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ddl/test/headerrepresentation/files/viRDBIcd.h
Pierre 60968612de initial commit for github
2019-12-12 14:41:47 +01:00

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/*****************************************************//**
* @file
* ICD of the Runtime Data Bus (RDB)
*
* (c) VIRES GmbH
* @author Marius Dupuis
********************************************************/
/*****************************************************/
/**
@page RDB_CHANGE_LOG RDB Change Log
- 10.07.2013 version still 0x0110
added RDB_PKG_ID_TRAJECTORY and accompanying definitions
- 08.07.2013 version 0x0110
added OpenGL conform RDB image pix formats
old formats now deprecated
- 02.07.2013 version 0x0110
added RDB_OBJECT_VIS_FLAG_RECORDER
added RDB_COORD_TYPE_RELATIVE_START
added empty or cast definitions for
RDB_END_OF_FRAME_t
RDB_START_OF_FRAME_t
added RDB_OBJECT_CATEGORY_OPENDRIVE
- 22.04.2013 version 0x010F
added RDB_DRIVER_SOURCE definitions
added RDB_SHM_ID_TC_IN
added RDB_SHM_ID_TC_OUT
added RDB_SHM_SIZE_TC
- 13.02.2013 version still 0x010E
added shared memory identifier RDB_SHM_ID_CONTROL_GENERATOR_IN
added control commands for sync message (RDB_SYNC_CMD_xxx)
used a spare of RDB_SYNC_t
- 22.01.2013 version 0x010E
added path s-coordinate to RDB_ROAD_POS_t
added RDB_PKG_FLAG_HIDDEN
- 27.12.2012 version 0x010D
converted spare variable to "type" in structure RDB_LANE_INFO_t
extended range of road mark IDs
- 18.12.2012 version still 0x010C (by H.H.)
added message type RDB_PKG_ID_OPTIX_BUFFER ( RDBInterface plugin )
- 03.12.2012: version 0x010C
- added package type RDB_PKG_ID_SCP and associated structure
- 15.11.2012: version still 0x010B
- improved description of occlusion
- 10.10.2012: version still 0x010B
- added RDB_ROAD_TYPE definitions and member "type" in RDB_ROAD_POS_t
- 02.10.2012: version still 0x010B
- introduced RDB_LIGHT_SOURCE_FLAG_STENCIL
- introduced RDB_COORD_TYPE_TEXTURE
- 01.10.2012: version set to 0x010B
- activated one spare parameter in RDB_VEHICLE_SYSTEMS_t
- 18.09.2012: version set to 0x010A
- added further gearbox positions
- added flags for mockup inputs: RDB_MOCKUP_INPUT0_, RDB_MOCKUP_INPUT1_, RDB_MOCKUP_INPUT2_
- introduced mockup input flags in RDB_DRIVER_CTRL_t
- 06.09.2012: version set to 0x0109
- corrected frameNo type mismatch
- 27.08.2012: version set to 0x0108
- added RDB_OBJECT_TYPE_PLAYER_TRAILER
- added "spare0" in RDB_LANE_INFO_t between "status" and "width"
- to comply with 4-byte alignment. The space has been there before
- due to the compiler and is now adressable. So, don't panic! Your
- "old" code should still work.
- 06.08.2012: version set to 0x0107
- added RDB_PKG_ID_ROAD_QUERY and associated structures
- 04.07.2012: added definition RDB_PIX_FORMAT_BW_32
added definition RDB_PIX_FORMAT_RGB_32
added definition RDB_PIX_FORMAT_RGBA_32
- version set to 0x0106
- 01.05.2012: added some driver control flags (headlight etc.)
- version set to 0x0105
- 17.04.2012: corrected comment in RDB_OBJECT_CFG_t
- 12.04.2012: introduced RDB_DRIVER_INPUT_VALIDITY_ADD_ON
- 26.03.2012: set version to 0x0104
- added sourceId in structure RDB_DRIVER_CTRL_t (converted one spare uint8 for this)
- 28.02.2012: set version to 0x0103
- set occlusion in SENSOR_OBJECT_t to type int8_t instead of uint8_t
- introduced RDB_OBJECT_CATEGORY_COMMON
- introduced RDB_OBJECT_TYPE_NONE
- 09.02.2012: introduced RDB_ENV_FLAG_STREET_LAMPS
- 31.01.2012: introduced RDB_LIGHT_SOURCE_FLAG_PERSISTENT
- 22.01.2012: set version to 0x0102
- introduced RDB_CONTACT_POINT_FLAG_...
- 10.12.2011: set version to 0x0101
- modified definition of co-ordinate systems
- RDB_COORD_TYPE_DEFAULT has become RDB_COORD_TYPE_INERTIAL
- RDB_COORD_TYPE_INERTIAL has become RDB_COORD_TYPE_RESERVED_1
- 17.11.2011: introduced RDB_COORD_TYPE_WINDOW
- 03.11.2011: converted two spares in RDB_ENGINE_EXT_t into variables
- for current and average fuel consumptions
- 10.10.2011: inserted RDB_GEAR_BOX_POS_5
- 15.09.2011: added definition RDB_PIX_FORMAT_DEPTH_32
- 16.08.2011: introduced "parent" as member in OBJECT_STATE_BASE_t
- introduced RDB_OBJECT_CATEGORY_LIGHT_POINT
- 02.08.2011: added flags for direction info to RDB_ROAD_POS_t
- 14.07.2011: added playerId to LANE_INFO
- 10.07.2011: added steeringWheelTorque to VEHICLE_SYSTEMS
- 08.07.2011: introduced RDB_DRIVER_INPUT_VALIDITY_INFO_ONLY
- 07.07.2011: introduced visMask in RDB_OBJECT_STATE_t
- 28.06.2011: introduced structure RDB_FUNCTION_t
- introduced packages RDB_PKG_ID_LIGHT_MAP and
- RDB_PKG_ID_TONE_MAPPING
- 30.05.2011: introduced member "material" in RDB_LANE_INFO_t
- introduced member "addOnId" in RDB_TRAFFIC_SIGN_t; this shall
- point to a sign which extends the original sign; 0 for no extension
- 20.05.2011: fixed a GSI typo, added RDB_PIX_FORMAT_CUSTOM_01
- 17.05.2011: added some picture formats
- 18.04.2011: introduced RDB_PKG_ID_DRIVER_PERCEPTION
- 31.03.2011: introduced RDB_PKG_ID_SYNC
- introduced RDB_OBJECT_CFG_FLAG
- 14.03.2011: updated comment fields of @unit
- added shared memory header
- 07.03.2011: deleted "throttlePos" from RDB_ENGINE_EXT_t since
- "load" is already in BASE package
- introduced "RDB_DRIVER_INPUT_VALIDITY_CURVATURE" and
- curvatureTgt in "RDB_DRIVER_CTRL_t"
- introduced "RDB_DRIVER_INPUT_VALIDITY_STEERING_TORQUE" and
- steeringTorque in "RDB_DRIVER_CTRL_t"
- introduced "RDB_DRIVER_INPUT_VALIDITY_ENGINE_TORQUE" and
- engineTorqueTgt in "RDB_DRIVER_CTRL_t"
- introduced "RDB_DRIVER_INPUT_VALIDITY_SPEED" and
- speedTgt in "RDB_DRIVER_CTRL_t"
- increased "validityFlags" in "RDB_DRIVER_CTRL_t" from
- 16 to 32 bit.
- RDB_WHEEL_BASE_t: replaced "deflZ" with "springCompression"
- RDB_WHEEL_EXT_t: deleted "springCompression"
- 09.02.2011: initial version will be 0x0100
- 01 = major version
- 00 = minor version
- major version will change when binary
- incompatibility is imminent, otherwise
- minor version will change
- 08.02.2011: fixed minor bug in wheel structure
- set initial revision to 0x000E
- 14.01.2011: replaced "class" with "category"
- 18.11.2010: added feedback from review
- modified general remarks
- 28.10.2010: added feedback from review
- added general remarks
- 17.08.2010: draft version 0x0100
- 03.08.2010: derived from GSI version 0x000D++
*********************************************************/
/**
* <h2> General Remarks: </h2>
*
* <h3> Introduction: </h3>
*
* RDB contains a wide variety of packages, most of which
* are (potentially) well suited for most applications.
* Nevertheless, several things have to be noted:
* - not all applications will use or provide
* all sorts of packages
* - when a package is provided all of its elements must
* be filled with valid data (in case of doubt, initialize
* the packages with 0 before filling the respective data)
* - some packages are specialized so that they work
* well only in certain environments; these packages
* bear the string "CUSTOM" in their name and have
* IDs in the range 10000-19999
*
*
* <h3> Packages with Trailing Data: </h3>
*
* Some packages may be followed by trailing data of flexible size.
* In this case, a package itself contains information about the
* number of bytes that will follow the original package. The
* type and content of the trailing data depend on the package
* type.
*
*
* <h3> Extended Information: </h3>
*
* Packages are defined for maximum flexibility. This means
* that for the complete description of a complex object more
* data may be required than for a simple object of comparable
* type.
*
* Therefore, the information about an object may be contained
* in a basic structure followed immediately - within the same
* package - by an additional information block (so-called extension).
* In the respective package's header (of type RDB_MSG_ENTRY_HDR_t)
* the member "flags" will have the flag RDB_PKG_FLAG_EXTENDED set
* in case of an extended package.
*
* Note that if multiple elements of the same package type are
* packed in a package vector, all of these elements must be
* either of basic type or of extended type. Mixing these types
* is not allowed.
*
* For easier casting of basic and extended packages, containers
* are provided which provide one member of the basic information
* followed by one member holding the extended information.
*
* The following package extensions are possible:
*
* <h4> A) OBJECTS (PKG ID = RDB_PKG_ID_OBJECT_STATE) </h4>
*
* information about a static object (e.g. obstacle):
* package contains only
* RDB_OBJECT_STATE_BASE_t
*
* information about a dynamic object (e.g. vehicle)
* package contains
* RDB_OBJECT_STATE_BASE_t
* followed by
* RDB_OBJECT_STATE_EXT_t
*
* casting structure:
* @code
* {
* RDB_OBJECT_STATE_BASE_t base;
* RDB_OBJECT_STATE_EXT_t ext;
* } RDB_OBJECT_STATE_t;
* @endcode
*
* <h4> B) WHEELS (PKG ID = RDB_PKG_ID_WHEEL) </h4>
*
* basic information about a wheel:
* package contains only
* RDB_WHEEL_BASE_t
*
* extended information about a wheel
* package contains
* RDB_WHEEL_BASE_t
* followed by
* RDB_WHEEL_EXT_t
*
* casting structure:
* @code
* {
* RDB_WHEEL_BASE_t base;
* RDB_WHEEL_EXT_t ext;
* } RDB_WHEEL_t;
* @endcode
*
*
* <h4> C) ENGINE (PKG ID = RDB_PKG_ID_ENGINE) </h4>
*
* basic information about an engine:
* package contains only
* RDB_ENGINE_BASE_t
*
* extended information about an engine
* package contains
* RDB_ENGINE_BASE_t
* followed by
* RDB_ENGINE_EXT_t
*
* casting structure:
* @code
* {
* RDB_ENGINE_BASE_t base;
* RDB_ENGINE_EXT_t ext;
* } RDB_ENGINE_t;
* @endcode
*
*
* <h4> D) DRIVETRAIN (PKG ID = RDB_PKG_ID_DRIVETRAIN) </h4>
*
* basic information about a drivetrain:
* package contains only
* RDB_DRIVETRAIN_BASE_t
*
* extended information about a drivetrain
* package contains
* RDB_DRIVETRAIN_BASE_t
* followed by
* RDB_DRIVETRAIN_EXT_t
*
* casting structure:
* @code
* {
* RDB_DRIVETRAIN_BASE_t base;
* RDB_DRIVETRAIN_EXT_t ext;
* } RDB_DRIVETRAIN_t;
* @endcode
*
*
* <h4> E) TRAFFIC LIGHT (PKG ID = RDB_PKG_ID_TRAFFIC_LIGHT) </h4>
*
* basic information about a traffic light:
* package contains only
* RDB_TRAFFIC_LIGHT_BASE_t
*
* extended information about a traffic light
* package contains
* RDB_TRAFFIC_LIGHT_BASE_t
* followed by
* RDB_TRAFFIC_LIGHT_EXT_t
*
* casting structure:
* @code
* {
* RDB_TRAFFIC_LIGHT_BASE_t base;
* RDB_TRAFFIC_LIGHT_EXT_t ext;
* } RDB_TRAFFIC_LIGHT_t;
* @endcode
*/
#pragma pack (push, 4)
#ifndef _VIRES_RDB_ICD_H
#define _VIRES_RDB_ICD_H
// includes for 64bit compatibility
#include <sys/types.h>
#include <stdint.h>
/** @addtogroup GENERAL_DEFINITIONS
* @{
*/
#define RDB_DEFAULT_PORT 48190 /**< default port for RDB communication @version 0x0100 */
#define RDB_FEEDBACK_PORT 48191 /**< port for RDB feedback to taskControl @version 0x0100 */
#define RDB_IMAGE_PORT 48192 /**< port for RDB image data @version 0x0100 */
#define RDB_MAGIC_NO 35712 /**< magic number @version 0x0100 */
#define RDB_VERSION 0x0110 /**< upper byte = major, lower byte = minor @version 0x010C */
/** @} */
/** @addtogroup ARRAY_SIZES
* ------ array sizes ------
* @{
*/
#define RDB_SIZE_OBJECT_NAME 32 /**< maximum length of an object's name @version 0x0100 */
#define RDB_SIZE_SCP_NAME 64 /**< maximum length of an SCP sender / receiver @version 0x010C */
#define RDB_SIZE_FILENAME 1024 /**< number of bytes in a filename (may include path) @version 0x0100 */
#define RDB_SIZE_TRLIGHT_PHASES 8 /**< maximum number of phases for a traffic light @version 0x0100 */
/** @} */
/** @addtogroup ENUM_DEFINITIONS
* ------ Enum Definitions ------
* @{
*/
/** @addtogroup RDB_PKG_ID
* ------ message types ------
* @{
*/
#define RDB_PKG_ID_START_OF_FRAME 1 /**< sent as first package of a simulation frame @version 0x0100 */
#define RDB_PKG_ID_END_OF_FRAME 2 /**< sent as last package of a simulation frame @version 0x0100 */
#define RDB_PKG_ID_COORD_SYSTEM 3 /**< defines a (custom) co-ordinate system @version 0x0100 */
#define RDB_PKG_ID_COORD 4 /**< single co-ordinate extending previous object information @version 0x0100 */
#define RDB_PKG_ID_ROAD_POS 5 /**< detailed road position of a given entity @version 0x0100 */
#define RDB_PKG_ID_LANE_INFO 6 /**< lane information for a given entity @version 0x0100 */
#define RDB_PKG_ID_ROADMARK 7 /**< road mark information of a player (typically EGO) @version 0x0100 */
#define RDB_PKG_ID_OBJECT_CFG 8 /**< object configuration information @version 0x0100 */
#define RDB_PKG_ID_OBJECT_STATE 9 /**< state of a standard (static) object @version 0x0100 */
#define RDB_PKG_ID_VEHICLE_SYSTEMS 10 /**< vehicle systems' states (lights etc.) @version 0x0100 */
#define RDB_PKG_ID_VEHICLE_SETUP 11 /**< basic information about a vehicle (mass etc.) @version 0x0100 */
#define RDB_PKG_ID_ENGINE 12 /**< info about a vehicle's engine @version 0x0100 */
#define RDB_PKG_ID_DRIVETRAIN 13 /**< info about a vehicle's drivetrain @version 0x0100 */
#define RDB_PKG_ID_WHEEL 14 /**< info about a wheel of a player @version 0x0100 */
#define RDB_PKG_ID_PED_ANIMATION 15 /**< pedestrian animation details (joint angles etc.) @version 0x0100 */
#define RDB_PKG_ID_SENSOR_STATE 16 /**< state (position etc.) of a sensor @version 0x0100 */
#define RDB_PKG_ID_SENSOR_OBJECT 17 /**< information about an object registered within a sensor @version 0x0100 */
#define RDB_PKG_ID_CAMERA 18 /**< camera parameters corresponding to video image @version 0x0100 */
#define RDB_PKG_ID_CONTACT_POINT 19 /**< road data at a given contact point @version 0x0100 */
#define RDB_PKG_ID_TRAFFIC_SIGN 20 /**< info about traffic signs objects @version 0x0100 */
#define RDB_PKG_ID_ROAD_STATE 21 /**< road state information for a given player @version 0x0100 */
#define RDB_PKG_ID_IMAGE 22 /**< video image @version 0x0100 */
#define RDB_PKG_ID_LIGHT_SOURCE 23 /**< light source information @version 0x0100 */
#define RDB_PKG_ID_ENVIRONMENT 24 /**< environment information @version 0x0100 */
#define RDB_PKG_ID_TRIGGER 25 /**< trigger info for next simulation frame @version 0x0100 */
#define RDB_PKG_ID_DRIVER_CTRL 26 /**< info about mockup or from driver module as input for dynamics @version 0x0100 */
#define RDB_PKG_ID_TRAFFIC_LIGHT 27 /**< information about a traffic lights and their states @version 0x0100 */
#define RDB_PKG_ID_SYNC 28 /**< synchronization with external RDB client @version 0x0100 */
#define RDB_PKG_ID_DRIVER_PERCEPTION 29 /**< driver perception @version 0x0100 */
#define RDB_PKG_ID_LIGHT_MAP 30 /**< light map for a headlight @version 0x0100 */
#define RDB_PKG_ID_TONE_MAPPING 31 /**< tone mapping function @version 0x0100 */
#define RDB_PKG_ID_ROAD_QUERY 32 /**< co-ordinates of an explicit ODR road query @version 0x0107 */
#define RDB_PKG_ID_SCP 33 /**< SCP package via RDB @version 0x010C */
#define RDB_PKG_ID_TRAJECTORY 34 /**< trajectory for path planning @version 0x0110 */
/** @} */
/** @addtogroup RDB_PKG_ID_CUSTOM
* ------ custom message types, not to be expected in "standard" simulations ------
* @{
*/
#define RDB_PKG_ID_CUSTOM_SCORING 10000 /**< parameters for driver scoring (efficiency, safety, race etc.) @version 0x0100 */
#define RDB_PKG_ID_CUSTOM_AUDI_FORUM 12000 /**< parameters for AUDI Forum @version 0x0100 */
#define RDB_PKG_ID_CUSTOM_OPTIX_START 12100 /**< start of custom packages for OPTIX applications @version 0x0100 */
#define RDB_PKG_ID_OPTIX_BUFFER 12101 /**< custom optix buffer for RDBInterface Plugin @version 0x010C */
#define RDB_PKG_ID_CUSTOM_OPTIX_END 12149 /**< end of custom packages for OPTIX applications @version 0x0100 */
#define RDB_PKG_ID_CUSTOM_USER_A_START 12150 /**< start of custom packages for user A @version 0x0106 */
#define RDB_PKG_ID_CUSTOM_USER_A_END 12174 /**< end of custom packages for user A @version 0x0106 */
/** @} */
/** @addtogroup RDB_OBJECT_CATEGORY
* ------ object types ------
* @{
*/
#define RDB_OBJECT_CATEGORY_NONE 0 /**< no category defined @version 0x0100 */
#define RDB_OBJECT_CATEGORY_PLAYER 1 /**< category is player @version 0x0100 */
#define RDB_OBJECT_CATEGORY_SENSOR 2 /**< category is sensor @version 0x0100 */
#define RDB_OBJECT_CATEGORY_CAMERA 3 /**< category is camera @version 0x0100 */
#define RDB_OBJECT_CATEGORY_LIGHT_POINT 4 /**< category is light point @version 0x0100 */
#define RDB_OBJECT_CATEGORY_COMMON 5 /**< category is common object @version 0x0100 */
#define RDB_OBJECT_CATEGORY_OPENDRIVE 6 /**< category is OpenDRIVE object @version 0x0110 */
/** @} */
/** @addtogroup RDB_OBJECT_TYPE
* ------ object types ------
* @{
*/
#define RDB_OBJECT_TYPE_NONE 0 /**< undefined object type for categories other than player @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_NONE 0 /**< undefined player type @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_CAR 1 /**< player of type car @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_TRUCK 2 /**< player of type truck @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_VAN 3 /**< player of type van @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_BIKE 4 /**< player of type bicycle @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_PEDESTRIAN 5 /**< player of type pedestrian @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_PED_GROUP 6 /**< player of type pedestrian group @version 0x0100 */
#define RDB_OBJECT_TYPE_POLE 7 /**< pole @version 0x0100 */
#define RDB_OBJECT_TYPE_TREE 8 /**< tree @version 0x0100 */
#define RDB_OBJECT_TYPE_BARRIER 9 /**< barrier @version 0x0100 */
#define RDB_OBJECT_TYPE_OPT1 10 /**< optional user type 1 @version 0x0100 */
#define RDB_OBJECT_TYPE_OPT2 11 /**< optional user type 2 @version 0x0100 */
#define RDB_OBJECT_TYPE_OPT3 12 /**< optional user type 3 @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_MOTORBIKE 13 /**< player of type motorbike @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_BUS 14 /**< player of type bus @version 0x0100 */
#define RDB_OBJECT_TYPE_STREET_LAMP 15 /**< street lamp @version 0x0100 */
#define RDB_OBJECT_TYPE_TRAFFIC_SIGN 16 /**< traffic sign @version 0x0100 */
#define RDB_OBJECT_TYPE_HEADLIGHT 17 /**< headlights @version 0x0100 */
#define RDB_OBJECT_TYPE_PLAYER_TRAILER 18 /**< player of type trailer @version 0x0108 */
/** @} */
/** @addtogroup RDB_LANE_BORDER
* ------ lane border types ------
* @{
*/
#define RDB_LANE_BORDER_UNKNOWN 0 /**< unknown border type @version 0x0100 */
#define RDB_LANE_BORDER_NONE 1 /**< no border @version 0x0100 */
#define RDB_LANE_BORDER_POLE 2 /**< pole border @version 0x0100 */
#define RDB_LANE_BORDER_BARRIER 3 /**< barrier border @version 0x0100 */
#define RDB_LANE_BORDER_SOFT_SHOULDER 4 /**< soft shoulder border @version 0x0100 */
#define RDB_LANE_BORDER_HARD_SHOULDER 5 /**< hard shoulder border @version 0x0100 */
#define RDB_LANE_BORDER_CURB 6 /**< curb border */
/** @} */
/** @addtogroup RDB_ROADMARK_TYPE
* ------ road mark types ------
* @{
*/
#define RDB_ROADMARK_TYPE_NONE 0 /**< no roadmark defined @version 0x0100 */
#define RDB_ROADMARK_TYPE_SOLID 1 /**< solid marks @version 0x0100 */
#define RDB_ROADMARK_TYPE_BROKEN 2 /**< broken marks @version 0x0100 */
#define RDB_ROADMARK_TYPE_CURB 3 /**< curb @version 0x0100 */
#define RDB_ROADMARK_TYPE_GRASS 4 /**< grass @version 0x0100 */
#define RDB_ROADMARK_TYPE_BOTDOT 5 /**< Botts' dots @version 0x0100 */
#define RDB_ROADMARK_TYPE_OTHER 6 /**< something else @version 0x0100 */
/** @} */
/** @addtogroup RDB_ROADMARK_COLOR
* ------ road mark colors ------
* @{
*/
#define RDB_ROADMARK_COLOR_NONE 0 /**< no color defined @version 0x0100 */
#define RDB_ROADMARK_COLOR_WHITE 1 /**< white color @version 0x0100 */
#define RDB_ROADMARK_COLOR_RED 2 /**< red color @version 0x0100 */
#define RDB_ROADMARK_COLOR_YELLOW 3 /**< yellow color @version 0x0100 */
#define RDB_ROADMARK_COLOR_OTHER 4 /**< other color @version 0x0100 */
/** @} */
/** @addtogroup RDB_WHEEL_ID
* ------ wheel indices ------
* @{
*/
#define RDB_WHEEL_ID_FRONT_LEFT 0 /**< increase ID clockwise; next one is front right wheel (not on trikes) @version 0x0100 */
/** @} */
/** @addtogroup RDB_GEAR_BOX_TYPE
* ------ gear box types ------
* @{
*/
#define RDB_GEAR_BOX_TYPE_AUTOMATIC 0 /**< automatic gear shift @version 0x0100 */
#define RDB_GEAR_BOX_TYPE_MANUAL 1 /**< manual gear shift @version 0x0100 */
/** @} */
/** @addtogroup RDB_GEAR_BOX_POS
* ------ gear box positions ------
* @{
*/
#define RDB_GEAR_BOX_POS_AUTO 0 /**< gear set to automatic @version 0x0100 */
#define RDB_GEAR_BOX_POS_P 1 /**< park @version 0x0100 */
#define RDB_GEAR_BOX_POS_R 2 /**< reverse @version 0x0100 */
#define RDB_GEAR_BOX_POS_N 3 /**< neutral @version 0x0100 */
#define RDB_GEAR_BOX_POS_D 4 /**< drive @version 0x0100 */
#define RDB_GEAR_BOX_POS_1 5 /**< 1st gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_2 6 /**< 2nd gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_3 7 /**< 3rd gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_4 8 /**< 4th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_5 9 /**< 5th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_6 10 /**< 6th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_7 11 /**< 7th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_8 12 /**< 8th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_9 13 /**< 9th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_10 14 /**< 10th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_11 15 /**< 11th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_12 16 /**< 12th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_13 17 /**< 13th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_14 18 /**< 14th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_15 19 /**< 15th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_16 20 /**< 16th gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_R1 21 /**< 1st reverse gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_R2 22 /**< 2nd reverse gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_R3 23 /**< 3rd reverse gear @version 0x0100 */
#define RDB_GEAR_BOX_POS_M 24 /**< manual shift position (tiptronic) @version 0x010A */
#define RDB_GEAR_BOX_POS_M_UP 25 /**< manual shift up @version 0x010A */
#define RDB_GEAR_BOX_POS_M_DOWN 26 /**< manual shift down @version 0x010A */
/** @} */
/** @addtogroup RDB_DRIVETRAIN_TYPE
* ------ drivetrain types ------
* @{
*/
#define RDB_DRIVETRAIN_TYPE_FRONT 0 /**< front-wheel drive @version 0x0100 */
#define RDB_DRIVETRAIN_TYPE_REAR 1 /**< rear-wheel drive @version 0x0100 */
#define RDB_DRIVETRAIN_TYPE_AWD 2 /**< all-wheel drive @version 0x0100 */
/** @} */
/** @addtogroup RDB_PIX_FORMAT
* ------ image pixel formats ------
* @{
*/
#define RDB_PIX_FORMAT_RGB 0 /**< deprecated: use RDB_PIX_FORMAT_R3_G2_B2 @version 0x0100 */
#define RDB_PIX_FORMAT_RGB_16 1 /**< deprecated: use RDB_PIX_FORMAT_R5_G6_B5 @version 0x0100 */
#define RDB_PIX_FORMAT_RGB_24 2 /**< deprecated: use RDB_PIX_FORMAT_RGB8 @version 0x0100 */
#define RDB_PIX_FORMAT_RGBA 3 /**< deprecated: use RDB_PIX_FORMAT_R3_G2_B2_A8 @version 0x0100 */
#define RDB_PIX_FORMAT_RGBA_16 4 /**< deprecated: use RDB_PIX_FORMAT_R5_G6_B5_A16 @version 0x0100 */
#define RDB_PIX_FORMAT_RGBA_24 5 /**< deprecated: use RDB_PIX_FORMAT_RGB8_A24 @version 0x0100 */
#define RDB_PIX_FORMAT_BW_8 6 /**< deprecated: use RDB_PIX_FORMAT_RED8 @version 0x0100 */
#define RDB_PIX_FORMAT_BW_16 7 /**< deprecated: use RDB_PIX_FORMAT_RED16 @version 0x0100 */
#define RDB_PIX_FORMAT_BW_24 8 /**< deprecated: use RDB_PIX_FORMAT_RED24 @version 0x0100 */
#define RDB_PIX_FORMAT_DEPTH_8 9 /**< deprecated: use RDB_PIX_FORMAT_DEPTH8 @version 0x0100 */
#define RDB_PIX_FORMAT_DEPTH_16 10 /**< deprecated: use RDB_PIX_FORMAT_DEPTH16 @version 0x0100 */
#define RDB_PIX_FORMAT_DEPTH_24 11 /**< deprecated: use RDB_PIX_FORMAT_DEPTH24 @version 0x0100 */
#define RDB_PIX_FORMAT_RGB_32_F 12 /**< deprecated: use RDB_PIX_FORMAT_RGB32F @version 0x0100 */
#define RDB_PIX_FORMAT_RGBA_32_F 13 /**< deprecated: use RDB_PIX_FORMAT_RGBA32F @version 0x0100 */
#define RDB_PIX_FORMAT_LUM_32_F 14 /**< deprecated: use RDB_PIX_FORMAT_RED32F @version 0x0100 */
#define RDB_PIX_FORMAT_LUMA_32_F 15 /**< deprecated: use RDB_PIX_FORMAT_RG32F @version 0x0100 */
#define RDB_PIX_FORMAT_RGB_16_F 16 /**< deprecated: use RDB_PIX_FORMAT_RGB16F @version 0x0100 */
#define RDB_PIX_FORMAT_RGBA_16_F 17 /**< deprecated: use RDB_PIX_FORMAT_RGBA16F @version 0x0100 */
#define RDB_PIX_FORMAT_LUM_16_F 18 /**< deprecated: use RDB_PIX_FORMAT_RED16F @version 0x0100 */
#define RDB_PIX_FORMAT_LUMA_16_F 19 /**< deprecated: use RDB_PIX_FORMAT_RG16F @version 0x0100 */
#define RDB_PIX_FORMAT_DEPTH_32 20 /**< deprecated: use RDB_PIX_FORMAT_DEPTH32 @version 0x0101 */
#define RDB_PIX_FORMAT_BW_32 21 /**< deprecated: use RDB_PIX_FORMAT_RED32 @version 0x0106 */
#define RDB_PIX_FORMAT_RGB_32 22 /**< 32 bit RGB data @version 0x0106 */
#define RDB_PIX_FORMAT_RGBA_32 23 /**< 32 bit RGB data + 32 bit alpha @version 0x0106 */
#define RDB_PIX_FORMAT_R3_G2_B2 24 /**< 8 bit RGB data @version 0x010F */
#define RDB_PIX_FORMAT_R3_G2_B2_A8 25 /**< 8 bit RGB data + 8 bit alpha @version 0x010F */
#define RDB_PIX_FORMAT_R5_G6_B5 26 /**< 16 bit RGB data @version 0x010F */
#define RDB_PIX_FORMAT_R5_G6_B5_A16 27 /**< 16 bit RGB data + 16 bit alpha @version 0x010F */
#define RDB_PIX_FORMAT_RED8 28 /**< 8 bit RED data @version 0x010F */
#define RDB_PIX_FORMAT_RED16 29 /**< 16 bit RED data @version 0x010F */
#define RDB_PIX_FORMAT_RED16F 30 /**< 16 bit RED floating point data @version 0x010F */
#define RDB_PIX_FORMAT_RED24 31 /**< 24 bit RED data @version 0x010F */
#define RDB_PIX_FORMAT_RED32 32 /**< 32 bit RED data @version 0x010F */
#define RDB_PIX_FORMAT_RED32F 33 /**< 32 bit RED floating point data @version 0x010F */
#define RDB_PIX_FORMAT_RG8 34 /**< 16 bit RED+GREEN data @version 0x010F */
#define RDB_PIX_FORMAT_RG16 35 /**< 32 bit RED+GREEN data @version 0x010F */
#define RDB_PIX_FORMAT_RG16F 36 /**< 32 bit RED+GREEN floating point data @version 0x010F */
#define RDB_PIX_FORMAT_RG32 37 /**< 64 bit RED+GREEN floating point data @version 0x010F */
#define RDB_PIX_FORMAT_RG32F 38 /**< 64 bit RED+GREEN floating point data @version 0x010F */
#define RDB_PIX_FORMAT_RGB8 39 /**< 24 bit RGB data @version 0x010F */
#define RDB_PIX_FORMAT_RGBA8 40 /**< 24 bit RGB data + 8 bit alpha @version 0x010F */
#define RDB_PIX_FORMAT_RGB8_A24 41 /**< 24 bit RGB data + 24 bit alpha @version 0x010F */
#define RDB_PIX_FORMAT_RGB16 42 /**< 48 bit RGB data @version 0x010F */
#define RDB_PIX_FORMAT_RGB16F 43 /**< 48 bit RGB floating point data @version 0x010F */
#define RDB_PIX_FORMAT_RGBA16 44 /**< 64 bit RGBA data @version 0x010F */
#define RDB_PIX_FORMAT_RGBA16F 45 /**< 64 bit RGBA floating point data @version 0x010F */
#define RDB_PIX_FORMAT_RGB32 46 /**< 96 bit RGB data @version 0x010F */
#define RDB_PIX_FORMAT_RGB32F 47 /**< 96 bit RGB floating point data @version 0x010F */
#define RDB_PIX_FORMAT_RGBA32 48 /**< 128 bit RGBA data @version 0x010F */
#define RDB_PIX_FORMAT_RGBA32F 49 /**< 128 bit RGBA floating point data @version 0x010F */
#define RDB_PIX_FORMAT_DEPTH8 50 /**< 8 bit DEPTH data @version 0x010F */
#define RDB_PIX_FORMAT_DEPTH16 51 /**< 16 bit DEPTH data @version 0x010F */
#define RDB_PIX_FORMAT_DEPTH24 52 /**< 24 bit DEPTH data @version 0x010F */
#define RDB_PIX_FORMAT_DEPTH32 53 /**< 32 bit DEPTH data @version 0x010F */
/** @} */
/** @addtogroup RDB_PIX_FORMAT_CUSTOM
* ------ custom pixel formats (any ID above 150 up to 255) may be used ------
* @{
*/
#define RDB_PIX_FORMAT_CUSTOM_01 151 /**< custom image format 01 @version 0x0100 */
#define RDB_PIX_FORMAT_CUSTOM_02 152 /**< custom image format 02 @version 0x0100 */
#define RDB_PIX_FORMAT_CUSTOM_03 153 /**< custom image format 03 @version 0x0100 */
/** @} */
/** @addtogroup RDB_SENSOR_TYPE
* ------ sensor types ------
* @{
*/
#define RDB_SENSOR_TYPE_NONE 0 /**< unknown sensor type @version 0x0100 */
#define RDB_SENSOR_TYPE_RADAR 1 /**< radar sensor @version 0x0100 */
#define RDB_SENSOR_TYPE_VIDEO 2 /**< video sensor @version 0x0100 */
/** @} */
/** @addtogroup RDB_TRLIGHT_PHASE
* ------ traffic light phases ------
* @{
*/
#define RDB_TRLIGHT_PHASE_OFF 0 /**< traffic light is off @version 0x0100 */
#define RDB_TRLIGHT_PHASE_STOP 1 /**< traffic indicates STOP @version 0x0100 */
#define RDB_TRLIGHT_PHASE_STOP_ATTN 2 /**< traffic indicates STOP/ATTENTION @version 0x0100 */
#define RDB_TRLIGHT_PHASE_GO 3 /**< traffic indicates GO @version 0x0100 */
#define RDB_TRLIGHT_PHASE_GO_EXCL 4 /**< traffic indicates GO EXCLUSIVELY @version 0x0100 */
#define RDB_TRLIGHT_PHASE_ATTN 5 /**< traffic indicates ATTENTION @version 0x0100 */
#define RDB_TRLIGHT_PHASE_BLINK 6 /**< traffic indicates BLINK @version 0x0100 */
#define RDB_TRLIGHT_PHASE_UNKNOWN 7 /**< traffic indicates an unknown state @version 0x0100 */
/** @} */
/** @addtogroup RDB_COORD_TYPE
* ------ co-ordinate type identifiers ------
* @{
*/
#define RDB_COORD_TYPE_INERTIAL 0 /**< inertial co-ordinate system @version 0x0101 */
#define RDB_COORD_TYPE_RESERVED_1 1 /**< reserved for future use @version 0x0101 */
#define RDB_COORD_TYPE_PLAYER 2 /**< player co-ordinate system @version 0x0100 */
#define RDB_COORD_TYPE_SENSOR 3 /**< sensor-specific co-ordinate system @version 0x0100 */
#define RDB_COORD_TYPE_USK 4 /**< universal sensor co-ordinate system @version 0x0100 */
#define RDB_COORD_TYPE_USER 5 /**< relative to a user co-ordinate system @version 0x0100 */
#define RDB_COORD_TYPE_WINDOW 6 /**< window co-ordinates [pixel] @version 0x0100 */
#define RDB_COORD_TYPE_TEXTURE 7 /**< texture co-ordinates [normalized] @version 0x010C */
#define RDB_COORD_TYPE_RELATIVE_START 8 /**< co-ordinate relative to start pos. @version 0x0110 */
/** @} */
/** @addtogroup RDB_ENV_CLOUD_STATE
* ------ cloud states ------
* @{
*/
#define RDB_ENV_CLOUD_STATE_OFF 0 /**< sky is disabled @version 0x0100 */
#define RDB_ENV_CLOUD_STATE_0_8 1 /**< blue sky @version 0x0100 */
#define RDB_ENV_CLOUD_STATE_4_8 2 /**< cloudy sky @version 0x0100 */
#define RDB_ENV_CLOUD_STATE_6_8 3 /**< overcast sky @version 0x0100 */
#define RDB_ENV_CLOUD_STATE_8_8 4 /**< rainy sky @version 0x0100 */
/** @} */
/** @addtogroup RDB_FUNCTION_TYPE
* ------ function types ------
* @{
*/
#define RDB_FUNCTION_TYPE_NONE 0 /**< unknown @version 0x0100 */
#define RDB_FUNCTION_TYPE_TONE_MAPPING 1 /**< tone mapping function @version 0x0100 */
/** @} */
/** @addtogroup RDB_ROAD_TYPE
* ------ road types ------
* @{
*/
#define RDB_ROAD_TYPE_UNKNOWN 0 /**< unknown @version 0x010A */
#define RDB_ROAD_TYPE_RURAL 1 /**< rural road (100km/h in Germany) @version 0x010A */
#define RDB_ROAD_TYPE_MOTORWAY 2 /**< motorway (no limit in Germany) @version 0x010A */
#define RDB_ROAD_TYPE_TOWN 3 /**< town (50km/h in Germany) @version 0x010A */
#define RDB_ROAD_TYPE_LOW_SPEED 4 /**< low speed zone (30km/h in Germany) @version 0x010A */
#define RDB_ROAD_TYPE_PEDESTRIAN 5 /**< sidewalk (slow, worldwide) @version 0x010A */
/** @} */
/** @addtogroup RDB_DRIVER_SOURCE
* ------ sources of driver commands ------
* @{
*/
#define RDB_DRIVER_SOURCE_UNKNOWN 0 /**< unknown @version 0x010F */
#define RDB_DRIVER_SOURCE_GHOSTDRIVER 1 /**< ghostdriver @version 0x010F */
/** @} */
/** @addtogroup RDB_SHM_SIZE
* ------ shared memory sizes ------
* @{
*/
#define RDB_SHM_SIZE_TC 5242880 /**< total SHM size for TC I/O (5 MB) @version 0x010F */
/** @} */
/** @} --END GROUP ENUM_DEFINITIONS--*/
/** @addtogroup BITMASK_DEFINITIONS
* ------ Bitmask Definitions ------
* @{
*/
/** @addtogroup RDB_PKG_FLAG
* ------ basic package flags ------
* @{
*/
#define RDB_PKG_FLAG_NONE 0x0000 /**< no flags @version 0x0100 */
#define RDB_PKG_FLAG_EXTENDED 0x0001 /**< package contains extended information @version 0x0100 */
#define RDB_PKG_FLAG_HIDDEN 0x0002 /**< package contains hidden information (not for public) @version 0x010E */
/** @} */
/** @addtogroup RDB_OBJECT_VIS_FLAG
* ------ object visibility flags ------
* @{
*/
#define RDB_OBJECT_VIS_FLAG_ALL 0xffff /**< all visibility flags set @version 0x0100 */
#define RDB_OBJECT_VIS_FLAG_NONE 0x0000 /**< no visibility flags set @version 0x0100 */
#define RDB_OBJECT_VIS_FLAG_GFX 0x0001 /**< object is visible in graphics @version 0x0100 */
#define RDB_OBJECT_VIS_FLAG_TRAFFIC 0x0002 /**< object is visible for traffic @version 0x0100 */
#define RDB_OBJECT_VIS_FLAG_RECORDER 0x0004 /**< object is visible on data recorder @version 0x0110 */
/** @} */
/** @addtogroup RDB_VEHICLE_LIGHT
* ------ light states ------
* @{
*/
#define RDB_VEHICLE_LIGHT_OFF 0x00000000 /**< all lights OFF @version 0x0100 */
#define RDB_VEHICLE_LIGHT_PARK 0x00000001 /**< front and rear lights are ON @version 0x0100 */
#define RDB_VEHICLE_LIGHT_LOW_BEAM 0x00000002 /**< front and rear lights are ON @version 0x0100 */
#define RDB_VEHICLE_LIGHT_HIGH_BEAM 0x00000004 /**< front lights are ON @version 0x0100 */
#define RDB_VEHICLE_LIGHT_REAR_BRAKE 0x00000008 /**< only rear lights are ON @version 0x0100 */
#define RDB_VEHICLE_LIGHT_REAR_DRIVE 0x00000010 /**< only rear lights are ON @version 0x0100 */
#define RDB_VEHICLE_LIGHT_INDICATOR_L 0x00000020 /**< left indicator lights are ON @version 0x0100 */
#define RDB_VEHICLE_LIGHT_INDICATOR_R 0x00000040 /**< right indicator lights are ON @version 0x0100 */
#define RDB_VEHICLE_LIGHT_FLASH 0x00000080 /**< special light for police forces etc. @version 0x0100 */
#define RDB_VEHICLE_LIGHT_FRONT_FOG 0x00000100 /**< only front lights are ON @version 0x0100 */
#define RDB_VEHICLE_LIGHT_REAR_FOG 0x00000200 /**< only rear lights are ON @version 0x0100 */
#define RDB_VEHICLE_LIGHT_VIRES1 0x00000400 /**< used internally by VIRES @version 0x0100 */
#define RDB_VEHICLE_LIGHT_DRL 0x00000800 /**< daytime running light @version 0x0100 */
#define RDB_VEHICLE_LIGHT_DRL_LEFT_LOW 0x00001000 /**< dimmed state of left front DRLs @version 0x0100 */
#define RDB_VEHICLE_LIGHT_DRL_RIGHT_LOW 0x00002000 /**< dimmed state of right front DRLs @version 0x0100 */
#define RDB_VEHICLE_LIGHT_EMERGENCY 0x00004000 /**< emergency indicator lights @version 0x0100 */
/** @} */
/** @addtogroup RDB_VEHICLE_ACC_FLAG
* ------ acc states, 1 byte ------
* @{
*/
#define RDB_VEHICLE_ACC_FLAG_OFF 0x00 /**< ACC is OFF @version 0x010A */
#define RDB_VEHICLE_ACC_FLAG_DIST_1 0x01 /**< ACC distance setting 1 @version 0x010A */
#define RDB_VEHICLE_ACC_FLAG_DIST_2 0x02 /**< ACC distance setting 2 @version 0x010A */
#define RDB_VEHICLE_ACC_FLAG_DIST_3 0x03 /**< ACC distance setting 3 @version 0x010A */
#define RDB_VEHICLE_ACC_FLAG_TARGET 0x04 /**< show ACC target vehicle @version 0x010A */
#define RDB_VEHICLE_ACC_FLAG_SPEED 0x08 /**< show ACC speed @version 0x010A */
/** @} */
/** @addtogroup RDB_VEHICLE_DISPLAY_LIGHT
* ------ display lights, 2 bytes ------
* @{
*/
#define RDB_VEHICLE_DISPLAY_LIGHT_OFF 0x0000 /**< all lights OFF in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_01 0x0001 /**< light 01 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_02 0x0002 /**< light 02 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_03 0x0004 /**< light 03 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_04 0x0008 /**< light 04 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_05 0x0010 /**< light 05 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_06 0x0020 /**< light 06 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_07 0x0040 /**< light 07 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_08 0x0080 /**< light 08 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_09 0x0100 /**< light 09 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_10 0x0200 /**< light 10 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_11 0x0400 /**< light 11 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_12 0x0800 /**< light 12 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_13 0x1000 /**< light 13 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_14 0x2000 /**< light 14 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_15 0x4000 /**< light 15 ON in driver display @version 0x010A */
#define RDB_VEHICLE_DISPLAY_LIGHT_16 0x8000 /**< light 16 ON in driver display @version 0x010A */
/** @} */
/** @addtogroup RDB_LANE_EXISTS
* ------ lane existence masks ------
* @{
*/
#define RDB_LANE_EXISTS_OWN 0x01 /**< own lane exists @version 0x0100 */
#define RDB_LANE_EXISTS_LEFT 0x02 /**< left lane exists @version 0x0100 */
#define RDB_LANE_EXISTS_RIGHT 0x04 /**< right lane exists @version 0x0100 */
/** @} */
/** @addtogroup RDB_LANE_STATUS
* ------ lane status masks ------
* @{
*/
#define RDB_LANE_STATUS_NONE 0x0000 /**< nothing special @version 0x0100 */
#define RDB_LANE_STATUS_ROADWORKS 0x0001 /**< road works @version 0x0100 */
#define RDB_LANE_STATUS_EXIT 0x0002 /**< motorway exit @version 0x0100 */
#define RDB_LANE_STATUS_ENTRY 0x0004 /**< motorway entry @version 0x0100 */
#define RDB_LANE_STATUS_LINKED 0x0008 /**< linked lanes @version 0x0100 */
#define RDB_LANE_STATUS_WET 0x0010 /**< wet lane (from rain) @version 0x0100 */
#define RDB_LANE_STATUS_SNOW 0x0020 /**< snow-covered lane @version 0x0100 */
/** @} */
/** @addtogroup RDB_DRIVER_FLAG
* ------ dynamics input flags ------
* @{
*/
#define RDB_DRIVER_FLAG_NONE 0x00000000 /**< default @version 0x0100 */
#define RDB_DRIVER_FLAG_INDICATOR_L 0x00000001 /**< driver activated left indicator @version 0x0100 */
#define RDB_DRIVER_FLAG_INDICATOR_R 0x00000002 /**< driver activated right indicator @version 0x0100 */
#define RDB_DRIVER_FLAG_PARKING_BRAKE 0x00000004 /**< driver activated parking brake @version 0x0100 */
#define RDB_DRIVER_FLAG_LIGHT_LOW_BEAM 0x00000008 /**< driver activated low beam headlights @version 0x0105 */
#define RDB_DRIVER_FLAG_LIGHT_HIGH_BEAM 0x00000010 /**< driver activated high beam headlights @version 0x0105 */
#define RDB_DRIVER_FLAG_LIGHT_FOG_FRONT 0x00000020 /**< driver activated front fog light @version 0x0105 */
#define RDB_DRIVER_FLAG_LIGHT_FOG_REAR 0x00000040 /**< driver activated rear fog light @version 0x0105 */
#define RDB_DRIVER_FLAG_LIGHT_EMERGENCY 0x00000080 /**< driver activated emergency light (indic. L&R) @version 0x0105 */
#define RDB_DRIVER_FLAG_LIGHT_PRIORITY 0x00000100 /**< driver activated priority light (blue flashlight) @version 0x0105 */
/** @} */
/** @addtogroup RDB_MOCKUP_INPUT0
* ------ mockup input flags, part 1 ------
* @{
*/
// INPUT: MFL and SZL bits
#define RDB_MOCKUP_INPUT0_MFL_PLUS 0x00000001 /**< input no. 0 for MFL_PLUS @version 0x010B */
#define RDB_MOCKUP_INPUT0_MFL_MINUS 0x00000002 /**< input no. 0 for MFL_MINUS @version 0x010B */
#define RDB_MOCKUP_INPUT0_MFL_PHONE 0x00000004 /**< input no. 0 for MFL_PHONE @version 0x010B */
#define RDB_MOCKUP_INPUT0_MFL_VOICE 0x00000008 /**< input no. 0 for MFL_VOICE @version 0x010B */
#define RDB_MOCKUP_INPUT0_MFL_UP 0x00000010 /**< input no. 0 for MFL_UP @version 0x010B */
#define RDB_MOCKUP_INPUT0_MFL_DOWN 0x00000020 /**< input no. 0 for MFL_DOWN @version 0x010B */
#define RDB_MOCKUP_INPUT0_MFL_DIAMOND 0x00000040 /**< input no. 0 for MFL_DIAMOND @version 0x010B */
#define RDB_MOCKUP_INPUT0_MFL_STAR 0x00000080 /**< input no. 0 for MFL_STAR @version 0x010B */
#define RDB_MOCKUP_INPUT0_TURN_UP 0x00000100 /**< input no. 0 for TURN_UP @version 0x010B */
#define RDB_MOCKUP_INPUT0_TURN_UP_2 0x00000200 /**< input no. 0 for TURN_UP_2 @version 0x010B */
#define RDB_MOCKUP_INPUT0_TURN_DOWN 0x00000400 /**< input no. 0 for TURN_DOWN @version 0x010B */
#define RDB_MOCKUP_INPUT0_TURN_DOWN_2 0x00000800 /**< input no. 0 for TURN_DOWN_2 @version 0x010B */
#define RDB_MOCKUP_INPUT0_TURN_FLASHER 0x00001000 /**< input no. 0 for TURN_FLASHER @version 0x010B */
#define RDB_MOCKUP_INPUT0_TURN_HIGHBEAM 0x00002000 /**< input no. 0 for TURN_HIGHBEAM @version 0x010B */
#define RDB_MOCKUP_INPUT0_TURN_CHECK 0x00004000 /**< input no. 0 for TURN_CHECK @version 0x010B */
#define RDB_MOCKUP_INPUT0_TURN_BC 0x00008000 /**< input no. 0 for TURN_BC @version 0x010B */
#define RDB_MOCKUP_INPUT0_ACC_BACK 0x00010000 /**< input no. 0 for ACC_BACK @version 0x010B */
#define RDB_MOCKUP_INPUT0_ACC_BACK_2 0x00020000 /**< input no. 0 for ACC_BACK_2 @version 0x010B */
#define RDB_MOCKUP_INPUT0_ACC_FWD 0x00040000 /**< input no. 0 for ACC_FWD @version 0x010B */
#define RDB_MOCKUP_INPUT0_ACC_FWD_2 0x00080000 /**< input no. 0 for ACC_FWD_2 @version 0x010B */
#define RDB_MOCKUP_INPUT0_ACC_UP 0x00100000 /**< input no. 0 for ACC_UP @version 0x010B */
#define RDB_MOCKUP_INPUT0_ACC_DOWN 0x00200000 /**< input no. 0 for ACC_DOWN @version 0x010B */
#define RDB_MOCKUP_INPUT0_ACC_SET 0x00400000 /**< input no. 0 for ACC_SET @version 0x010B */
#define RDB_MOCKUP_INPUT0_HORN 0x00800000 /**< input no. 0 for HORN @version 0x010B */
#define RDB_MOCKUP_INPUT0_WIPER_INTERVAL 0x03000000 /**< input no. 0 for WIPER_INTERVAL @version 0x010B */
#define RDB_MOCKUP_INPUT0_WIPER_INTERVAL_1 0x01000000 /**< input no. 0 for WIPER_INTERVAL_1 @version 0x010B */
#define RDB_MOCKUP_INPUT0_WIPER_INTERVAL_2 0x02000000 /**< input no. 0 for WIPER_INTERVAL_2 @version 0x010B */
#define RDB_MOCKUP_INPUT0_WIPER_INTERVAL_3 0x03000000 /**< input no. 0 for WIPER_INTERVAL_3 @version 0x010B */
#define RDB_MOCKUP_INPUT0_WIPER_AUTO 0x04000000 /**< input no. 0 for WIPER_AUTO @version 0x010B */
#define RDB_MOCKUP_INPUT0_WIPER_BACK 0x08000000 /**< input no. 0 for WIPER_BACK @version 0x010B */
#define RDB_MOCKUP_INPUT0_WIPER_UP 0x10000000 /**< input no. 0 for WIPER_UP @version 0x010B */
#define RDB_MOCKUP_INPUT0_WIPER_UP_2 0x20000000 /**< input no. 0 for WIPER_UP_2 @version 0x010B */
#define RDB_MOCKUP_INPUT0_WIPER_DOWN 0x40000000 /**< input no. 0 for WIPER_DOWN @version 0x010B */
/** @} */
/** @addtogroup RDB_MOCKUP_INPUT1
* ------ mockup input flags, part 2 ------
* @{
*/
// INPUT: ZBE and GWS bits
#define RDB_MOCKUP_INPUT1_ZBE_COUNTER 0x0000FFFF /**< input no. 1 for ZBE_COUNTER @version 0x010B */
#define RDB_MOCKUP_INPUT1_ZBE_FWD 0x00010000 /**< input no. 1 for ZBE_FWD @version 0x010B */
#define RDB_MOCKUP_INPUT1_ZBE_BACK 0x00020000 /**< input no. 1 for ZBE_BACK @version 0x010B */
#define RDB_MOCKUP_INPUT1_ZBE_LEFT 0x00040000 /**< input no. 1 for ZBE_LEFT @version 0x010B */
#define RDB_MOCKUP_INPUT1_ZBE_RIGHT 0x00080000 /**< input no. 1 for ZBE_RIGHT @version 0x010B */
#define RDB_MOCKUP_INPUT1_ZBE_PRESS 0x00100000 /**< input no. 1 for ZBE_PRESS @version 0x010B */
#define RDB_MOCKUP_INPUT1_ZBE_MENU 0x00200000 /**< input no. 1 for ZBE_MENU @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_P 0x00400000 /**< input no. 1 for GWS_P @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_LOCK 0x00800000 /**< input no. 1 for GWS_LOCK @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_FWD 0x01000000 /**< input no. 1 for GWS_FWD @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_FWD_2 0x02000000 /**< input no. 1 for GWS_FWD_2 @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_BACK 0x04000000 /**< input no. 1 for GWS_BACK @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_BACK_2 0x08000000 /**< input no. 1 for GWS_BACK_2 @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_AUTO_N 0x10000000 /**< input no. 1 for GWS_AUTO_N @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_MAN_N 0x20000000 /**< input no. 1 for GWS_MAN_N @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_MAN_PLUS 0x40000000 /**< input no. 1 for GWS_MAN_PLUS @version 0x010B */
#define RDB_MOCKUP_INPUT1_GWS_MAN_MINUS 0x80000000 /**< input no. 1 for GWS_MAN_MINUS @version 0x010B */
/** @} */
/** @addtogroup RDB_MOCKUP_INPUT2
* ------ mockup input flags, part 3 ------
* @{
*/
#define RDB_MOCKUP_INPUT2_LSZ_POTI 0x000000FF /**< input no. 2 for LSZ_POTI @version 0x010B */
#define RDB_MOCKUP_INPUT2_LSZ_PARKING 0x00000100 /**< input no. 2 for LSZ_PARKING @version 0x010B */
#define RDB_MOCKUP_INPUT2_LSZ_DRIVING 0x00000200 /**< input no. 2 for LSZ_DRIVING @version 0x010B */
#define RDB_MOCKUP_INPUT2_LSZ_AUTO 0x00000300 /**< input no. 2 for LSZ_AUTO @version 0x010B */
#define RDB_MOCKUP_INPUT2_LSZ_FOG_FRONT 0x00000400 /**< input no. 2 for LSZ_FOG_FRONT @version 0x010B */
#define RDB_MOCKUP_INPUT2_LSZ_FOG_REAR 0x00000800 /**< input no. 2 for LSZ_FOG_REAR @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_DTC 0x00001000 /**< input no. 2 for DB_DTC @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_PDC 0x00002000 /**< input no. 2 for DB_PDC @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_SEAT_HEAT_L 0x00004000 /**< input no. 2 for DB_SEAT_HEAT_L @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_SEAT_HEAT_R 0x00008000 /**< input no. 2 for DB_SEAT_HEAT_R @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_STARTER 0x00010000 /**< input no. 2 for DB_STARTER @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_HAZARD_LIGHTS 0x00020000 /**< input no. 2 for DB_HAZARD_LIGHTS @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_LOCK 0x00040000 /**< input no. 2 for DB_LOCK @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_STEER_ADJUST_FWD 0x00100000 /**< input no. 2 for DB_STEER_ADJUST_FWD @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_STEER_ADJUST_BACK 0x00200000 /**< input no. 2 for DB_STEER_ADJUST_BACK @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_STEER_ADJUST_UP 0x00400000 /**< input no. 2 for DB_STEER_ADJUST_UP @version 0x010B */
#define RDB_MOCKUP_INPUT2_DB_STEER_ADJUST_DOWN 0x00800000 /**< input no. 2 for DB_STEER_ADJUST_DOWN @version 0x010B */
/** @} */
/** @addtogroup RDB_DRIVER_PERCEPTION_FLAG
* ------ driver persecption flags ------
* @{
*/
#define RDB_DRIVER_PERCEPTION_FLAG_NONE 0x00000000 /**< default @version 0x0100 */
#define RDB_DRIVER_PERCEPTION_FLAG_TURN_L 0x00000001 /**< turn left at next intersection @version 0x0100 */
#define RDB_DRIVER_PERCEPTION_FLAG_TURN_R 0x00000002 /**< turn right at next intersection @version 0x0100 */
/** @} */
/** @addtogroup RDB_DRIVER_INPUT_VALIDITY
* ------ dynamics input flags ------
* @{
*/
#define RDB_DRIVER_INPUT_VALIDITY_NONE 0x00000000 /**< default @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_STEERING_WHEEL 0x00000001 /**< steering wheel is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_STEERING_SPEED 0x00000002 /**< steering speed is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_THROTTLE 0x00000004 /**< throttle is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_BRAKE 0x00000008 /**< brake is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_CLUTCH 0x00000010 /**< clutch is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_TGT_ACCEL 0x00000020 /**< target acceleration is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_TGT_STEERING 0x00000040 /**< target steering is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_GEAR 0x00000080 /**< gear selection is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_CURVATURE 0x00000100 /**< curvature is valid for lateral control @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_STEERING_TORQUE 0x00000200 /**< torque at steering wheel is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_ENGINE_TORQUE 0x00000400 /**< target torque of engine is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_TGT_SPEED 0x00000800 /**< target speed is valid @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_INFO_ONLY 0x00001000 /**< consider the values for info only @version 0x0100 */
#define RDB_DRIVER_INPUT_VALIDITY_ADD_ON 0x00002000 /**< consider the values as an addOn for existing values @version 0x0104 */
#define RDB_DRIVER_INPUT_VALIDITY_FLAGS 0x00004000 /**< member "flags" of RDB_DRIVER_CTRL_t is valid @version 0x0107 */
#define RDB_DRIVER_INPUT_VALIDITY_MOCKUP_INPUT0 0x00008000 /**< member "mockupInput0" of RDB_DRIVER_CTRL_t is valid @version 0x010A */
#define RDB_DRIVER_INPUT_VALIDITY_MOCKUP_INPUT1 0x00010000 /**< member "mockupInput1" of RDB_DRIVER_CTRL_t is valid @version 0x010A */
#define RDB_DRIVER_INPUT_VALIDITY_MOCKUP_INPUT2 0x00020000 /**< member "mockupInput2" of RDB_DRIVER_CTRL_t is valid @version 0x010A */
/** @} */
/** @addtogroup RDB_SCORING_FLAG
* ------ arbitrary flags influencing the scoring ------
* @{
*/
#define RDB_SCORING_FLAG_NONE 0x00000000 /**< default @version 0x0100 */
#define RDB_SCORING_FLAG_COLLISION 0x00000001 /**< driver caused collision @version 0x0100 */
#define RDB_SCORING_FLAG_OFF_ROAD 0x00000002 /**< driver went off road @version 0x0100 */
/** @} */
/** @addtogroup RDB_COORD_FLAG
* ------ co-ordinate flags ------
* @{
*/
#define RDB_COORD_FLAG_NONE 0x00 /**< co-ordinate has no flags (state unknown or invalid) @version 0x0100 */
#define RDB_COORD_FLAG_POINT_VALID 0x01 /**< point co-ordinate is valid @version 0x0100 */
#define RDB_COORD_FLAG_ANGLES_VALID 0x02 /**< angles are valid @version 0x0100 */
/** @} */
/** @addtogroup RDB_LIGHT_SOURCE_FLAG
* ------ light source flags ------
* @{
*/
#define RDB_LIGHT_SOURCE_FLAG_NONE 0x0000 /**< light source has no flags (state unknown) @version 0x0100 */
#define RDB_LIGHT_SOURCE_FLAG_USE_FRUSTUM 0x0001 /**< use frustum information of light source @version 0x0100 */
#define RDB_LIGHT_SOURCE_FLAG_PERSISTENT 0x0002 /**< keep the light source even after initialization @version 0x0100 */
#define RDB_LIGHT_SOURCE_FLAG_STENCIL 0x0004 /**< use this definition for the stencil mask of a light source @version 0x010C */
/** @} */
/** @addtogroup RDB_SENSOR_OBJECT_FLAG
* ------ sensor object flags ------
* @{
*/
#define RDB_SENSOR_OBJECT_FLAG_NONE 0x0000 /**< object has no flags @version 0x0100 */
#define RDB_SENSOR_OBJECT_FLAG_CRITICALITY_LOW 0x0001 /**< criticality of object is low @version 0x0100 */
#define RDB_SENSOR_OBJECT_FLAG_CRITICALITY_MEDIUM 0x0002 /**< criticality of object is medium @version 0x0100 */
#define RDB_SENSOR_OBJECT_FLAG_CRITICALITY_HIGH 0x0003 /**< criticality of object is high @version 0x0100 */
/** @} */
/** @addtogroup RDB_ROAD_EVENT
* ------ road events ------
* @{
*/
#define RDB_ROAD_EVENT_NONE 0x00000000 /**< no event is triggered @version 0x0100 */
#define RDB_ROAD_EVENT_POTHOLE 0x00000001 /**< contact point is in a pothole @version 0x0100 */
/** @} */
/** @addtogroup RDB_ENV_FLAG
* ------ road events ------
* @{
*/
#define RDB_ENV_FLAG_NONE 0x0000 /**< no environment flag is set @version 0x0100 */
#define RDB_ENV_FLAG_PRECIPITATION_SNOW 0x0001 /**< precipitation is snow, not rain @version 0x0100 */
#define RDB_ENV_FLAG_PRECIPITATION_HAIL 0x0002 /**< precipitation is hail, not rain @version 0x0100 */
#define RDB_ENV_FLAG_ROAD_SURFACE_WET 0x0004 /**< wet road surface @version 0x0100 */
#define RDB_ENV_FLAG_STREET_LAMPS 0x0008 /**< street lamps are ON @version 0x0102 */
/** @} */
/** @addtogroup RDB_SHM_ID
* ------ shared memory identifiers ------
* @{
*/
#define RDB_SHM_ID_IMG_GENERATOR_OUT 0x0816a /**< shared memory key of image generator @version 0x0100 */
#define RDB_SHM_ID_IMG_GENERATOR_IN 0x0817a /**< shared memory key for light maps @version 0x0100 */
#define RDB_SHM_ID_CONTROL_GENERATOR_IN 0x0817b /**< shared memory key commands @version 0x010E */
#define RDB_SHM_ID_CUSTOM_01 0x0818a /**< shared memory key of custom data block @version 0x0100 */
#define RDB_SHM_ID_TC_IN 0x08200 /**< shared memory key of taskControl input @version 0x010F */
#define RDB_SHM_ID_TC_OUT 0x08201 /**< shared memory key of taskControl output @version 0x010F */
/** @} */
/** @addtogroup RDB_SHM_BUFFER_FLAG
* ------ shared memory identifiers ------
* @{
*/
#define RDB_SHM_BUFFER_FLAG_NONE 0x00000000 /**< no bits set, buffer may be overwritten @version 0x0100 */
#define RDB_SHM_BUFFER_FLAG_LOCK 0x00000001 /**< buffer is locked by producer @version 0x0100 */
#define RDB_SHM_BUFFER_FLAG_TC 0x00000002 /**< buffer is to be processed by TC @version 0x0100 */
#define RDB_SHM_BUFFER_FLAG_IG 0x00000004 /**< buffer is to be processed by IG @version 0x0100 */
/** @} */
/** @addtogroup RDB_OBJECT_CFG_FLAG
* ------ object configuration flags ------
* @{
*/
#define RDB_OBJECT_CFG_FLAG_NONE 0x0000 /**< no configuration flag set @version 0x0100 */
#define RDB_OBJECT_CFG_FLAG_CTRL_EXTERN 0x0001 /**< object is controlled externally @version 0x0100 */
/** @} */
/** @addtogroup RDB_ROAD_POS_FLAG
* ------ road position flags ------
* @{
*/
#define RDB_ROAD_POS_FLAG_NONE 0x00 /**< no flag set @version 0x0100 */
#define RDB_ROAD_POS_FLAG_DIR_FWD 0x01 /**< player orientation is in forward road direction @version 0x0100 */
#define RDB_ROAD_POS_FLAG_DIR_REAR 0x02 /**< player orientation is in rearward road direction @version 0x0100 */
/** @} */
/** @addtogroup RDB_CONTACT_POINT_FLAG
* ------ contact point flags ------
* @{
*/
#define RDB_CONTACT_POINT_FLAG_NONE 0x0000 /**< contact point has no flags (state unknown) @version 0x0102 */
#define RDB_CONTACT_POINT_FLAG_PLAYER_VALID 0x0001 /**< player ID within CP structure is valid @version 0x0102 */
/** @} */
/** @addtogroup RDB_SYNC_CMD
* ------ commands distributed with sync messages ------
* @{
*/
#define RDB_SYNC_CMD_RENDER_CONTINUOUS 0x00000080 /**< target will render as usual @version 0x010E */
#define RDB_SYNC_CMD_RENDER_PAUSE 0x00000100 /**< target will pause rendering completely @version 0x010E */
#define RDB_SYNC_CMD_RENDER_SINGLE_FRAME 0x00000200 /**< target will render a single frame and pause then @version 0x010E */
/** @} */
/** @addtogroup RDB_TRAJECTORY_FLAG
* ------ commands distributed with sync messages ------
* @{
*/
#define RDB_TRAJECTORY_FLAG_NONE 0x0000 /**< no special settings @version 0x0110 */
#define RDB_TRAJECTORY_FLAG_TIME_DOMAIN 0x0001 /**< trajectory is in time domain @version 0x0110 */
/** @} */
/** @} --END GROUP BITMASK_DEFINITIONS-- */
/** ------ generic point structure --- */
typedef struct
{
double x; /**< x position @unit m @version 0x0100 */
double y; /**< y position @unit m @version 0x0100 */
double z; /**< z position @unit m @version 0x0100 */
uint8_t flags; /**< co-ordinate flags @unit @link RDB_COORD_FLAG @endlink @version 0x0100 */
uint8_t type; /**< co-ordinate system type identifier @unit @link RDB_COORD_TYPE @endlink @version 0x0100 */
uint16_t system; /**< unique ID of the corresponding (user) co-ordinate system @unit _ @version 0x0100 */
} RDB_POINT_t;
/** ------ generic co-ordinate structure --- */
typedef struct
{
double x; /**< x position @unit m @version 0x0100 */
double y; /**< y position @unit m @version 0x0100 */
double z; /**< z position @unit m @version 0x0100 */
float h; /**< heading angle @unit rad @version 0x0100 */
float p; /**< pitch angle @unit rad @version 0x0100 */
float r; /**< roll angle @unit rad @version 0x0100 */
uint8_t flags; /**< co-ordinate flags @unit @link RDB_COORD_FLAG @endlink @version 0x0100 */
uint8_t type; /**< co-ordinate system type identifier @unit @link RDB_COORD_TYPE @endlink @version 0x0100 */
uint16_t system; /**< unique ID of the corresponding (user) co-ordinate system @unit _ @version 0x0100 */
} RDB_COORD_t;
/** ------ definition / position of a user co-ordinate system --- */
typedef struct
{
uint16_t id; /**< unique ID of the co-ordinate system @unit _ @version 0x0100 */
uint16_t spare; /**< spare for future use @unit _ @version 0x0100 */
RDB_COORD_t pos; /**< origin and orientation of x axis of the co-ordinate system @unit m,m,m,rad,rad,rad @version 0x0100 */
} RDB_COORD_SYSTEM_t;
/** ------ road position and associated properties ------ */
typedef struct
{
uint32_t playerId; /**< id of the player to which road position belongs @unit _ @version 0x0100 */
uint16_t roadId; /**< unique road ID @unit _ @version 0x0100 */
int8_t laneId; /**< lane ID @unit _ @version 0x0100 */
uint8_t flags; /**< road position flags, further info @unit @link RDB_ROAD_POS_FLAG @endlink @version 0x0100 */
float roadS; /**< s-coordinate along road's reference line @unit m @version 0x0100 */
float roadT; /**< t-coordinate perpendicular to road's reference line @unit m @version 0x0100 */
float laneOffset; /**< offset from lane center in road co-ordinates @unit m @version 0x0100 */
float hdgRel; /**< heading angle relative to lane tangent dir @unit rad @version 0x0100 */
float pitchRel; /**< pitch angle relative to road tangent plane @unit rad @version 0x0100 */
float rollRel; /**< roll angle relative to road tangent plane @unit rad @version 0x0100 */
uint8_t roadType; /**< type of the road, corresponding to OpenDRIVE @unit @link RDB_ROAD_TYPE @endlink @version 0x010A */
uint8_t spare1; /**< for future use @unit _ @version 0x010A */
uint16_t spare2; /**< for future use @unit _ @version 0x010A */
float pathS; /**< longitudinal path co-ordinate @unit _ @version 0x010E */
} RDB_ROAD_POS_t;
/** ------ road mark information ------
* @note this package is immediately followed by "noDataPoints" entries of type RDB_POINT_t
*/
typedef struct
{
uint32_t playerId; /**< id of the player to which roadmark belongs @unit _ @version 0x0100 */
int8_t id; /**< id of this road mark @unit [0..127] @version 0x010D */
int8_t prevId; /**< id of predecessor @unit [-1, 0..127] @version 0x010D */
int8_t nextId; /**< id of successor @unit [-1, 0..127] @version 0x010D */
uint8_t spare0; /**< for future use @unit _ @version 0x0100 */
float lateralDist; /**< lateral distance to vehicle ref. point and dir @unit m @version 0x0100 */
float yawRel; /**< yaw angle relative to vehicle dir @unit rad @version 0x0100 */
double curvHor; /**< horizontal curvature @unit 1/m @version 0x0100 */
double curvHorDot; /**< change of horizontal curvature @unit 1/m2 @version 0x0100 */
float startDx; /**< start of road mark in driving dir @unit m @version 0x0100 */
float previewDx; /**< distance of last valid measurement @unit m @version 0x0100 */
float width; /**< width of road mark @unit m @version 0x0100 */
float height; /**< height of road mark @unit m @version 0x0100 */
double curvVert; /**< vertical curvature @unit 1/m @version 0x0100 */
double curvVertDot; /**< change of vertical curvature @unit 1/m2 @version 0x0100 */
uint8_t type; /**< type of road mark @unit @link RDB_ROADMARK_TYPE @endlink @version 0x0100 */
uint8_t color; /**< color of road mark @unit @link RDB_ROADMARK_COLOR @endlink @version 0x0100 */
uint16_t noDataPoints; /**< number of tesselation points following this package @unit _ @version 0x0100 */
uint32_t spare1[2]; /**< for future use @unit _ @version 0x0100 */
} RDB_ROADMARK_t;
/** ------ lane information ------ */
typedef struct
{
uint16_t roadId; /**< unique road ID @unit _ @version 0x0100 */
int8_t id; /**< lane ID according to OpenDRIVE @unit [-127..127] @version 0x0100 */
uint8_t neighborMask; /**< existence mask for adjacent lanes @unit @link RDB_LANE_EXISTS @endlink @version 0x0100 */
int8_t leftLaneId; /**< ID of lane left of current lane @unit [-127..127] @version 0x0100 */
int8_t rightLaneId; /**< ID of lane right of current lane @unit [-127..127] @version 0x0100 */
uint8_t borderType; /**< type of lane border @unit @link RDB_LANE_BORDER @endlink @version 0x0100 */
uint8_t material; /**< type of lane material @unit [0..255] @version 0x0100 */
uint16_t status; /**< status mask of lane @unit @link RDB_LANE_STATUS @endlink @version 0x0100 */
uint16_t type; /**< lane type according to OpenDRIVE @unit _ @version 0x010D */
float width; /**< lane width @unit m @version 0x0100 */
double curvVert; /**< vertical curvature in lane center @unit 1/m @version 0x0100 */
double curvVertDot; /**< change of vertical curvature in lane center @unit 1/m2 @version 0x0100 */
double curvHor; /**< horizontal curvature in lane center @unit 1/m @version 0x0100 */
double curvHorDot; /**< change of horizontal curvature in lane center @unit 1/m2 @version 0x0100 */
uint32_t playerId; /**< id of the player to which this info belongs @unit _ @version 0x0100 */
uint32_t spare1; /**< for future use @unit _ @version 0x0100 */
} RDB_LANE_INFO_t;
/** ------ configuration of an object (sent at start of sim and when triggered via SCP) ------ */
typedef struct
{
uint32_t id; /**< unique object ID @unit _ @version 0x0100 */
uint8_t category; /**< object category @unit @link RDB_OBJECT_CATEGORY @endlink @version 0x0100 */
uint8_t type; /**< object type @unit @link RDB_OBJECT_TYPE @endlink @version 0x0100 */
int16_t modelId; /**< visual model ID @unit _ @version 0x0100 */
char name[RDB_SIZE_OBJECT_NAME]; /**< symbolic name @unit _ @version 0x0100 */
char modelName[RDB_SIZE_OBJECT_NAME]; /**< model name associated to an object @unit _ @version 0x0100 */
char fileName[RDB_SIZE_FILENAME]; /**< filename associated to an object @unit _ @version 0x0100 */
uint16_t flags; /**< object configuration flags @unit @link RDB_OBJECT_CFG_FLAG @endlink @version 0x0100 */
uint16_t spare0; /**< reserved for future use @unit _ @version 0x0100 */
uint32_t spare1; /**< reserved for future use @unit _ @version 0x0100 */
} RDB_OBJECT_CFG_t;
/** ------ geometry information for an object --- */
typedef struct
{
float dimX; /**< x dimension in object co-ordinates (length) @unit m @version 0x0100 */
float dimY; /**< y dimension in object co-ordinates (width) @unit m @version 0x0100 */
float dimZ; /**< z dimension in object co-ordinates (height) @unit m @version 0x0100 */
float offX; /**< x distance from ref. point to center of geometry, object co-ordinate system @unit m @version 0x0100 */
float offY; /**< y distance from ref. point to center of geometry, object co-ordinate system @unit m @version 0x0100 */
float offZ; /**< z distance from ref. point to center of geometry, object co-ordinate system @unit m @version 0x0100 */
} RDB_GEOMETRY_t;
/** ------ state of an object (may be extended by the next structure) ------- */
typedef struct
{
uint32_t id; /**< unique object ID @unit _ @version 0x0100 */
uint8_t category; /**< object category @unit @link RDB_OBJECT_CATEGORY @endlink @version 0x0100 */
uint8_t type; /**< object type @unit @link RDB_OBJECT_TYPE @endlink @version 0x0100 */
uint16_t visMask; /**< visibility mask @unit @link RDB_OBJECT_VIS_FLAG @endlink @version 0x0100 */
char name[RDB_SIZE_OBJECT_NAME]; /**< symbolic name @unit _ @version 0x0100 */
RDB_GEOMETRY_t geo; /**< info about object's geometry @unit m,m,m,m,m,m @version 0x0100 */
RDB_COORD_t pos; /**< position and orientation of object's reference point @unit m,m,m,rad,rad,rad @version 0x0100 */
uint32_t parent; /**< unique ID of parent object @unit _ @version 0x0100 */
uint32_t spare1; /**< reserved for future use @unit _ @version 0x0100 */
} RDB_OBJECT_STATE_BASE_t;
/** ------ extended object data (e.g. for dynamic objects) ------- */
typedef struct
{
RDB_COORD_t speed; /**< speed and rates @unit m/s,m/s,m/s,rad/s,rad/s,rad/s @version 0x0100 */
RDB_COORD_t accel; /**< acceleration @unit m/s2,m/s2,m/s2,rad/s2,rad/s2/rad/s2 @version 0x0100 */
uint32_t spare[4]; /**< reserved for future use @unit _ @version 0x0100 */
} RDB_OBJECT_STATE_EXT_t;
/** ------ complete object data (basic and extended info) ------- */
typedef struct
{
RDB_OBJECT_STATE_BASE_t base; /**< state of an object @unit RDB_OBJECT_STATE_BASE_t @version 0x0100 */
RDB_OBJECT_STATE_EXT_t ext; /**< extended object data @unit RDB_OBJECT_STATE_EXT_t @version 0x0100 */
} RDB_OBJECT_STATE_t;
/** ------ standard engine information ------ */
typedef struct
{
uint32_t playerId; /**< unique ID of the player @unit _ @version 0x0100 */
float rps; /**< current rotation speed @unit 1/s @version 0x0100 */
float load; /**< engine load (throttle position) @unit [0.0..1.0] @version 0x0100 */
uint32_t spare1[2]; /**< reserved for future use @unit _ @version 0x0100 */
} RDB_ENGINE_BASE_t;
/** ------ extension of standard engine information ------ */
typedef struct
{
float rpsStart; /**< start speed @unit 1/s @version 0x0100 */
float torque; /**< torque @unit Nm @version 0x0100 */
float torqueInner; /**< inner torque @unit Nm @version 0x0100 */
float torqueMax; /**< maximum torque @unit Nm @version 0x0100 */
float torqueFriction; /**< friction torque @unit Nm @version 0x0100 */
float fuelCurrent; /**< current fuel consumption @unit l/100km @version 0x0100 */
float fuelAverage; /**< average fuel consumption @unit l/100km @version 0x0100 */
uint32_t spare[2]; /**< reserved for future use @unit _ @version 0x0100 */
} RDB_ENGINE_EXT_t;
/** ------ complete engine data (basic and extended info) ------- */
typedef struct
{
RDB_ENGINE_BASE_t base; /**< standard engine information @unit RDB_ENGINE_BASE_t @version 0x0100 */
RDB_ENGINE_EXT_t ext; /**< extension of standard engine information @unit RDB_ENGINE_EXT_t @version 0x0100 */
} RDB_ENGINE_t;
/** ------ standard drivetrain information ------ */
typedef struct
{
uint32_t playerId; /**< unique ID of the player @unit _ @version 0x0100 */
uint8_t gearBoxType; /**< type of gear box @unit @link RDB_GEAR_BOX_TYPE @endlink @version 0x0100 */
uint8_t driveTrainType; /**< type of drivetrain @unit @link RDB_DRIVETRAIN_TYPE @endlink @version 0x0100 */
uint8_t gear; /**< current gear position @unit @link RDB_GEAR_BOX_POS @endlink @version 0x0100 */
uint8_t spare0; /**< reserved for future use @unit _ @version 0x0100 */
uint32_t spare1[2]; /**< reserved for future use @unit _ @version 0x0100 */
} RDB_DRIVETRAIN_BASE_t;
/** ------ extension of standard drivetrain information ------ */
typedef struct
{
float torqueGearBoxIn; /**< torque at entry of gearbox @unit Nm @version 0x0100 */
float torqueCenterDiffOut; /**< torque at exit of center differential @unit Nm @version 0x0100 */
float torqueShaft; /**< torque at shaft @unit Nm @version 0x0100 */
uint32_t spare1[2]; /**< reserved for future use @unit _ @version 0x0100 */
} RDB_DRIVETRAIN_EXT_t;
/** ------ complete engine data (basic and extended info) ------- */
typedef struct
{
RDB_DRIVETRAIN_BASE_t base; /**< standard drivetrain information @unit RDB_DRIVETRAIN_BASE_t @version 0x0100 */
RDB_DRIVETRAIN_EXT_t ext; /**< extension of standard drivetrain information @unit RDB_DRIVETRAIN_EXT_t @version 0x0100 */
} RDB_DRIVETRAIN_t;
/** ------ standard wheel information ------ */
typedef struct
{
uint32_t playerId; /**< ID of the player to which the wheel belongs @unit _ @version 0x0100 */
uint8_t id; /**< ID of the wheel within the player @unit @link RDB_WHEEL_ID @endlink @version 0x0100 */
uint8_t spare0[3]; /**< reserved for future use @unit _ @version 0x0100 */
float radiusStatic; /**< static tire radius @unit m @version 0x0100 */
float springCompression; /**< compression of spring @unit m @version 0x0100 */
float rotAngle; /**< angle of rotation @unit rad @version 0x0100 */
float slip; /**< slip factor [0.0..1.0] @unit _ @version 0x0100 */
float steeringAngle; /**< steering angle @unit rad @version 0x0100 */
uint32_t spare1[4]; /**< reserved for future use @unit _ @version 0x0100 */
} RDB_WHEEL_BASE_t;
/** ------ extension of standard wheel information ------ */
typedef struct
{
float vAngular; /**< angular velocity @unit rad/s @version 0x0100 */
float forceZ; /**< wheel contact force @unit N @version 0x0100 */
float forceLat; /**< lateral force @unit N @version 0x0100 */
float forceLong; /**< longitudinal force @unit N @version 0x0100 */
float forceTireWheelXYZ[3]; /**< force of tire on wheel @unit N @version 0x0100 */
float radiusDynamic; /**< dynamic tire radius @unit m @version 0x0100 */
float brakePressure; /**< brake pressure at wheel @unit Pa @version 0x0100 */
float torqueDriveShaft; /**< torque at drive shaft @unit Nm @version 0x0100 */
float damperSpeed; /**< speed of damper @unit m/s @version 0x0100 */
uint32_t spare2[4]; /**< reserved for future use @unit _ @version 0x0100 */
} RDB_WHEEL_EXT_t;
/** ------ complete wheel data (basic and extended info) ------- */
typedef struct
{
RDB_WHEEL_BASE_t base; /**< standard wheel information @unit RDB_WHEEL_BASE_t @version 0x0100 */
RDB_WHEEL_EXT_t ext; /**< extension of standard wheel information @unit RDB_WHEEL_EXT_t @version 0x0100 */
} RDB_WHEEL_t;
/** ------ vehicle system information ------ */
typedef struct
{
uint32_t playerId; /**< ID of the player to which the data belongs @unit _ @version 0x0100 */
uint32_t lightMask; /**< mask of active light systems @unit @link RDB_VEHICLE_LIGHT @endlink @version 0x0100 */
float steering; /**< front wheel steering angle (NOT: steering wheel angle) @unit rad @version 0x0100 */
float steeringWheelTorque; /**< torque at the steering wheel @unit Nm @version 0x0100 */
uint8_t accMask; /**< acc state mask @unit @link RDB_VEHICLE_ACC_FLAG @endlink @version 0x010A */
uint8_t accSpeed; /**< acc speed indication @unit km/h [0..255] @version 0x010A */
uint8_t batteryState; /**< battery charge state @unit [0..255] @version 0x010A */
int8_t batteryRate; /**< battery discharge / charge rate @unit [-127..127] @version 0x010A */
uint16_t displayLightMask; /**< lightmask for driver display (16 lights) @unit @link RDB_VEHICLE_DISPLAY_LIGHT @endlink @version 0x010A */
uint16_t spare0; /**< spare for future use @unit _ @version 0x010A */
uint32_t spare[5]; /**< spares for future use @unit _ @version 0x0100 */
} RDB_VEHICLE_SYSTEMS_t;
/** ------ vehicle setup information ------ */
typedef struct
{
uint32_t playerId; /**< ID of the player to which the data belongs @unit _ @version 0x0100 */
float mass; /**< vehicle mass @unit kg @version 0x0100 */
float wheelBase; /**< wheel base @unit m @version 0x0100 */
int32_t spare[4]; /**< for future use @unit _ @version 0x0100 */
} RDB_VEHICLE_SETUP_t;
/** ------ image information ------
* @note to be followed by actual image data
*/
typedef struct
{
uint32_t id; /**< unique ID of the image (e.g. frame count) @unit _ @version 0x0100 */
uint16_t width; /**< width of the image @unit pixel @version 0x0100 */
uint16_t height; /**< height of the image @unit pixel @version 0x0100 */
uint8_t pixelSize; /**< memory size of a pixel @unit bit @version 0x0100 */
uint8_t pixelFormat; /**< format of a pixel @unit @link RDB_PIX_FORMAT @endlink @version 0x0100 */
uint16_t spare0; /**< for future use @unit _ @version 0x0100 */
uint32_t imgSize; /**< total size of image @unit byte @version 0x0100 */
uint8_t color[4]; /**< color for additional colorizing, if required @unit _ @version 0x0100 */
uint32_t spare1[3]; /**< for future use @unit _ @version 0x0100 */
} RDB_IMAGE_t;
/** ------ arbitrary x/y function ------
* @note to be followed by actual function points (each 2 or 3 doubles)
*/
typedef struct
{
uint32_t id; /**< unique ID of the function @unit _ @version 0x0100 */
uint8_t type; /**< type of the function @unit @link RDB_FUNCTION_TYPE @endlink @version 0x0100 */
uint8_t dimension; /**< dimension of the function (xy=2, xyz=3) @unit _ @version 0x0100 */
uint16_t spare; /**< for future use @unit _ @version 0x0100 */
uint32_t dataSize; /**< total size of following data @unit byte @version 0x0100 */
uint32_t spare1[4]; /**< for future use @unit _ @version 0x0100 */
} RDB_FUNCTION_t;
/** ------ sensor definition and state ------ */
typedef struct
{
uint32_t id; /**< id of the sensor @unit _ @version 0x0100 */
uint8_t type; /**< type of the sensor @unit @link RDB_SENSOR_TYPE @endlink @version 0x0100 */
uint8_t hostCategory; /**< category of the object hosting the sensor @unit @link RDB_OBJECT_CATEGORY @endlink @version 0x0100 */
uint16_t spare0; /**< for future use @unit _ @version 0x0100 */
uint32_t hostId; /**< unique id of the sensor's host @unit _ @version 0x0100 */
char name[RDB_SIZE_OBJECT_NAME]; /**< name of the sensor @unit _ @version 0x0100 */
float fovHV[2]; /**< field-of-view (horizontal/vertical) @unit rad,rad @version 0x0100 */
float clipNF[2]; /**< clipping ranges (near/far) @unit m,m @version 0x0100 */
RDB_COORD_t pos; /**< position and orientation of sensor's reference point @unit m,m,m,rad,rad,rad @version 0x0100 */
RDB_COORD_t originCoordSys; /**< position and orientation of sensor's coord origin @unit m,m,m,rad,rad,rad @version 0x0100 */
int32_t spare[4]; /**< for future use @unit _ @version 0x0100 */
} RDB_SENSOR_STATE_t;
/** ------ information about an object registered within a sensor ------ */
typedef struct
{
uint8_t category; /**< object category @unit @link RDB_OBJECT_CATEGORY @endlink @version 0x0100 */
uint8_t type; /**< object type @unit @link RDB_OBJECT_TYPE @endlink @version 0x0100 */
uint16_t flags; /**< sensor object flags @unit @link RDB_SENSOR_OBJECT_FLAG @endlink @version 0x0100 */
uint32_t id; /**< id of the object @unit _ @version 0x0100 */
uint32_t sensorId; /**< id of the detecting sensor @unit _ @version 0x0100 */
double dist; /**< distance between object and referring device @unit m @version 0x0100 */
RDB_COORD_t sensorPos; /**< position and orientation of object in sensor coord @unit m,m,m,rad,rad,rad @version 0x0100 */
int8_t occlusion; /**< degree of occlusion for viewer (-1 = not valid, 0..127 = 0..100% occlusion) @unit [-1, 0..127] @version 0x0100 */
uint8_t spare0[3]; /**< for future use @unit _ @version 0x0100 */
uint32_t spare[3]; /**< for future use @unit _ @version 0x0100 */
} RDB_SENSOR_OBJECT_t;
/** ------ camera information ------ */
typedef struct
{
uint16_t id; /**< unique ID of the camera @unit _ @version 0x0100 */
uint16_t width; /**< width of viewport @unit pixel @version 0x0100 */
uint16_t height; /**< height of viewport @unit pixel @version 0x0100 */
uint16_t spare0; /**< for future use @unit _ @version 0x0100 */
float clipNear; /**< near clipping plane @unit m @version 0x0100 */
float clipFar; /**< far clipping plane @unit m @version 0x0100 */
float focalX; /**< focal length in x direction @unit pixel @version 0x0100 */
float focalY; /**< focal length in y direction @unit pixel @version 0x0100 */
float principalX; /**< position of principal point in x direction @unit pixel @version 0x0100 */
float principalY; /**< position of principal point in y direction @unit pixel @version 0x0100 */
RDB_COORD_t pos; /**< position and orientation @unit m,m,m,rad,rad,rad @version 0x0100 */
uint32_t spare1[4]; /**< for future use @unit _ @version 0x0100 */
} RDB_CAMERA_t;
/** ------ basic info about a light illuminating the scene ------ */
typedef struct
{
uint16_t id; /**< unique ID of the light source @unit _ @version 0x0100 */
int8_t templateId; /**< template definition of light source (-1 deletes light source) @unit _ @version 0x0100 */
uint8_t state; /**< state of light source @unit _ @version 0x0100 */
int32_t playerId; /**< ID of the player to which light source shall be linked @unit _ @version 0x0100 */
RDB_COORD_t pos; /**< position and orientation of light source @unit m,m,m,rad,rad,rad @version 0x0100 */
uint16_t flags; /**< additional flags @unit @link RDB_LIGHT_SOURCE_FLAG @endlink @version 0x0100 */
uint16_t spare0; /**< just another spare @unit _ @version 0x0100 */
int32_t spare1[2]; /**< yet another spare @unit _ @version 0x0100 */
} RDB_LIGHT_SOURCE_BASE_t;
/** ------ extended info about a light illuminating the scene ------ */
typedef struct
{
float nearFar[2]; /**< near and far clip of light soure @unit m,m @version 0x0100 */
float frustumLRBT[4]; /**< frustum left / right / bottom / top @unit m,m,m,m @version 0x0100 */
float intensity[3]; /**< intensity of the light (ambient, diffuse, specular) @unit _,_,_ @version 0x0100 */
float atten[3]; /**< attenuation (constant, linear, quadratic) @unit _,_,_ @version 0x0100 */
int32_t spare1[3]; /**< yet another spare @unit _ @version 0x0100 */
} RDB_LIGHT_SOURCE_EXT_t;
/** ------ complete light source data (basic and extended info) ------- */
typedef struct
{
RDB_LIGHT_SOURCE_BASE_t base; /**< basic info about a light illuminating the scene @unit RDB_LIGHT_SOURCE_BASE_t @version 0x0100 */
RDB_LIGHT_SOURCE_EXT_t ext; /**< extended info about a light illuminating the scene @unit RDB_LIGHT_SOURCE_EXT_t @version 0x0100 */
} RDB_LIGHT_SOURCE_t;
/** ------ info about an arbitrary contact point ------ */
typedef struct
{
uint16_t id; /**< unique ID of the contact point @unit _ @version 0x0100 */
uint16_t flags; /**< various flags with contact point options @unit @link RDB_CONTACT_POINT_FLAG @endlink @version 0x0102 */
RDB_COORD_t roadDataIn; /**< inertial position of contact point; heading=0; pitch and roll relative to vehicle axis @unit m,m,m,rad,rad,rad @version 0x0100 */
float friction; /**< road friction at contact point @unit _ @version 0x0100 */
int32_t playerId; /**< ID of the player to which CP belongs; only valid if corresponding flag is set @unit _ @version 0x0102 */
int32_t spare1; /**< just another spare @unit _ @version 0x0100 */
} RDB_CONTACT_POINT_t;
/** ------ signal / sign info for a given vehicle ------ */
typedef struct
{
uint32_t id; /**< ID of the signal @unit _ @version 0x0100 */
uint32_t playerId; /**< ID of the player who "detected" the signal @unit _ @version 0x0100 */
float roadDist; /**< distance to signal along road @unit m @version 0x0100 */
RDB_COORD_t pos; /**< inertial position of signal @unit m,m,m,rad,rad,rad @version 0x0100 */
int32_t type; /**< signal type according to OpenDRIVE @unit _ @version 0x0100 */
int32_t subType; /**< signal sub-type according to OpenDRIVE @unit _ @version 0x0100 */
float value; /**< value associated with signal @unit _ @version 0x0100 */
uint32_t state; /**< traffic sign's state (if dynamic) @unit _ @version 0x0100 */
int8_t readability; /**< sign's readability (-1 = not valid, 0..127 = 0..100% readability) @unit [-1, 0..127] @version 0x0100 */
int8_t occlusion; /**< degree of occlusion for viewer (-1 = not valid, 0..127 = 0..100% occlusion) @unit [-1, 0..127] @version 0x0100 */
uint16_t spare0; /**< some more spare @unit _ @version 0x0100 */
uint32_t addOnId; /**< ID of additional sign which extends this sign @unit _ @version 0x0100 */
int8_t minLane; /**< ID minimum lane for which sign is valid @unit [-127..127] @version 0x0100 */
int8_t maxLane; /**< ID maximum lane for which sign is valid @unit [-127..127] @version 0x0100 */
uint16_t spare; /**< spare for upcoming info @unit _ @version 0x0100 */
} RDB_TRAFFIC_SIGN_t;
/** ------ road state for a given vehicle ------ */
typedef struct
{
uint32_t playerId; /**< ID of the player for which the state applies @unit _ @version 0x0100 */
int8_t wheelId; /**< unique ID of the player's wheel for which state is valid (-1 for all) @unit @link RDB_WHEEL_ID @endlink @version 0x0100 */
uint8_t spare0; /**< yet another spare @unit _ @version 0x0100 */
uint16_t spare1; /**< yet another spare @unit _ @version 0x0100 */
uint32_t roadId; /**< unique ID of the road @unit _ @version 0x0100 */
float defaultSpeed; /**< default speed of the road @unit m/s @version 0x0100 */
float waterLevel; /**< rain level on road @unit [0.0..1.0] @version 0x0100 */
uint32_t eventMask; /**< road events @unit @link RDB_ROAD_EVENT @endlink @version 0x0100 */
int32_t spare2[12]; /**< for future use @unit _ @version 0x0100 */
} RDB_ROAD_STATE_t;
/** ------ information about the environment state ------ */
typedef struct
{
float visibility; /**< visibility range @unit m @version 0x0100 */
uint32_t timeOfDay; /**< time of day at sim start @unit s @version 0x0100 */
float brightness; /**< brightness of ambient light @unit [0.0..1.0] @version 0x0100 */
uint8_t precipitation; /**< intensity of precipitation @unit [0..255] @version 0x0100 */
uint8_t cloudState; /**< cloud state @unit @link RDB_ENV_CLOUD_STATE @endlink @version 0x0100 */
uint16_t flags; /**< a series of environment flags @unit @link RDB_ENV_FLAG @endlink @version 0x0100 */
uint32_t spare1[8]; /**< yet another spare @unit _ @version 0x0100 */
} RDB_ENVIRONMENT_t;
/** ------ pedestrians animation data ------
* @note this package is followed immediately by "dataSize" bytes of data, containing hinge information etc.
*/
typedef struct
{
uint32_t playerId; /**< unique player ID @unit _ @version 0x0100 */
RDB_COORD_t pos; /**< real-world position and orientation of reference point32_t @unit m,m,m,rad,rad,rad @version 0x0100 */
uint32_t spare[4]; /**< some more spares @unit _ @version 0x0100 */
uint32_t noCoords; /**< number of valid co-ordinates in coord array @unit _ @version 0x0100 */
uint32_t dataSize; /**< size of the following data containing the actual co-ordinates @unit byte @version 0x0100 */
} RDB_PED_ANIMATION_t;
/** ------ scoring information (for racing applications) ------ */
typedef struct
{
uint32_t playerId; /**< unique player ID @unit _ @version 0x0100 */
float pathS; /**< path position (negative if no path is available) @unit m @version 0x0100 */
float roadS; /**< road position (negative if no road is available) @unit m @version 0x0100 */
float fuelCurrent; /**< current fuel consumption @unit l/100km @version 0x0100 */
float fuelAverage; /**< average fuel consumption @unit l/100km @version 0x0100 */
uint32_t stateFlags; /**< arbitrary state information @unit @link RDB_SCORING_FLAG @endlink @version 0x0100 */
float slip; /**< slip factor [0.0..1.0] @unit _ @version 0x0100 */
uint32_t spare[4]; /**< we'll certainly have some more ideas.... @unit _ @version 0x0100 */
} RDB_CUSTOM_SCORING_t;
/** ------ simulation frame trigger information ------ */
typedef struct
{
float deltaT; /**< delta time by which to advance the simulation @unit s @version 0x0100 */
uint32_t frameNo; /**< number of the simulation frame which is triggered @unit _ @version 0x0100 */
int32_t spare; /**< spare for future use @unit _ @version 0x0100 */
} RDB_TRIGGER_t;
/** ------ information about driver control inputs (may be used e.g. for dynamics input) ------ */
typedef struct
{
uint32_t playerId; /**< unique player ID to which the controls apply @unit _ @version 0x0100 */
float steeringWheel; /**< steering wheel angle @unit rad @version 0x0100 */
float steeringSpeed; /**< steering speed @unit rad/s @version 0x0100 */
float throttlePedal; /**< throttle pedal position @unit [0.0..1.0] @version 0x0100 */
float brakePedal; /**< brake pedal position @unit [0.0..1.0] @version 0x0100 */
float clutchPedal; /**< clutch pedal position @unit [0.0..1.0] @version 0x0100 */
float accelTgt; /**< desired acceleration @unit m/s2 @version 0x0100 */
float steeringTgt; /**< desired steering angle at wheels @unit rad @version 0x0100 */ /* TODO: maybe this should become the turn rate */
double curvatureTgt; /**< desired resulting curvature of the lateral motion @unit 1/m @version 0x0100 */
float steeringTorque; /**< torque at steering wheel @unit Nm @version 0x0100 */
float engineTorqueTgt; /**< target engine torque @unit Nm @version 0x0100 */
float speedTgt; /**< target speed @unit m/s @version 0x0100 */
uint8_t gear; /**< desired gear box position @unit @link RDB_GEAR_BOX_POS @endlink @version 0x0100 */
uint8_t sourceId; /**< unique number of the source providing this input @unit @link RDB_DRIVER_SOURCE @endlink @version 0x010E */
uint8_t spare0[2]; /**< some spares for future use @unit _ @version 0x0100 */
uint32_t validityFlags; /**< flags which of the above inputs are valid @unit @link RDB_DRIVER_INPUT_VALIDITY @endlink @version 0x0100 */
uint32_t flags; /**< input flags (indicator etc.) @unit @link RDB_DRIVER_FLAG @endlink @version 0x0100 */
uint32_t mockupInput0; /**< flags resulting from mockup buttons, part 1 @unit @link RDB_MOCKUP_INPUT0 @endlink @version 0x010A */
uint32_t mockupInput1; /**< flags resulting from mockup buttons, part 2 @unit @link RDB_MOCKUP_INPUT1 @endlink @version 0x010A */
uint32_t mockupInput2; /**< flags resulting from mockup buttons, part 3 @unit @link RDB_MOCKUP_INPUT2 @endlink @version 0x010A */
uint32_t spare; /**< some spare for future use @unit _ @version 0x010A */
} RDB_DRIVER_CTRL_t;
/** ------ information about driver control inputs (may be used e.g. for dynamics input) ------ */
typedef struct
{
uint32_t playerId; /**< unique player ID to which the controls apply @unit _ @version 0x0100 */
float speedFromRules; /**< speed from rules (i.e. road, signs etc.) @unit m/s @version 0x0100 */
float distToSpeed; /**< distance to next speed from rules (-1.0 to disable) @unit m @version 0x0100 */
float spare0[4]; /**< just some spares @unit _ @version 0x0100 */
uint32_t flags; /**< input flags (turn dir etc.) @unit @link RDB_DRIVER_PERCEPTION_FLAG @endlink @version 0x0100 */
uint32_t spare[4]; /**< some spares for future use @unit _ @version 0x0100 */
} RDB_DRIVER_PERCEPTION_t;
/** ------ information about a traffic light (state) ------ */
typedef struct
{
int32_t id; /**< unique ID of the traffic light @unit _ @version 0x0100 */
float state; /**< current state (normalized) @unit [0.0..1.0] @version 0x0100 */
uint32_t stateMask; /**< current state mask (light mask, e.g. for gfx) @unit _ @version 0x0100 */
} RDB_TRAFFIC_LIGHT_BASE_t;
/** ------ traffic light phase information entry ------ */
typedef struct
{
float duration; /**< normalized duration of the phase, invalid phases will have duration 0.0 @unit [0.0..1.0] @version 0x0100 */
uint8_t type; /**< type of the phase @unit @link RDB_TRLIGHT_PHASE @endlink @version 0x0100 */
uint8_t spare[3]; /**< spares for future use @unit _ @version 0x0100 */
} RDB_TRAFFIC_LIGHT_PHASE_t;
/** ------ extended information about a traffic light (phases, state details) ------
* @note this package is followed immediately by "dataSize" bytes of data, containing "noPhases" phase information entries RDB_TRAFFIC_LIGHT_PHASE_t */
typedef struct
{
int32_t ctrlId; /**< ID of the traffic light's controller @unit _ @version 0x0100 */
float cycleTime; /**< duration of a complete cycle of all phases @unit s @version 0x0100 */
uint16_t noPhases; /**< number of phases provided by this traffic light @unit _ @version 0x0100 */
uint32_t dataSize; /**< total size of phase data following the package @unit _ @version 0x0100 */
} RDB_TRAFFIC_LIGHT_EXT_t;
/** ------ complete traffic light data (basic and extended info) ------- */
typedef struct
{
RDB_TRAFFIC_LIGHT_BASE_t base; /**< information about a traffic light state @unit RDB_TRAFFIC_LIGHT_BASE_t @version 0x0100 */
RDB_TRAFFIC_LIGHT_EXT_t ext; /**< extended information about a traffic light @unit RDB_TRAFFIC_LIGHT_EXT_t @version 0x0100 */
} RDB_TRAFFIC_LIGHT_t;
/** ------ synchronization package ------- */
typedef struct
{
uint32_t mask; /**< mask of required sync sources which are fulfilled by this sender @unit _ @version 0x0100 */
uint32_t cmdMask; /**< mask of commands included in the sync message @unit RDB_SYNC_CMD @version 0x010E */
uint32_t spare[2]; /**< spares for future use @unit _ @version 0x010E */
} RDB_SYNC_t;
/** ------ road query package ------- */
typedef struct
{
uint16_t id; /**< unique ID of the road query point (reflected in answer) @unit _ @version 0x0107 */
uint16_t flags; /**< query flags @unit _ @version 0x0107 */
uint16_t spare[2]; /**< spare for future use @unit _ @version 0x0107 */
double x; /**< x co-ordinate (inertial) of query location @unit m @version 0x0107 */
double y; /**< y co-ordinate (inertial) of query location @unit m @version 0x0107 */
} RDB_ROAD_QUERY_t;
/** ------ wrapper for SCP messages -------
* @note this package is followed immediately by "dataSize" bytes of data, containing the actual SCP command string */
typedef struct
{
uint16_t version; /**< upper byte = major, lower byte = minor @unit _ @version 0x010C */
uint16_t spare; /**< just another spare @unit _ @version 0x010C */
char sender[RDB_SIZE_SCP_NAME]; /**< name of the sender as text @unit _ @version 0x010C */
char receiver[RDB_SIZE_SCP_NAME]; /**< name of the receiver as text @unit _ @version 0x010C */
uint32_t dataSize; /**< number of data bytes following this entry @unit _ @version 0x010C */
} RDB_SCP_t;
/** ------ trajectory planning points of a player -------
* @note this package is immediately followed by "noDataPoints" entries of type RDB_POINT_t
*/
typedef struct
{
uint32_t playerId; /**< unique player / object ID @unit _ @version 0x0110 */
double spacing; /**< spacing of data points, either in space or time domain @unit m, s @version 0x0110 */
uint16_t flags; /**< flags for treatment of trajectory @unit RDB_TRAJECTORY_FLAG @version 0x0110 */
uint16_t noDataPoints; /**< number of trajectory points following this package @unit _ @version 0x0110 */
uint32_t spare[4]; /**< some more spares @unit _ @version 0x0110 */
} RDB_TRAJECTORY_t;
/** ------ empty structure for end-of-frame message (not to be used) ------- */
typedef struct
{
} RDB_END_OF_FRAME_t;
/** ------ empty structure for start-of-frame message (not to be used) ------- */
typedef struct
{
} RDB_START_OF_FRAME_t;
/** ------ header of a complete message ------ */
typedef struct
{
uint16_t magicNo; /**< must be RDB_MAGIC_NO (35712) @unit @link GENERAL_DEFINITIONS @endlink @version 0x0100 */
uint16_t version; /**< upper byte = major, lower byte = minor @unit _ @version 0x0100 */
uint32_t headerSize; /**< size of this header structure when transmitted @unit byte @version 0x0100 */
uint32_t dataSize; /**< size of data following the header @unit byte @version 0x0100 */
uint32_t frameNo; /**< number of the simulation frame @unit _ @version 0x0100 */
double simTime; /**< simulation time @unit s @version 0x0100 */
} RDB_MSG_HDR_t;
/** ------ header of a package vector within a message ------ */
typedef struct
{
uint32_t headerSize; /**< size of this header structure when transmitted @unit byte @version 0x0100 */
uint32_t dataSize; /**< size of data following the header @unit byte @version 0x0100 */
uint32_t elementSize; /**< if data following the header contains an array of elements of equal size:
size of one element in this data
(elementSize is equivalent to dataSize if only one element is transmitted) @unit byte @version 0x0100 */
uint16_t pkgId; /**< package identifier @unit _ @version 0x0100 */
uint16_t flags; /**< various flags concerning the package's contents (e.g. extension) @unit @link RDB_PKG_FLAG @endlink @version 0x0100 */
} RDB_MSG_ENTRY_HDR_t;
/** ------ the message union (use for very simplistic casting only)------ */
typedef struct
{
RDB_COORD_SYSTEM_t coordSystem; /**< (custom) co-ordinate system @msgid RDB_PKG_ID_COORD_SYSTEM */
RDB_COORD_t coord; /**< single co-ordinate extending previous object information @msgid RDB_PKG_ID_COORD */
RDB_ROAD_POS_t roadPos; /**< detailed road position of a given entity @msgid RDB_PKG_ID_ROAD_POS */
RDB_LANE_INFO_t laneInfo; /**< lane information for a given entity @msgid RDB_PKG_ID_LANE_INFO */
RDB_ROADMARK_t roadMark; /**< road mark information for a player @msgid RDB_PKG_ID_ROADMARK */
RDB_OBJECT_CFG_t objectCfg; /**< info about a (traffic) object configuration @msgid RDB_PKG_ID_OBJECT_CFG */
RDB_OBJECT_STATE_t objectState; /**< info about an arbitrary object's state @msgid RDB_PKG_ID_OBJECT_STATE */
RDB_VEHICLE_SYSTEMS_t vehicleSystems; /**< vehicle systems' states (lights etc.) @msgid RDB_PKG_ID_VEHICLE_SYSTEMS */
RDB_VEHICLE_SETUP_t vehicleSetup; /**< basic information about a vehicle (mass etc.) @msgid RDB_PKG_ID_VEHICLE_SETUP */
RDB_ENGINE_t engine; /**< info about a vehicle's engine @msgid RDB_PKG_ID_ENGINE */
RDB_DRIVETRAIN_t drivetrain; /**< info about a vehicle's drivetrain @msgid RDB_PKG_ID_DRIVETRAIN */
RDB_WHEEL_t wheel; /**< info about a wheel of a player @msgid RDB_PKG_ID_WHEEL */
RDB_PED_ANIMATION_t pedAnimation; /**< pedestrian animation details (joint angles etc.) @msgid RDB_PKG_ID_PED_ANIMATION */
RDB_SENSOR_STATE_t sensorState; /**< state of a sensor @msgid RDB_PKG_ID_SENSOR_STATE */
RDB_SENSOR_OBJECT_t sensorObject; /**< state of an object detected by a sensor @msgid RDB_PKG_ID_SENSOR_OBJECT */
RDB_CAMERA_t camera; /**< camera settings used for video image @msgid RDB_PKG_ID_CAMERA */
RDB_CONTACT_POINT_t contactPoint; /**< info about contact points @msgid RDB_PKG_ID_CONTACT_POINT */
RDB_TRAFFIC_SIGN_t trafficSign; /**< info about traffic signs seen by a vehicle @msgid RDB_PKG_ID_TRAFFIC_SIGN */
RDB_ROAD_STATE_t roadState; /**< road state informaton for a given player @msgid RDB_PKG_ID_ROAD_STATE */
RDB_IMAGE_t image; /**< video image (followed by data) @msgid RDB_PKG_ID_IMAGE */
RDB_LIGHT_SOURCE_t lightSrc; /**< info about a light source @msgid RDB_PKG_ID_LIGHT_SOURCE */
RDB_ENVIRONMENT_t environment; /**< info about environment state @msgid RDB_PKG_ID_ENVIRONMENT */
RDB_TRIGGER_t trigger; /**< trigger information @msgid RDB_PKG_ID_TRIGGER */
RDB_DRIVER_CTRL_t driverCtrl; /**< driver input (e.g. from mockup) - serves also as dynamics input @msgid RDB_PKG_ID_DRIVER_CTRL */
RDB_TRAFFIC_LIGHT_t trafficLight; /**< info about a traffic light @msgid RDB_PKG_ID_TRAFFIC_LIGHT */
RDB_SYNC_t sync; /**< sync source message @msgid RDB_PKG_ID_SYNC */
RDB_DRIVER_PERCEPTION_t driverPerception; /**< perception of road/rule environment by driver @msgid RDB_PKG_ID_DRIVER_PERCEPTION */
RDB_IMAGE_t lightMap; /**< light distribution image (followed by data) @msgid RDB_PKG_ID_LIGHT_MAP */
RDB_FUNCTION_t toneMapping; /**< tone mapping function @msgid RDB_PKG_ID_TONE_MAPPING */
/* custom packages here, please */
RDB_CUSTOM_SCORING_t scoring; /**< scoring information @msgid RDB_PKG_ID_CUSTOM_SCORING */
} RDB_MSG_UNION_t;
}
/** ------ now a complete message containing one element only ------ */
typedef struct
{
RDB_MSG_HDR_t hdr; /**< header of a complete message @unit RDB_MSG_HDR_t @version 0x0100 */
RDB_MSG_ENTRY_HDR_t entryHdr; /**< header of a package vector within a message @unit RDB_MSG_ENTRY_HDR_t @version 0x0100 */
RDB_MSG_UNION_t u; /**< the message union @unit RDB_MSG_UNION_t @version 0x0100 */
} RDB_MSG_t;
/** ------ shared memory segment header, located of beginning of shared memory segment ------ */
typedef struct
{
uint32_t thisSize; /**< size of this info structure @unit byte @version 0x0100 */
uint32_t bufferSize; /**< size of the associated buffer @unit byte @version 0x0100 */
uint16_t id; /**< unique ID of the buffer @unit _ @version 0x0100 */
uint16_t spare0; /**< just some spare @unit _ @version 0x0100 */
uint32_t flags; /**< access flags etc. @unit @link RDB_SHM_BUFFER_FLAG @endlink @version 0x0100 */
uint32_t offset; /**< offset to start of buffer from start of shared memory @unit byte @version 0x0100 */
uint32_t spare1[4]; /**< just some spares @unit _ @version 0x0100 */
} RDB_SHM_BUFFER_INFO_t;
/** ------ shared memory management header, located of beginning of shared memory ------
* @note this entry is followed immediately by "noBuffers" bytes of type RDB_SHM_BUFFER_INFO_t, containing "noBuffers" buffer information entries
*/
typedef struct
{
uint32_t headerSize; /**< size of this header structure @unit byte @version 0x0100 */
uint32_t dataSize; /**< size of data following this header @unit byte @version 0x0100 */
uint8_t noBuffers; /**< number of data buffers in the shared memory @unit _ @version 0x0100 */
} RDB_SHM_HDR_t;
#endif /* _VIRES_RDB_ICD_H */
// object controller?
// intitialization via SCP
// end of pragma 4
#pragma pack(pop)
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