constant_acceleration.cpp b/apollo_simulator/src/vehicle_sim_model/sim_model_constant_acceleration.cpp new file mode 100644 index 0000000..13f9b6f --- /dev/null +++ b/apollo_simulator/src/vehicle_sim_model/sim_model_constant_acceleration.cpp @@ -0,0 +1,79 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_simulator/vehicle_sim_model/sim_model_constant_acceleration.h" + +#include + +SimModelConstantAccelTwist::SimModelConstantAccelTwist( + double vx_lim, double wz_lim, double vx_rate, double wz_rate) + : SimModelInterface(5 /* dim x */, 2 /* dim u */), + vx_lim_(vx_lim), + wz_lim_(wz_lim), + vx_rate_(vx_rate), + wz_rate_(wz_rate) {} + +double SimModelConstantAccelTwist::getX() { + return state_(IDX::X); +} +double SimModelConstantAccelTwist::getY() { + return state_(IDX::Y); +} +double SimModelConstantAccelTwist::getYaw() { + return state_(IDX::YAW); +} +double SimModelConstantAccelTwist::getVx() { + return state_(IDX::VX); +} +double SimModelConstantAccelTwist::getWz() { + return state_(IDX::WZ); +} +double SimModelConstantAccelTwist::getSteer() { + return 0.0; +} +void SimModelConstantAccelTwist::update(const double &dt) { + updateRungeKutta(dt, input_); +} +Eigen::VectorXd SimModelConstantAccelTwist::calcModel( + const Eigen::VectorXd &state, const Eigen::VectorXd &input) { + const double vel = state(IDX::VX); + const double angvel = state(IDX::WZ); + const double yaw = state(IDX::YAW); + const double vx_des = std::max(std::min(input(IDX_U::VX_DES), vx_lim_), -vx_lim_); + const double wz_des = std::max(std::min(input(IDX_U::WZ_DES), wz_lim_), -wz_lim_); + double vx_rate = 0.0; + double wz_rate = 0.0; + if (vx_des > vel) { + vx_rate = vx_rate_; + } else if (vx_des < vel) { + vx_rate = -vx_rate_; + } + + if (wz_des > angvel) { + wz_rate = wz_rate_; + } else if (wz_des < angvel) { + wz_rate = -wz_rate_; + } + + Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); + d_state(IDX::X) = vel * cos(yaw); + d_state(IDX::Y) = vel * sin(yaw); + d_state(IDX::YAW) = angvel; + d_state(IDX::VX) = vx_rate; + d_state(IDX::WZ) = wz_rate; + + return d_state; +} diff --git a/apollo_simulator/src/vehicle_sim_model/sim_model_ideal.cpp b/apollo_simulator/src/vehicle_sim_model/sim_model_ideal.cpp new file mode 100644 index 0000000..5a51812 --- /dev/null +++ b/apollo_simulator/src/vehicle_sim_model/sim_model_ideal.cpp @@ -0,0 +1,137 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_simulator/vehicle_sim_model/sim_model_ideal.h" + +SimModelIdealTwist::SimModelIdealTwist() + : SimModelInterface(3 /* dim x */, 2 /* dim u */) {} + +double SimModelIdealTwist::getX() { + return state_(IDX::X); +} +double SimModelIdealTwist::getY() { + return state_(IDX::Y); +} +double SimModelIdealTwist::getYaw() { + return state_(IDX::YAW); +} +double SimModelIdealTwist::getVx() { + return input_(IDX_U::VX_DES); +} +double SimModelIdealTwist::getWz() { + return input_(IDX_U::WZ_DES); +} +double SimModelIdealTwist::getSteer() { + return 0.0; +} +void SimModelIdealTwist::update(const double &dt) { + updateRungeKutta(dt, input_); +} +Eigen::VectorXd SimModelIdealTwist::calcModel( + const Eigen::VectorXd &state, const Eigen::VectorXd &input) { + const double yaw = state(IDX::YAW); + const double vx = input(IDX_U::VX_DES); + const double wz = input(IDX_U::WZ_DES); + + Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); + d_state(IDX::X) = vx * cos(yaw); + d_state(IDX::Y) = vx * sin(yaw); + d_state(IDX::YAW) = wz; + + return d_state; +} + +SimModelIdealSteer::SimModelIdealSteer(double wheelbase) + : SimModelInterface(3 /* dim x */, 2 /* dim u */), wheelbase_(wheelbase) {} + +double SimModelIdealSteer::getX() { + return state_(IDX::X); +} +double SimModelIdealSteer::getY() { + return state_(IDX::Y); +} +double SimModelIdealSteer::getYaw() { + return state_(IDX::YAW); +} +double SimModelIdealSteer::getVx() { + return input_(IDX_U::VX_DES); +} +double SimModelIdealSteer::getWz() { + return input_(IDX_U::VX_DES) * std::tan(input_(IDX_U::STEER_DES)) / wheelbase_; +} +double SimModelIdealSteer::getSteer() { + return input_(IDX_U::STEER_DES); +} +void SimModelIdealSteer::update(const double &dt) { + updateRungeKutta(dt, input_); +} +Eigen::VectorXd SimModelIdealSteer::calcModel( + const Eigen::VectorXd &state, const Eigen::VectorXd &input) { + const double yaw = state(IDX::YAW); + const double vx = input(IDX_U::VX_DES); + const double steer = input(IDX_U::STEER_DES); + + Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); + d_state(IDX::X) = vx * cos(yaw); + d_state(IDX::Y) = vx * sin(yaw); + d_state(IDX::YAW) = vx * std::tan(steer) / wheelbase_; + + return d_state; +} + +SimModelIdealAccel::SimModelIdealAccel(double wheelbase) + : SimModelInterface(4 /* dim x */, 2 /* dim u */), wheelbase_(wheelbase) {} + +double SimModelIdealAccel::getX() { + return state_(IDX::X); +} +double SimModelIdealAccel::getY() { + return state_(IDX::Y); +} +double SimModelIdealAccel::getYaw() { + return state_(IDX::YAW); +} +double SimModelIdealAccel::getVx() { + return state_(IDX::VX); +} +double SimModelIdealAccel::getWz() { + return state_(IDX::VX) * std::tan(input_(IDX_U::STEER_DES)) / wheelbase_; +} +double SimModelIdealAccel::getSteer() { + return input_(IDX_U::STEER_DES); +} +void SimModelIdealAccel::update(const double &dt) { + updateRungeKutta(dt, input_); + if (state_(IDX::VX) < 0) { + state_(IDX::VX) = 0; + } +} + +Eigen::VectorXd SimModelIdealAccel::calcModel( + const Eigen::VectorXd &state, const Eigen::VectorXd &input) { + const double vx = state(IDX::VX); + const double yaw = state(IDX::YAW); + const double ax = input(IDX_U::AX_DES); + const double steer = input(IDX_U::STEER_DES); + + Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); + d_state(IDX::X) = vx * cos(yaw); + d_state(IDX::Y) = vx * sin(yaw); + d_state(IDX::VX) = ax; + d_state(IDX::YAW) = vx * std::tan(steer) / wheelbase_; + + return d_state; +} diff --git a/apollo_simulator/src/vehicle_sim_model/sim_model_interface.cpp b/apollo_simulator/src/vehicle_sim_model/sim_model_interface.cpp new file mode 100644 index 0000000..3142eea --- /dev/null +++ b/apollo_simulator/src/vehicle_sim_model/sim_model_interface.cpp @@ -0,0 +1,48 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_simulator/vehicle_sim_model/sim_model_interface.h" + +SimModelInterface::SimModelInterface(int dim_x, int dim_u) + : dim_x_(dim_x), dim_u_(dim_u) { + state_ = Eigen::VectorXd::Zero(dim_x_); + input_ = Eigen::VectorXd::Zero(dim_u_); +} + +void SimModelInterface::updateRungeKutta(const double &dt, const Eigen::VectorXd &input) { + Eigen::VectorXd k1 = calcModel(state_, input); + Eigen::VectorXd k2 = calcModel(state_ + k1 * 0.5 * dt, input); + Eigen::VectorXd k3 = calcModel(state_ + k2 * 0.5 * dt, input); + Eigen::VectorXd k4 = calcModel(state_ + k3 * dt, input); + + state_ += 1.0 / 6.0 * (k1 + 2.0 * k2 + 2.0 * k3 + k4) * dt; +} +void SimModelInterface::updateEuler(const double &dt, const Eigen::VectorXd &input) { + state_ += calcModel(state_, input) * dt; +} +void SimModelInterface::getState(Eigen::VectorXd &state) { + state = state_; +} +void SimModelInterface::getInput(Eigen::VectorXd &input) { + input = input_; +} +void SimModelInterface::setState(const Eigen::VectorXd &state) { + state_ = state; +} +void SimModelInterface::setInput(const Eigen::VectorXd &input) { + input_ = input; +} + diff --git a/apollo_simulator/src/vehicle_sim_model/sim_model_time_delay.cpp b/apollo_simulator/src/vehicle_sim_model/sim_model_time_delay.cpp new file mode 100644 index 0000000..18ba233 --- /dev/null +++ b/apollo_simulator/src/vehicle_sim_model/sim_model_time_delay.cpp @@ -0,0 +1,339 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_simulator/vehicle_sim_model/sim_model_time_delay.h" + +#include + +/* + * + * SimModelTimeDelayTwist + * + */ + +SimModelTimeDelayTwist::SimModelTimeDelayTwist( + double vx_lim, double wz_lim, double vx_rate_lim, double wz_rate_lim, double dt, double vx_delay, + double vx_time_constant, double wz_delay, double wz_time_constant, double deadzone_delta_steer) + : SimModelInterface(5 /* dim x */, 2 /* dim u */), + MIN_TIME_CONSTANT(0.03), + vx_lim_(vx_lim), + vx_rate_lim_(vx_rate_lim), + wz_lim_(wz_lim), + wz_rate_lim_(wz_rate_lim), + vx_delay_(vx_delay), + vx_time_constant_(std::max(vx_time_constant, MIN_TIME_CONSTANT)), + wz_delay_(wz_delay), + wz_time_constant_(std::max(wz_time_constant, MIN_TIME_CONSTANT)), + deadzone_delta_steer_(deadzone_delta_steer) { + if (vx_time_constant < MIN_TIME_CONSTANT) { + std::cout << "Settings vx_time_constant is too small, replace it by " << MIN_TIME_CONSTANT << + std::endl; + } + if (wz_time_constant < MIN_TIME_CONSTANT) { + std::cout << "Settings wz_time_constant is too small, replace it by " << MIN_TIME_CONSTANT << + std::endl; + } + initializeInputQueue(dt); +} + +double SimModelTimeDelayTwist::getX() { + return state_(IDX::X); +} +double SimModelTimeDelayTwist::getY() { + return state_(IDX::Y); +} +double SimModelTimeDelayTwist::getYaw() { + return state_(IDX::YAW); +} +double SimModelTimeDelayTwist::getVx() { + return state_(IDX::VX); +} +double SimModelTimeDelayTwist::getWz() { + return state_(IDX::WZ); +} +double SimModelTimeDelayTwist::getSteer() { + return 0.0; +} +void SimModelTimeDelayTwist::update(const double &dt) { + Eigen::VectorXd delayed_input = Eigen::VectorXd::Zero(dim_u_); + + vx_input_queue_.push_back(input_(IDX_U::VX_DES)); + delayed_input(IDX_U::VX_DES) = vx_input_queue_.front(); + vx_input_queue_.pop_front(); + wz_input_queue_.push_back(input_(IDX_U::WZ_DES)); + delayed_input(IDX_U::WZ_DES) = wz_input_queue_.front(); + wz_input_queue_.pop_front(); + // do not use deadzone_delta_steer (Steer IF does not exist in this model) + updateRungeKutta(dt, delayed_input); +} +void SimModelTimeDelayTwist::initializeInputQueue(const double &dt) { + size_t vx_input_queue_size = static_cast(round(vx_delay_ / dt)); + for (size_t i = 0; i < vx_input_queue_size; i++) { + vx_input_queue_.push_back(0.0); + } + size_t wz_input_queue_size = static_cast(round(wz_delay_ / dt)); + for (size_t i = 0; i < wz_input_queue_size; i++) { + wz_input_queue_.push_back(0.0); + } +} + +Eigen::VectorXd SimModelTimeDelayTwist::calcModel( + const Eigen::VectorXd &state, const Eigen::VectorXd &input) { + const double vx = state(IDX::VX); + const double wz = state(IDX::WZ); + const double yaw = state(IDX::YAW); + const double delay_input_vx = input(IDX_U::VX_DES); + const double delay_input_wz = input(IDX_U::WZ_DES); + const double delay_vx_des = std::max(std::min(delay_input_vx, vx_lim_), -vx_lim_); + const double delay_wz_des = std::max(std::min(delay_input_wz, wz_lim_), -wz_lim_); + double vx_rate = -(vx - delay_vx_des) / vx_time_constant_; + double wz_rate = -(wz - delay_wz_des) / wz_time_constant_; + vx_rate = std::min(vx_rate_lim_, std::max(-vx_rate_lim_, vx_rate)); + wz_rate = std::min(wz_rate_lim_, std::max(-wz_rate_lim_, wz_rate)); + + Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); + d_state(IDX::X) = vx * cos(yaw); + d_state(IDX::Y) = vx * sin(yaw); + d_state(IDX::YAW) = wz; + d_state(IDX::VX) = vx_rate; + d_state(IDX::WZ) = wz_rate; + + return d_state; +} + +/* + * + * SimModelTimeDelaySteer + * + */ +SimModelTimeDelaySteer::SimModelTimeDelaySteer( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double vx_delay, double vx_time_constant, double steer_delay, + double steer_time_constant, double deadzone_delta_steer) + : SimModelInterface(5 /* dim x */, 2 /* dim u */), + MIN_TIME_CONSTANT(0.03), + vx_lim_(vx_lim), + vx_rate_lim_(vx_rate_lim), + steer_lim_(steer_lim), + steer_rate_lim_(steer_rate_lim), + wheelbase_(wheelbase), + vx_delay_(vx_delay), + vx_time_constant_(std::max(vx_time_constant, MIN_TIME_CONSTANT)), + steer_delay_(steer_delay), + steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), + deadzone_delta_steer_(deadzone_delta_steer) { + if (vx_time_constant < MIN_TIME_CONSTANT) { + std::cout << "Settings vx_time_constant is too small, replace it by " << MIN_TIME_CONSTANT << + std::endl; + } + if (steer_time_constant < MIN_TIME_CONSTANT) { + std::cout << "Settings steer_time_constant is too small, replace it by " << MIN_TIME_CONSTANT << + std::endl; + } + + initializeInputQueue(dt); +} + +double SimModelTimeDelaySteer::getX() { + return state_(IDX::X); +} +double SimModelTimeDelaySteer::getY() { + return state_(IDX::Y); +} +double SimModelTimeDelaySteer::getYaw() { + return state_(IDX::YAW); +} +double SimModelTimeDelaySteer::getVx() { + return state_(IDX::VX); +} +double SimModelTimeDelaySteer::getWz() { + return state_(IDX::VX) * std::tan(state_(IDX::STEER)) / wheelbase_; +} +double SimModelTimeDelaySteer::getSteer() { + return state_(IDX::STEER); +} +void SimModelTimeDelaySteer::update(const double &dt) { + Eigen::VectorXd delayed_input = Eigen::VectorXd::Zero(dim_u_); + + vx_input_queue_.push_back(input_(IDX_U::VX_DES)); + delayed_input(IDX_U::VX_DES) = vx_input_queue_.front(); + vx_input_queue_.pop_front(); + steer_input_queue_.push_back(input_(IDX_U::STEER_DES)); + const double raw_steer_command = steer_input_queue_.front(); + delayed_input(IDX_U::STEER_DES) = sim_model_util::getDummySteerCommandWithFriction( + getSteer(), raw_steer_command, deadzone_delta_steer_); + steer_input_queue_.pop_front(); + + updateRungeKutta(dt, delayed_input); +} +void SimModelTimeDelaySteer::initializeInputQueue(const double &dt) { + size_t vx_input_queue_size = static_cast(round(vx_delay_ / dt)); + for (size_t i = 0; i < vx_input_queue_size; i++) { + vx_input_queue_.push_back(0.0); + } + size_t steer_input_queue_size = static_cast(round(steer_delay_ / dt)); + for (size_t i = 0; i < steer_input_queue_size; i++) { + steer_input_queue_.push_back(0.0); + } +} + +Eigen::VectorXd SimModelTimeDelaySteer::calcModel( + const Eigen::VectorXd &state, const Eigen::VectorXd &input) { + const double vel = state(IDX::VX); + const double yaw = state(IDX::YAW); + const double steer = state(IDX::STEER); + const double delay_input_vel = input(IDX_U::VX_DES); + const double delay_input_steer = input(IDX_U::STEER_DES); + const double delay_vx_des = std::max(std::min(delay_input_vel, vx_lim_), -vx_lim_); + const double delay_steer_des = std::max(std::min(delay_input_steer, steer_lim_), -steer_lim_); + double vx_rate = -(vel - delay_vx_des) / vx_time_constant_; + double steer_rate = -(steer - delay_steer_des) / steer_time_constant_; + vx_rate = std::min(vx_rate_lim_, std::max(-vx_rate_lim_, vx_rate)); + steer_rate = std::min(steer_rate_lim_, std::max(-steer_rate_lim_, steer_rate)); + + Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); + d_state(IDX::X) = vel * cos(yaw); + d_state(IDX::Y) = vel * sin(yaw); + d_state(IDX::YAW) = vel * std::tan(steer) / wheelbase_; + d_state(IDX::VX) = vx_rate; + d_state(IDX::STEER) = steer_rate; + + return d_state; +} + +SimModelTimeDelaySteerAccel::SimModelTimeDelaySteerAccel( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double acc_delay, double acc_time_constant, double steer_delay, + double steer_time_constant, double deadzone_delta_steer) + : SimModelInterface(6 /* dim x */, 3 /* dim u */), + MIN_TIME_CONSTANT(0.03), + vx_lim_(vx_lim), + vx_rate_lim_(vx_rate_lim), + steer_lim_(steer_lim), + steer_rate_lim_(steer_rate_lim), + wheelbase_(wheelbase), + acc_delay_(acc_delay), + acc_time_constant_(std::max(acc_time_constant, MIN_TIME_CONSTANT)), + steer_delay_(steer_delay), + steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), + deadzone_delta_steer_(deadzone_delta_steer) { + if (acc_time_constant < MIN_TIME_CONSTANT) { + std::cout << "Settings acc_time_constant is too small, replace it by" << MIN_TIME_CONSTANT << + std::endl; + } + if (steer_time_constant < MIN_TIME_CONSTANT) { + std::cout << "Settings steer_time_constant is too small, replace it by" << MIN_TIME_CONSTANT << + std::endl; + } + + initializeInputQueue(dt); +} + +double SimModelTimeDelaySteerAccel::getX() { + return state_(IDX::X); +} +double SimModelTimeDelaySteerAccel::getY() { + return state_(IDX::Y); +} +double SimModelTimeDelaySteerAccel::getYaw() { + return state_(IDX::YAW); +} +double SimModelTimeDelaySteerAccel::getVx() { + return state_(IDX::VX); +} +double SimModelTimeDelaySteerAccel::getWz() { + return state_(IDX::VX) * std::tan(state_(IDX::STEER)) / wheelbase_; +} +double SimModelTimeDelaySteerAccel::getSteer() { + return state_(IDX::STEER); +} +void SimModelTimeDelaySteerAccel::update(const double &dt) { + Eigen::VectorXd delayed_input = Eigen::VectorXd::Zero(dim_u_); + + acc_input_queue_.push_back(input_(IDX_U::ACCX_DES)); + delayed_input(IDX_U::ACCX_DES) = acc_input_queue_.front(); + acc_input_queue_.pop_front(); + steer_input_queue_.push_back(input_(IDX_U::STEER_DES)); + const double raw_steer_command = steer_input_queue_.front(); + delayed_input(IDX_U::STEER_DES) = sim_model_util::getDummySteerCommandWithFriction( + getSteer(), raw_steer_command, deadzone_delta_steer_); + steer_input_queue_.pop_front(); + delayed_input(IDX_U::DRIVE_SHIFT) = input_(IDX_U::DRIVE_SHIFT); + + updateRungeKutta(dt, delayed_input); + // clip velocity and accel + if (delayed_input(IDX_U::DRIVE_SHIFT) >= 0.0) { + state_(IDX::VX) = std::max(0.0, std::min(state_(IDX::VX), vx_lim_)); + if ( + std::abs((state_(IDX::VX) - 0.0)) < 10e-9 || std::abs((state_(IDX::VX) - vx_lim_)) < 10e-9) { + state_(IDX::ACCX) = 0.0; + } + } else { + state_(IDX::VX) = std::min(0.0, std::max(state_(IDX::VX), -vx_lim_)); + if ( + std::abs((state_(IDX::VX) - 0.0)) < 10e-9 || + std::abs((state_(IDX::VX) - (-vx_lim_))) < 10e-9) { + state_(IDX::ACCX) = 0.0; + } + } +} + +void SimModelTimeDelaySteerAccel::initializeInputQueue(const double &dt) { + size_t vx_input_queue_size = static_cast(round(acc_delay_ / dt)); + for (size_t i = 0; i < vx_input_queue_size; i++) { + acc_input_queue_.push_back(0.0); + } + size_t steer_input_queue_size = static_cast(round(steer_delay_ / dt)); + for (size_t i = 0; i < steer_input_queue_size; i++) { + steer_input_queue_.push_back(0.0); + } +} + +Eigen::VectorXd SimModelTimeDelaySteerAccel::calcModel( + const Eigen::VectorXd &state, const Eigen::VectorXd &input) { + double vel = state(IDX::VX); + double acc = state(IDX::ACCX); + const double yaw = state(IDX::YAW); + const double steer = state(IDX::STEER); + const double delay_input_acc = input(IDX_U::ACCX_DES); + const double delay_input_steer = input(IDX_U::STEER_DES); + const double drive_shift = input(IDX_U::DRIVE_SHIFT); + double delay_acc_des = std::max(std::min(delay_input_acc, vx_rate_lim_), -vx_rate_lim_); + if (!(drive_shift >= 0.0)) { + delay_acc_des *= -1; // reverse front-back + } + double delay_steer_des = std::max(std::min(delay_input_steer, steer_lim_), -steer_lim_); + double accx_rate = -(acc - delay_acc_des) / acc_time_constant_; + double steer_rate = -(steer - delay_steer_des) / steer_time_constant_; + acc = std::min(vx_rate_lim_, std::max(-vx_rate_lim_, acc)); + steer_rate = std::min(steer_rate_lim_, std::max(-steer_rate_lim_, steer_rate)); + + if (drive_shift >= 0.0) { + vel = std::max(0.0, std::min(vel, vx_lim_)); + } else { + vel = std::min(0.0, std::max(vel, -vx_lim_)); + } + + Eigen::VectorXd d_state = Eigen::VectorXd::Zero(dim_x_); + d_state(IDX::X) = vel * cos(yaw); + d_state(IDX::Y) = vel * sin(yaw); + d_state(IDX::YAW) = vel * std::tan(steer) / wheelbase_; + d_state(IDX::VX) = acc; + d_state(IDX::STEER) = steer_rate; + d_state(IDX::ACCX) = accx_rate; + + return d_state; +} diff --git a/apollo_simulator/src/vehicle_sim_model/sim_model_util.cpp b/apollo_simulator/src/vehicle_sim_model/sim_model_util.cpp new file mode 100644 index 0000000..e83ea42 --- /dev/null +++ b/apollo_simulator/src/vehicle_sim_model/sim_model_util.cpp @@ -0,0 +1,31 @@ +/****************************************************************************** + * Copyright 2022 The Zhou Zuhong Author. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#include "apollo_simulator/vehicle_sim_model/sim_model_util.h" + +namespace sim_model_util { + +double getDummySteerCommandWithFriction( + const double steer, const double steer_command, const double deadzone_delta_steer) { + const double delta_steer = std::fabs(steer_command - steer); + // if delta steer is too small, ignore steer command (send current steer as steer command) + if (delta_steer < deadzone_delta_steer) { + return steer; + } + return steer_command; +} + +} // namespace sim_model_util