MapViewer/map.proto at main · AELe/MapViewer · GitHub

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syntax = "proto2";

package map_data;

message Id {
  optional string id = 1;
}

message Point {
  optional double x = 1;
  optional double y = 2;
}

message LineSegment {
  repeated Point point = 1;
}

message Segment {
  optional LineSegment line_segment = 1;
  optional double heading = 2;
  optional double length = 3;
}

message Curve {
  repeated Segment segment = 1;
  optional double length = 2;
}

// 定义边界线类型枚举
message BoundaryType {
  optional double s = 1;
  optional LineType types = 2;

  enum LineType {
    UNKNOWN = 0;
    SOLID_WHITE = 1;
    SOLID_YELLOW = 2;
    DOTTED_WHITE = 3;
    DOTTED_YELLOW = 4;
    DOUBLE_YELLOW = 5;
    CURB = 6;
    SOLID_BLUE = 7;
    DOTTED_BLUE = 8;
  }
}

message Boundary {
  optional Curve curve = 1;
  optional double length = 2;
  repeated BoundaryType boundary_type = 3;
}

// 定义车道类型枚举
message LaneType {
  enum Type {
    UNKNOWN_TYPE = 0;
    NORMAL = 1;
    BUS = 2;
    BIKE = 3;
    EMERGENCY = 4;
    SHOULDER = 5;
    PARKING = 6;
    SIDEWALK = 7;
    CITY_DRIVING = 8;
  }
}

// 定义转向类型枚举
message TurnType {
  enum Type {
    UNKNOWN_TURN = 0;
    NO_TURN = 1;
    LEFT_TURN = 2;
    RIGHT_TURN = 3;
    U_TURN = 4;
  }
}

message LaneSample {
  optional double s = 1;
  optional double width = 2;
}

message Lane {
  optional Id id = 1;
  optional Curve central_curve = 2;
  optional Boundary left_boundary = 3;
  optional Boundary right_boundary = 4;
  optional double length = 5;
  optional double speed_limit = 6;
  optional Id overlap_id = 7;  // 改为 Id 类型
  optional LaneType.Type type = 8;
  optional TurnType.Type turn = 9;
  repeated LaneSample left_sample = 10;
  repeated LaneSample right_sample = 11;
}

// 停止标志
message StopSign {
  optional Id id = 1;
  optional Curve stop_line = 2;
  optional Id overlap_id = 3;
}

// 重叠信息
message Overlap {
  optional Id id = 1;
  repeated Object object = 2;
}

message Object {
  optional Id id = 1;
  optional LaneOverlapInfo lane_overlap_info = 2;
  // 可以添加其他类型的重叠信息
}

message LaneOverlapInfo {
  optional double start_s = 1;
  optional double end_s = 2;
}

message Projection {
  optional string proj = 1;
}

message Header {
  optional string version = 1;
  optional string date = 2;
  optional Projection projection = 3;
}

message Map {
  optional Header header = 1;
  repeated Lane lane = 2;
  repeated StopSign stop_sign = 3;
  repeated Overlap overlap = 4;
}