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Sensors_ego1.xml
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Sensors_ego1.xml
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<?xml version="1.0"?>
<!--
(c) 2005-2015 Copyright, Real-Time Innovations. All rights reserved.
No duplications, whole or partial, manual or electronic, may be made
without express written permission. Any such copies, or revisions thereof,
must display this notice unaltered.
This code contains trade secrets of Real-Time Innovations, Inc.
-->
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/6.0.0/rti_dds_profiles.xsd"
version="6.0.0">
<!-- Qos Library -->
<qos_library name="QosLibrary">
<qos_profile name="DefaultProfile"
base_name="BuiltinQosLib::Generic.StrictReliable"
is_default_qos="true">
<participant_qos>
<participant_name>
<name>Connector Shape Example</name>
</participant_name>
</participant_qos>
</qos_profile>
</qos_library>
<!-- types -->
<types xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="file:///C:/Program Files/rti_connext_dds-6.0.1/bin/../resource/app/app_support/rtiddsgen/schema/rti_dds_topic_types.xsd">
<struct name="ShapeType" extensibility="extensible">
<member name="color" stringMaxLength="128" type="string" key="true"/>
<member name="x" type="long"/>
<member name="y" type="long"/>
<member name="shapesize" type="long"/>
</struct>
<enum name="ShapeFillKind" extensibility="extensible">
<enumerator name="SOLID_FILL" value="0"/>
<enumerator name="TRANSPARENT_FILL" value="1"/>
<enumerator name="HORIZONTAL_HATCH_FILL" value="2"/>
<enumerator name="VERTICAL_HATCH_FILL" value="3"/>
</enum>
<struct name="ShapeTypeExtended" baseType="ShapeType" extensibility="extensible">
<member name="fillKind" type="nonBasic" nonBasicTypeName="ShapeFillKind"/>
<member name="angle" type="float"/>
</struct>
<struct name="controlsArray" extensibility="extensible">
<member name="steeringArray" id = "0" arrayDimensions="20" type="float64"/>
<member name="speedsArray" id = "1" arrayDimensions="20" type="float64"/>
</struct>
<struct name="pathTuple" extensibility="extensible">
<member name="param" id = "0" arrayDimensions="805" type="float64"/>
</struct>
<module name="IndyDS">
<struct name= "VehicleOutput">
<member name="CustomOutput" id="0" type="float64" arrayDimensions="512"/>
<member name="EngineSpeed" id="1" type="float64" />
<member name="EngineState" id="2" type="byte"/>
<member name="GearBoxMode" id="3" type="int32"/>
<member name="GearEngaged" id="4" type="int32"/>
<member name="GroundIndex" id="5" type="int32" arrayDimensions="4"/>
<member name="LSR" id="6" type="float64" arrayDimensions="4"/>
<member name="SteeringWheelAccel" id="7" type="float64" />
<member name="SteeringWheelAngle" id="8" type="float64" />
<member name="SteeringWheelSpeed" id="9" type="float64" />
<member name="SteeringWheelTorque" id="10" type="float64" />
<member name="TimeOfUpdate" id="11" type="float64" />
<member name="TraveledDistance" id="12" type="float64" />
<member name="absIsActive" id="13" type="byte" arrayDimensions="4"/>
<member name="auxiliaryLights" id="14" type="int32"/>
<member name="brakePedal" id="15" type="float64" />
<member name="brakeRetarderNotch" id="16" type="float64" />
<member name="brakeTemperature" id="17" type="float64" arrayDimensions="4"/>
<member name="cdgAccel_heading" id="18" type="float64" />
<member name="cdgAccel_pitch" id="19" type="float64" />
<member name="cdgAccel_roll" id="20" type="float64" />
<member name="cdgAccel_x" id="21" type="float64" />
<member name="cdgAccel_y" id="22" type="float64" />
<member name="cdgAccel_z" id="23" type="float64" />
<member name="cdgPos_heading" id="24" type="float64" />
<member name="cdgPos_pitch" id="25" type="float64" />
<member name="cdgPos_roll" id="26" type="float64" />
<member name="cdgPos_x" id="27" type="float64" />
<member name="cdgPos_y" id="28" type="float64" />
<member name="cdgPos_z" id="29" type="float64" />
<member name="cdgSpeed_heading" id="30" type="float64" />
<member name="cdgSpeed_pitch" id="31" type="float64" />
<member name="cdgSpeed_roll" id="32" type="float64" />
<member name="cdgSpeed_x" id="33" type="float64" />
<member name="cdgSpeed_y" id="34" type="float64" />
<member name="cdgSpeed_z" id="35" type="float64" />
<member name="clutchPedal" id="36" type="float64" />
<member name="consumption" id="37" type="float64" />
<member name="contactPoint_x" id="38" type="float64" arrayDimensions="4"/>
<member name="contactPoint_y" id="39" type="float64" arrayDimensions="4"/>
<member name="contactPoint_z" id="40" type="float64" arrayDimensions="4"/>
<member name="effectiveIgnitionKeyPosition" id="41" type="int32"/>
<member name="forceLockup" id="42" type="byte"/>
<member name="gasPedal" id="43" type="float64" />
<member name="grip" id="44" type="float64" arrayDimensions="4"/>
<member name="groundNormal_x" id="45" type="float64" arrayDimensions="4"/>
<member name="groundNormal_y" id="46" type="float64" arrayDimensions="4"/>
<member name="groundNormal_z" id="47" type="float64" arrayDimensions="4"/>
<member name="groundType" id="48" type="int32" arrayDimensions="4"/>
<member name="handBrake" id="49" type="float64" />
<member name="hubPosition_heading" id="50" type="float64" arrayDimensions="4"/>
<member name="hubPosition_pitch" id="51" type="float64" arrayDimensions="4"/>
<member name="hubPosition_roll" id="52" type="float64" arrayDimensions="4"/>
<member name="hubPosition_x" id="53" type="float64" arrayDimensions="4"/>
<member name="hubPosition_y" id="54" type="float64" arrayDimensions="4"/>
<member name="hubPosition_z" id="55" type="float64" arrayDimensions="4"/>
<member name="isEngineRetarder" id="56" type="byte"/>
<member name="isInContact" id="57" type="byte" arrayDimensions="4"/>
<member name="laneType" id="58" type="int32" arrayDimensions="4"/>
<member name="lights" id="59" type="int32"/>
<member name="lockDiffMode" id="60" type="int32"/>
<member name="plowMode" id="61" type="int32"/>
<member name="pollution" id="62" type="float64" />
<member name="roughnessHeight" id="63" type="float64" arrayDimensions="4"/>
<member name="roughnessHeightStdDeviation" id="64" type="float64" arrayDimensions="4"/>
<member name="roughnessLength" id="65" type="float64" arrayDimensions="4"/>
<member name="roughnessLengthStdDeviation" id="66" type="float64" arrayDimensions="4"/>
<member name="sirens" id="67" type="int32"/>
<member name="slipAngle" id="68" type="float64" arrayDimensions="4"/>
<member name="tireForce_x" id="69" type="float64" arrayDimensions="4"/>
<member name="tireForce_y" id="70" type="float64" arrayDimensions="4"/>
<member name="tireForce_z" id="71" type="float64" arrayDimensions="4"/>
<member name="trailerBrake" id="72" type="float64" />
<member name="transferChoice" id="73" type="int32"/>
<member name="waterHeight" id="74" type="float64" arrayDimensions="4"/>
<member name="wheelRotation" id="75" type="float64" arrayDimensions="4"/>
<member name="wheelRotationSpeed" id="76" type="float64" arrayDimensions="4"/>
</struct>
<struct name= "RoadLinePolynom">
<member name="lineId" type="int16"/>
<member name="c0" type="float64"/>
<member name="c1" type="float64"/>
<member name="c2" type="float64"/>
<member name="c3" type="float64"/>
<member name="curvatureRadius" type="float64"/>
<member name="estimatedCurvatureRadius" type="float64"/>
</struct>
<struct name= "RoadLinesPolynoms">
<member name="egoVhlId" id="0" type="int16"/>
<member name="globalId" id="1" type="int32"/>
<member name="isNoisy" id="2" type="byte"/>
<member name="referenceFrame" id="3" type="int16"/>
<member name="roadLinesPolynomsArray" sequenceMaxLength="3" id="4" type="nonBasic" nonBasicTypeName= "IndyDS::RoadLinePolynom"/>
<member name="timeOfUpdate" id="5" type="float64"/>
</struct>
<struct name= "CabToSteeringCorrective">
<member name="AdditiveSteeringWheelAccel" id="0" type="float64"/>
<member name="AdditiveSteeringWheelAngle" id="1" type="float64"/>
<member name="AdditiveSteeringWheelSpeed" id="2" type="float64"/>
<member name="AdditiveSteeringWheelTorque" id="3" type="float64"/>
<member name="MultiplicativeSteeringWheelAccel" id="4" type="float64"/>
<member name="MultiplicativeSteeringWheelAngle" id="5" type="float64"/>
<member name="MultiplicativeSteeringWheelSpeed" id="6" type="float64"/>
<member name="MultiplicativeSteeringWheelTorque" id="7" type="float64"/>
<member name="TimeOfUpdate" id="8" type="float64"/>
</struct>
<struct name= "CabToModelCorrective">
<member name="AcceleratorAdditive" id="0" type="float64" />
<member name="AcceleratorMultiplicative" id="1" type="float64" />
<member name="BrakeAdditive" id="2" type="float64" />
<member name="BrakeMultiplicative" id="3" type="float64" />
<member name="ClutchAdditive" id="4" type="float64" />
<member name="ClutchMultiplicative" id="5" type="float64" />
<member name="GearboxAutoMode" id="6" type="int16"/>
<member name="GearboxTakeOver" id="7" type="byte"/>
<member name="IsRatioLimit" id="8" type="byte"/>
<member name="MaxRatio" id="9" type="int16"/>
<member name="MinRatio" id="10" type="int16"/>
<member name="ParkingBrakeAdditive" id="11" type="float64" />
<member name="ParkingBrakeMultiplicative" id="12" type="float64" />
<member name="ShiftDown" id="13" type="byte"/>
<member name="ShiftUp" id="14" type="byte"/>
<member name="TimeOfUpdate" id="15" type="float64" />
<member name="WantedGear" id="16" type="int16"/>
</struct>
<struct name= "SensorMovableTarget">
<member name="id" id="0" type="int16"/>
<member name="scanerId" id="1" type="int16"/>
<member name="detectionStatus" id="2" type="int16"/>
<member name="type_" id="3" type="int16"/>
<member name="beamIndex" id="4" type="int16"/>
<member name="existenceTime" id="5" type="float64"/>
<member name="anchorPoint" id="6" type="int16"/>
<member name="referenceFrame" id="7" type="int16"/>
<member name="posXInChosenRef" id="8" type="float64"/>
<member name="posYInChosenRef" id="9" type="float64"/>
<member name="posZInChosenRef" id="10" type="float64"/>
<member name="posHeadingInChosenRef" id="11" type="float32"/>
<member name="posPitchInChosenRef" id="12" type="float32"/>
<member name="posRollInChosenRef" id="13" type="float32"/>
<member name="distanceToCollision" id="14" type="float32"/>
<member name="azimuthInSensor" id="15" type="float32"/>
<member name="elevationInSensor" id="16" type="float32"/>
<member name="azimuthInVehicle" id="17" type="float32"/>
<member name="elevationInVehicle" id="18" type="float32"/>
<member name="absoluteSpeedX" id="19" type="float32"/>
<member name="absoluteSpeedY" id="20" type="float32"/>
<member name="absoluteSpeedZ" id="21" type="float32"/>
<member name="absoluteAngularSpeedH" id="22" type="float32"/>
<member name="absoluteAngularSpeedP" id="23" type="float32"/>
<member name="absoluteAngularSpeedR" id="24" type="float32"/>
<member name="relativeSpeedX" id="25" type="float32"/>
<member name="relativeSpeedY" id="26" type="float32"/>
<member name="relativeSpeedZ" id="27" type="float32"/>
<member name="relativeAngularSpeedH" id="28" type="float32"/>
<member name="relativeAngularSpeedP" id="29" type="float32"/>
<member name="relativeAngularSpeedR" id="30" type="float32"/>
<member name="absoluteAccelX" id="31" type="float32"/>
<member name="absoluteAccelY" id="32" type="float32"/>
<member name="absoluteAccelZ" id="33" type="float32"/>
<member name="relativeAccelX" id="34" type="float32"/>
<member name="relativeAccelY" id="35" type="float32"/>
<member name="relativeAccelZ" id="36" type="float32"/>
<member name="length" id="37" type="float32"/>
<member name="width" id="38" type="float32"/>
<member name="height" id="39" type="float32"/>
<member name="visibility" id="40" type="float32"/>
</struct>
<struct name= "SensorMovableTargets">
<member name="egoVhlId" id="0" type="int16"/>
<member name="globalId" id="1" type="int32"/>
<member name="nearestTarget" id="2" type="int16"/>
<member name="targetsArray" sequenceMaxLength="30" id="3" type="nonBasic" nonBasicTypeName= "IndyDS::SensorMovableTarget"/>
<member name="timeOfUpdate" id="4" type="float64" />
</struct>
</module>
<module name="DDS">
<struct name= "Octets_">
<member name="value" sequenceMaxLength="2048" type="byte"/>
</struct>
</module>
</types>
<!-- Domain Library -->
<!-- <domain_library name="MyDomainLibrary">
<domain name="MyDomain" domain_id="31">
<register_type name="ShapeType" type_ref="ShapeType" />
<register_type name="IndyDS::RoadLinesPolynoms" type_ref="IndyDS::RoadLinesPolynoms" />
<register_type name="IndyDS::SensorMovableTargets" type_ref="IndyDS::SensorMovableTargets" />
<register_type name="IndyDS::VehicleOutput" type_ref="IndyDS::VehicleOutput" />
<register_type name="IndyDS::CabToModelCorrective" type_ref="IndyDS::CabToModelCorrective" />
<register_type name="IndyDS::CabToSteeringCorrective" type_ref="IndyDS::CabToSteeringCorrective" />
<register_type name="controlsArray" type_ref="controlsArray" />
<register_type name="DDS::Octets_" type_ref="DDS::Octets_" />
<topic name="Square" register_type_ref="ShapeType"/>
<topic name="Circle" register_type_ref="ShapeType"/>
<topic name="cameraRoadLinesPolynoms_F1_ego1" register_type_ref="IndyDS::RoadLinesPolynoms"/>
<topic name="cameraRoadLinesPolynoms_F2_ego1" register_type_ref="IndyDS::RoadLinesPolynoms"/>
<topic name="vehicleStateVehicleOutput_ego1" register_type_ref="IndyDS::VehicleOutput"/>
<topic name="toVehicleCabToModelCorrective_ego1" register_type_ref="IndyDS::CabToModelCorrective"/>
<topic name="toVehicleSteeringCorrective_ego1" register_type_ref="IndyDS::CabToSteeringCorrective"/>
<topic name="radarSensorMovableTargets_F_ego1" register_type_ref="IndyDS::SensorMovableTargets"/>
<topic name="radarSensorMovableTargets_Port_ego1" register_type_ref="IndyDS::SensorMovableTargets"/>
<topic name="radarSensorMovableTargets_Stbd_ego1" register_type_ref="IndyDS::SensorMovableTargets"/>
<topic name="controls_ego1" register_type_ref="controlsArray"/>
<topic name="dds_done_reply1" register_type_ref="DDS::Octets_"/>
<topic name="dds_done1" register_type_ref="DDS::Octets_"/>
</domain>
</domain_library> -->
<!-- Domain Library -->
<domain_library name="MyDomainLibrary">
<domain name="MyDomain" domain_id="31">
<register_type name="ShapeType" type_ref="ShapeType" />
<register_type name="IndyDS::RoadLinesPolynoms" type_ref="IndyDS::RoadLinesPolynoms" />
<register_type name="IndyDS::SensorMovableTargets" type_ref="IndyDS::SensorMovableTargets" />
<register_type name="IndyDS::VehicleOutput" type_ref="IndyDS::VehicleOutput" />
<register_type name="IndyDS::CabToModelCorrective" type_ref="IndyDS::CabToModelCorrective" />
<register_type name="IndyDS::CabToSteeringCorrective" type_ref="IndyDS::CabToSteeringCorrective" />
<register_type name="controlsArray" type_ref="controlsArray" />
<register_type name="DDS::Octets_" type_ref="DDS::Octets_" />
<register_type name="pathTuple" type_ref="pathTuple" />
<topic name="Square" register_type_ref="ShapeType"/>
<topic name="Circle" register_type_ref="ShapeType"/>
<topic name="cameraRoadLinesPolynoms_F1_ego1" register_type_ref="IndyDS::RoadLinesPolynoms"/>
<topic name="cameraRoadLinesPolynoms_F2_ego1" register_type_ref="IndyDS::RoadLinesPolynoms"/>
<topic name="vehicleStateVehicleOutput_ego1" register_type_ref="IndyDS::VehicleOutput"/>
<topic name="toVehicleCabToModelCorrective_ego1" register_type_ref="IndyDS::CabToModelCorrective"/>
<topic name="toVehicleSteeringCorrective_ego1" register_type_ref="IndyDS::CabToSteeringCorrective"/>
<topic name="radarSensorMovableTargets_F_ego1" register_type_ref="IndyDS::SensorMovableTargets"/>
<topic name="radarSensorMovableTargets_Port_ego1" register_type_ref="IndyDS::SensorMovableTargets"/>
<topic name="radarSensorMovableTargets_Stbd_ego1" register_type_ref="IndyDS::SensorMovableTargets"/>
<topic name="controls_ego1" register_type_ref="controlsArray"/>
<topic name="dds_done_reply1" register_type_ref="DDS::Octets_"/>
<topic name="dds_done1" register_type_ref="DDS::Octets_"/>
<topic name="graphpath" register_type_ref="pathTuple"/>
</domain>
</domain_library>
<domain_participant_library name="MyParticipantLibrary">
<!-- We use separate participants because we run the writer and the reader
on different applications, and wouldn't want to create the reader
in writer.py, or the writer in reader.py -->
<domain_participant name="MyPubParticipant" domain_ref="MyDomainLibrary::MyDomain">
<publisher name="MyPublisher">
<data_writer name="MySquareWriter" topic_ref="Square" />
</publisher>
</domain_participant>
<domain_participant name="MySubParticipant" domain_ref="MyDomainLibrary::MyDomain">
<subscriber name="MySubscriber">
<data_reader name="MySquareReader" topic_ref="Square" />
</subscriber>
</domain_participant>
<domain_participant name="roadSubParticipant" domain_ref="MyDomainLibrary::MyDomain">
<subscriber name="roadSubscriber">
<data_reader name="roadReader" topic_ref="cameraRoadLinesPolynoms_F1_ego1" />
</subscriber>
</domain_participant>
<!-- You can also define the reader and writer inside the same
connector instance if you plan to use both in the same application.
-->
<domain_participant name="MyParticipant" domain_ref="MyDomainLibrary::MyDomain">
<subscriber name="roadSubscriber">
<data_reader name="roadReader" topic_ref="cameraRoadLinesPolynoms_F1_ego1" />
</subscriber>
<publisher name="steeringPublisher">
<data_writer name="steeringPub" topic_ref="toVehicleSteeringCorrective_ego1" />
</publisher>
<subscriber name="StateSubscriber">
<data_reader name="stateReader" topic_ref="vehicleStateVehicleOutput_ego1" />
</subscriber>
<publisher name="SpeedPublisher">
<data_writer name="speedPub" topic_ref="toVehicleCabToModelCorrective_ego1" />
</publisher>
</domain_participant>
<domain_participant name="ObstacleParticipant" domain_ref="MyDomainLibrary::MyDomain">
<publisher name="simDonePub">
<data_writer name="simDoneWriter" topic_ref="dds_done_reply1" />
</publisher>
<subscriber name="simWaitSub">
<data_reader name="simWaitReader" topic_ref="dds_done1" />
</subscriber>
<subscriber name="roadSubscriber">
<data_reader name="roadReader1" topic_ref="cameraRoadLinesPolynoms_F1_ego1" />
<data_reader name="roadReader2" topic_ref="cameraRoadLinesPolynoms_F2_ego1" />
</subscriber>
<publisher name="steeringPublisher">
<data_writer name="steeringPub" topic_ref="toVehicleSteeringCorrective_ego1" />
</publisher>
<publisher name="controlPublisher">
<data_writer name="controlPub" topic_ref="controls_ego1" />
</publisher>
<subscriber name="StateSubscriber">
<data_reader name="stateReader" topic_ref="vehicleStateVehicleOutput_ego1" />
</subscriber>
<publisher name="SpeedPublisher">
<data_writer name="speedPub" topic_ref="toVehicleCabToModelCorrective_ego1" />
</publisher>
<subscriber name="radarSubscriber_F">
<data_reader name="radarReader_F" topic_ref="radarSensorMovableTargets_F_ego1" />
</subscriber>
<subscriber name="radarSubscriber_left">
<data_reader name="radarReader_left" topic_ref="radarSensorMovableTargets_Port_ego1" />
</subscriber>
<subscriber name="radarSubscriber_right">
<data_reader name="radarReader_right" topic_ref="radarSensorMovableTargets_Stbd_ego1" />
</subscriber>
</domain_participant>
<!-- The transform.py script reads Squares and writes Circles -->
<domain_participant name="SpeedParticipant" domain_ref="MyDomainLibrary::MyDomain">
<subscriber name="controlSubscriber">
<data_reader name="controlSub" topic_ref="controls_ego1" />
</subscriber>
<subscriber name="StateSubscriber">
<data_reader name="stateReader" topic_ref="vehicleStateVehicleOutput_ego1" />
</subscriber>
<publisher name="SpeedPublisher">
<data_writer name="speedPub" topic_ref="toVehicleCabToModelCorrective_ego1" />
</publisher>
<publisher name="steeringPublisher">
<data_writer name="steeringPub" topic_ref="toVehicleSteeringCorrective_ego1" />
</publisher>
</domain_participant>
<domain_participant name="CircleSubParticipant" domain_ref="MyDomainLibrary::MyDomain">
<subscriber name="MySubscriber">
<data_reader name="MyCircleReader" topic_ref="Circle" />
</subscriber>
</domain_participant>
<domain_participant name="GraphParticipant" domain_ref="MyDomainLibrary::MyDomain">
<subscriber name="StateSubscriber">
<data_reader name="stateReader" topic_ref="vehicleStateVehicleOutput_ego1" />
</subscriber>
<publisher name="pathPublisher">
<data_writer name="pathPub" topic_ref="graphpath" />
</publisher>
<publisher name="simDonePub">
<data_writer name="simDoneWriter" topic_ref="dds_done_reply1" />
</publisher>
<subscriber name="simWaitSub">
<data_reader name="simWaitReader" topic_ref="dds_done1" />
</subscriber>
<subscriber name="radarSubscriber_F">
<data_reader name="radarReader_F" topic_ref="radarSensorMovableTargets_F_ego1" />
</subscriber>
<subscriber name="radarSubscriber_left">
<data_reader name="radarReader_left" topic_ref="radarSensorMovableTargets_Port_ego1" />
</subscriber>
<subscriber name="radarSubscriber_right">
<data_reader name="radarReader_right" topic_ref="radarSensorMovableTargets_Stbd_ego1" />
</subscriber>
</domain_participant>
<domain_participant name="MyPurePursuitParticipant" domain_ref="MyDomainLibrary::MyDomain">
<subscriber name="pathSubscriber">
<data_reader name="pathSub" topic_ref="graphpath" />
</subscriber>
<publisher name="steeringPublisher">
<data_writer name="steeringPub" topic_ref="toVehicleSteeringCorrective_ego1" />
</publisher>
<publisher name="SpeedPublisher">
<data_writer name="speedPub" topic_ref="toVehicleCabToModelCorrective_ego1" />
</publisher>
<subscriber name="StateSubscriber">
<data_reader name="stateReader" topic_ref="vehicleStateVehicleOutput_ego1" />
</subscriber>
<publisher name="controlPublisher">
<data_writer name="controlPub" topic_ref="controls_ego1" />
</publisher>
<publisher name="simDonePub">
<data_writer name="simDoneWriter" topic_ref="dds_done_reply1" />
</publisher>
<subscriber name="simWaitSub">
<data_reader name="simWaitReader" topic_ref="dds_done1" />
</subscriber>
</domain_participant>
</domain_participant_library>
</dds>