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53 lines
888 B
53 lines
888 B
using Cxx = import "./include/c++.capnp";
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$Cxx.namespace("cereal");
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using Java = import "./include/java.capnp";
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$Java.package("ai.comma.openpilot.cereal");
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$Java.outerClassname("Map");
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@0xa086df597ef5d7a0;
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# Geometry
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struct Point {
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x @0: Float64;
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y @1: Float64;
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z @2: Float64;
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}
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struct PolyLine {
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points @0: List(Point);
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}
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# Map features
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struct Lane {
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id @0 :Text;
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leftBoundary @1 :LaneBoundary;
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rightBoundary @2 :LaneBoundary;
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leftAdjacentId @3 :Text;
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rightAdjacentId @4 :Text;
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inboundIds @5 :List(Text);
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outboundIds @6 :List(Text);
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struct LaneBoundary {
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polyLine @0 :PolyLine;
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startHeading @1 :Float32; # WRT north
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}
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}
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# Map tiles
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struct TileSummary {
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version @0 :Text;
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updatedAt @1 :UInt64; # Millis since epoch
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level @2 :UInt8;
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x @3 :UInt16;
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y @4 :UInt16;
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}
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struct MapTile {
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summary @0 :TileSummary;
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lanes @1 :List(Lane);
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}
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