source: pacpusframework/branches/2.0-beta1/include/Pacpus/structure/structureCanMobileye.h@ 89

/*********************************************************************
//  created:    2011/06/03 - 18:00
//  filename:   structureCanMobileye.h
//
//  author:     Paul George
//              Copyright Heudiasyc UMR UTC/CNRS 6599
// 
//  version:    $Id: $
//
//  purpose:    Description of the CAN structures of Mobileye
*********************************************************************/

#ifndef __STRUCTURECANMOBILEYE_H__
#define __STRUCTURECANMOBILEYE_H__

#include "kernel/road_time.h"

#define MOBILEYE_MAX_OBSTACLE_COUNT 10
#define OBSTACLE_MAX_X 250.0
#define OBSTACLE_MAX_Y 31.93

enum LaneValidStatus
{
        LANE_UNDEFINED = 0,
        LANE_NEW = 1,
        LANE_VALID = 2,
        LANE_INVALID = 3
};

// corresponding CAN frame = 0x731,0x732
typedef struct {
        LaneValidStatus LaneValid;// 0 : undefined, 1 : new lane, 2 : valid lane, 3 : invalid lane
        double LaneCurvature;   //
        double LaneHeading;             //
        double LaneOffset;              //
        int LaneConf;                   // Confidence : 0 -> 3
}StructMobileyeLane;

typedef struct{
        road_time_t time;
        road_timerange_t timerange;
        StructMobileyeLane d;
}TimestampedStructMobileyeLane;

// corresponding CAN frame = 0x7FF
typedef struct {
        int obstacleCount;                      // Nombre d'obstacles
}StructMobileyeObstaclesHeader;

typedef struct{
        road_time_t time;
        road_timerange_t timerange;
        StructMobileyeObstaclesHeader d;
}TimestampedStructMobileyeObstaclesHeader;

enum ObstacleType
{
        OBSTACLE_VEHICLE = 0,
        OBSTACLE_TRUCK = 1,
        OBSTACLE_BIKE = 2,
        OBSTACLE_PEDESTRIAN = 3,
        OBSTACLE_BICYCLE = 4
};

enum ObstacleStatus
{
        OBSTACLE_UNDEFINED = 0,
        OBSTACLE_STANDING = 1,
        OBSTACLE_STOPPED = 2,
        OBSTACLE_MOVING = 3,
        OBSTACLE_ONCOMING = 4,
        OBSTACLE_PARKED = 5
};

// corresponding CAN frame = 0x739,0x73C,0x73F,0x742,0x745,0x748,0x74B,0x74E,0x751,0x754
typedef struct {
        int id;                 //
        double x;       //
        double y;       //
        ObstacleType type;              //
        ObstacleStatus status;  // 0 : Undefined, 1 : Standing, 2 : Stopped, 3 : Moving, 4 : Oncoming, 5 : Parked
}StructMobileyeObstacle1;

typedef struct{
        road_time_t time;
        road_timerange_t timerange;
        StructMobileyeObstacle1 d;
}TimestampedStructMobileyeObstacle1;

// corresponding CAN frame = 0x73A,0x73D,0x740,0x743,0x746,0x749,0x74C,0x74F,0x752,0x755
typedef struct {
        double width;   //
        int age;                //
}StructMobileyeObstacle2;

typedef struct{
        road_time_t time;
        road_timerange_t timerange;
        StructMobileyeObstacle2 d;
}TimestampedStructMobileyeObstacle2;

typedef struct {
        StructMobileyeLane rightLane; // 40 bytes
        StructMobileyeLane leftLane;  // 40 bytes 
        StructMobileyeObstaclesHeader obstaclesHeader; // 8 bytes
        StructMobileyeObstacle1 obstacles1[MOBILEYE_MAX_OBSTACLE_COUNT]; // 10 * 32 = 320 bytes
        StructMobileyeObstacle2 obstacles2[MOBILEYE_MAX_OBSTACLE_COUNT]; // 10 * 16 = 160 bytes  ;  total = 568 bytes
} MobileyeDatas;

typedef struct{
        unsigned int LaneType;
        unsigned int LaneQuality;
        unsigned int LaneDegree;
        double LanePositionC0;
        //double LaneHeadingC1;
        double LaneCurvatureC2;
        double LaneCurvatureDerivC3;
        road_time_t TimeStamp;
} LaneInfoPart1;

typedef struct{
        double LaneHeadingC1;
        road_time_t TimeStamp;
} LaneInfoPart2;

typedef struct {
        LaneInfoPart1 LanePart1;
        LaneInfoPart2 LanePart2;
} MobileyeLaneData;

#endif