地图格式
注 1: 地图中的坐标点的单位均为米，最多会保留三位小数，即精确到 0.001 米
注 2: 地图的坐标系即为世界坐标系
地图的 protobuf 格式
Protobuf3 请参阅 Google
syntax = "proto3";
package rbk.protocol;
import "google/protobuf/wrappers.proto";
message Message_MapProperty {
string key = 1; // 属性名
string type = 2; // 属性值的类型, 这里 type 一定是 string, bool, int32, uint32, int64, uint64, float, double, bytes 中的一个
bytes value = 3; // 属性值 (for backward compatibility)
oneof oneof_value { // 属性值
string string_value = 4;
bool bool_value = 5;
int32 int32_value = 6;
uint32 uint32_value = 7;
int64 int64_value = 8;
uint64 uint64_value = 9;
float float_value = 10;
double double_value = 11;
bytes bytes_value = 12;
}
}
// 普通点
message Message_MapPos {
double x = 1;
double y = 2;
}
// 普通线
message Message_MapLine {
Message_MapPos start_pos = 1; // 线的起始点
Message_MapPos end_pos = 2; // 线的终止点
}
// 地图元数据
message Message_MapHeader {
string map_type = 1; //type of map: 2D-map or 3D-map
string map_name = 2; //name of map: the map file name
Message_MapPos min_pos = 3; // 地图中 x,y 最小值, 该点不一定存在, 只是指示包含增长地图的矩形的左下点
Message_MapPos max_pos = 4; // 地图中 x,y 最大值, 该点不一定存在, 只是指示包含增长地图的矩形的右上点
double resolution = 5; // 分辨率 (m)
string version = 8; // 地图的格式的版本号
}
// 特征, 用户不必关注该条目
message Message_MapAttribute {
string description = 1; // description of the this class
uint32 color_pen = 2;
uint32 color_brush = 3;
uint32 color_font = 4;
}
// 高级点
message Message_AdvancedPoint {
string class_name = 1; // 高级点的类型, 目前只有 LandMark(普通站点), ChargePoint(充电点), ReturnPoint(返航点), GyroCaliPoint(陀螺仪标定点), RobotHome(出生点)
string instance_name = 2; // 唯一标识名
Message_MapPos pos = 3; // 点坐标
double dir = 4; // 方向
repeated Message_MapProperty property = 5; // 高级点的属性
bool ignore_dir = 6; // 是否忽略朝向
bytes desc = 8;
Message_MapAttribute attribute = 10; // 特征
}
// 高级线
message Message_AdvancedLine {
string class_name = 1; // 高级线的类型, 目前只有 ForbiddenLine, NormalLine, VirtualLine
string instance_name = 2; // 唯一标识名
Message_MapLine line = 3; // 线坐标
repeated Message_MapProperty property = 4; // 高级线的属性
bytes desc = 8;
Message_MapAttribute attribute = 10; // 特征
}
// 高级曲线(用于连接两个高级点), 目前只有 BezierPath(三阶贝塞尔曲线) 一种
message Message_AdvancedCurve {
string class_name = 1; // 高级曲线的类型, 目前只有 BezierPath(贝塞尔曲线) 一种
string instance_name = 2; // 唯一标识名
Message_AdvancedPoint start_pos = 3; // 曲线起始点(是某个高级点,一定是地图中出现过的某个高级点)
Message_AdvancedPoint end_pos = 4; // 曲线终止点(是某个高级点,一定是地图中出现过的某个高级点)
Message_MapPos control_pos1 = 5; // 曲线控制点1
Message_MapPos control_pos2 = 6; // 曲线控制点2
repeated Message_MapProperty property = 7; // 高级曲线的属性
bytes desc = 8;
repeated Message_Device devices = 12; // 设备模型相关信息
Message_MapAttribute attribute = 15; // 特征
}
// 高级区域
message Message_AdvancedArea {
string class_name = 1; // 高级曲线的类型,
string instance_name = 2; // 唯一标识名
repeated Message_MapPos pos_group = 3; // 区域边界线
double dir = 4; // 方向
repeated Message_MapProperty property = 5; // 高级区域的属性
bytes desc = 8;
repeated Message_Device devices = 10; // 设备模型相关信息
Message_MapAttribute attribute = 15; // 特征
}
// 激光设备, 用户不必关注
message Message_LaserDevice {
uint32 id = 1;
repeated Message_MapPos laser_margin_pos = 2;
}
// 设备模型信息, 用户不必关注
message Message_Device {
string model_name = 1;
repeated Message_LaserDevice laser_devices = 5;
repeated double ultrasonic_dist = 6; // dist = -1 means not used
repeated double fallingdown_dist = 7; // dist = -1 means not used
}
// 巡检站点
message Message_PatrolRouteStation {
string id = 1; // 站点 ID
}
// 巡检线路
message Message_PatrolRoute {
string name = 1; // 线路名称
repeated Message_PatrolRouteStation station_list = 2; // 线路上的站点列表
google.protobuf.DoubleValue max_speed = 4; // 巡检线路上的最大速度, 若缺省则使用地图中的设置
google.protobuf.DoubleValue max_acc = 5; // 巡检线路上的最大加速度, 若缺省则使用地图中的设置
google.protobuf.DoubleValue max_rot = 6; // 巡检线路上的最大角速度, 若缺省则使用地图中的设置
google.protobuf.DoubleValue max_rot_acc = 7; // 巡检线路上的最大角加速度, 若缺省则使用地图中的设置
bytes desc = 8;
}
// 地图
message Message_Map {
string map_directory = 1;
Message_MapHeader header = 2; // 元数据
repeated Message_MapPos normal_pos_list = 3; // 普通点数组
repeated Message_MapLine normal_line_list = 4; // 普通线数组
repeated Message_AdvancedPoint advanced_point_list = 6; // 高级点数组
repeated Message_AdvancedLine advanced_line_list = 7; // 高级线数组
repeated Message_AdvancedCurve advanced_curve_list = 8; // 高级曲线数组
repeated Message_AdvancedArea advanced_area_list = 9; // 高级区域数组
repeated Message_PatrolRoute patrol_route_list = 10; // 巡检线路数组
}
地图的 JSON 格式
地图的 JSON 格式是从 protobuf 格式转换而来, JSON 和 protobuf 格式可以相互转换, 转换按照 protobuf3 的规则。
首先是对地图中会出现的一些类型的说明：
注: 注释中 [] 表示这个 key 一定存在，() 小括号表示可缺省
MapProperty 属性:
属性都是跟软件GUI或者算法相关的，用户不必理会
{
"key": "spin", // [string]
"type": "int32", // [string]
"value": "MQ==", // [string] 这里的值需要将类型转换为 string, 再进行 base64 编码, 如 int32 = 1, 转换为 string 是 "1", 进行 base64 编码后为 "MQ=="
"int32Value": 1 // 该字段会根据 type 变化, 可能为 stringValue, boolValue, int32Value, uint32Value, int64Value, uint64Value, floatValue, doubleValue, bytesValue
}
MapPos 普通点:
{
"x": 10.111, // [double] 世界坐标系中 x 坐标
"y": 2.222, // [double] 世界坐标系中 y 坐标
}
MapLine 普通线段:
{
"startPos": { // [MapPos], 是该线段的起始点，类型也就是一个 MapPos
"x": 1.123,
"y": 2.123
},
"endPos": { // [MapPos], 是该线段的终止点，类型也就是一个 MapPos
"x": 3.321,
"y": 5.123
}
}
MapHeader 地图头部:
{
"mapType": "2D-map", // [string] 2D-map or 3D-map，目前只会是 2D-map
"mapName": "seer.map", // [string] 地图的名字
"minPos": { // [MapPos] 地图中可以囊括整个地图的左上点（不一定实际存在这个点），类型也就是一个 MapPos
"x": -43.812,
"y": -70.232
},
"maxPos": { // [MapPos] 地图中可以囊括整个地图的右下点（不一定实际存在这个点），类型也就是一个 MapPos
"x": 166.321,
"y": 86.600
},
"resolution": 0.02, // [double] 分辨率(m)
"version": "1.0.0"
}
AdvancedPoint 高级点:
{
"className": "LandMark", // [string] 高级点类型, 目前只有 LandMark(普通站点), ChargePoint(充电点), ReturnPoint(返航点), GyroCaliPoint(陀螺仪标定点), RobotHome(出生点)
"instanceName": "0", // [string] 高级点唯一标识名
"pos": {"x": 18.420, "y": 9.270}, // [MapPos]
"dir": 0.894, // (double) 方向
"property": [{ // (MapProperty[]) 属性数组
"key": "spin",
"type": "int32",
"value": "MQ==",
"int32Value": 1
}]
}
AdvancedLine 高级线:
{
"className": "ForbiddenLine", // [string] 高级线类型, 目前只有 ForbiddenLine, NormalLine, VirtualLine
"instanceName": "2", // [string] 高级线唯一标识名
"line": { // [MapLine]
"startPos": {"x": 50.970,"y": 28.460},
"endPos": {"x": 74.690, "y": 28.460}
},
"property": [{ // (MapProperty[]) 属性数组
"key": "spin",
"type": "int32",
"value": "MQ==",
"int32Value": 1
}]
}
AdvancedCurve 高级曲线:
{
"className": "BezierPath", // [string] 高级曲线类型
"instanceName": "3", // (string) 曲线唯一标识名
"startPos": { // [AdvancedPoint] 贝塞尔曲线起始点,一定是地图中出现过的某个高级点
"className": "LandMark",
"instanceName": "10",
"pos": {"x": 22.415, "y": 38.104}
},
"endPos": { // [AdvancedPoint] 贝塞尔曲线终止点曲线起始点,一定是地图中出现过的某个高级点
"className": "LandMark",
"instanceName": "2",
"pos": {"x": 22.297, "y": 14.284}
},
"controlPos1": {"x": 22.009, "y": 28.664}, // [MapPos] 贝塞尔曲线控制点1
"controlPos2": {"x": 22.369, "y": 20.501}, // [MapPos] 贝塞尔曲线控制点2
"property": [], // (MapProperty[]) 属性数组
"devices": [] // (Message_Device[]) 设备模型相关
}
AdvancedArea 高级区域:
{
"className":"AdvancedArea", // [string] 高级曲线类型, 目前都为 AdvanceArea
"instanceName":"1", // [string] 区域唯一标识名
"posGroup":[ // [MapPos[]] 区域顶点，首尾相连
{"x":1.889,"y":2.250},
{"x":2.380,"y":2.250},
{"x":2.380,"y":1.751},
{"x":1.889,"y":1.751}],
"property":[], // (MapProperty[]) 属性数组
"devices": [] // (Message_Device[]) 设备模型相关
}
巡检站点:
{
"id": "LM1"
}
巡检线路:
{
"name": "route1",
"stationList": [
{
"id": "LM1"
},
{
"id": "LM2"
}
]
}
Map 地图:
实际的地图对象，以上只是地图中会用到的对象的说明
{
"mapDirectory": "", // (string) 地图路径, 目前不用
"header": { // [MapHeader] 地图头部
"mapType": "2D-map",
"mapName": "test",
"minPos": {"x": -43.800, "y": -70.200},
"maxPos": {"x": 166.000, "y": 86.600},
"resolution": 0.02,
"version": "1.0.0"
},
"normalPosList": [ // (MapPos[]) 普通点数组
{"x": -43.800, "y": -20.800},
{"x": -43.600, "y": -20.600},
{"x": -43.400, "y": -20.600}
],
"normalLineList": [ // (MapLine[]) 普通线数组
{
"startPos": {"x": 59.280, "y": -24.420},
"endPos": {"x": 63.270, "y": -22.280}
},
{
"startPos": {"x": 116.540, "y": -52.120},
"endPos": {"x": 145.040, "y": -51.880}
}
],
"advancedPointList":[ // (AdvancedPoint[]) 高级点数组
{"className": "LandMark", "instanceName": "LM0", "pos": {"x": 18.420, "y": 9.270}},
{"className": "RobotHome", "instanceName": "LM1", "pos":{"x": 21.930, "y": 29.520}},
{"className": "LandMark", "instanceName": "LM2", "pos":{"x":22.415,"y":38.103},
"property": [{"key": "spin", "type": "int32", "value": "MQ==", "int32Value": 1},
{"key": "tshaped", "type": "int32", "value": "MQ==", "int32Value": 1}]},
{"className": "LandMark", "instanceName": "LM3", "pos":{"x":22.297,"y":14.284},
"property": [{"key": "spin", "type": "int32", "value": "MQ==", "int32Value": 1},
{"key": "tshaped", "type": "int32", "value": "MQ==", "int32Value": 1}]},
{"className": "LandMark", "instanceName": "LM4", "pos":{"x":36.825,"y":-8.824},
"property": [{"key": "spin", "type": "int32", "value": "MQ==", "int32Value": 1},
{"key": "tshaped", "type": "int32", "value": "MQ==", "int32Value": 1}]}
],
"advancedLineList": [ // (AdvancedLine[]) 高级线数组
{"className": "ForbiddenLine", "instanceName":"1",
"line": {"startPos": {"x": 50.970,"y": 28.460}, "endPos": {"x": 74.690, "y": 28.460}}},
{"className": "ForbiddenLine", "instanceName":"2",
"line": {"startPos": {"x": -18.460,"y": 14.010}, "endPos": {"x": 3.280, "y": 14.010}}},
{"className": "VirtualLine", "instanceName":"3",
"line": {"startPos": {"x": 45.600,"y": -2.580}, "endPos": {"x": 111.700, "y": -2.580}}},
{"className": "VirtualLine", "instanceName":"4",
"line": {"startPos":{"x":4597,"y":-1440}, "endPos": {"x": 10725, "y": -1440}}}
],
"advancedCurveList": [ // (AdvancedCurve[]) 高级曲线数组
{"className": "BezierPath", // 连接上面高级点数组中 instanceName 为 0 和 1 的曲线
"startPos": {"className": "LandMark", "instanceName": "LM0", "pos": {"x": 18.420, "y": 9.270}},
"endPos": {"className": "LandMark", "instanceName": "LM1", "pos": {"x": 21.930, "y": 29.520}},
"controlPos1": {"x": 22.009, "y": 28.664},
"controlPos2": {"x": 22.369, "y": 20.501},
"property": [],
"devices": []},
{"className": "BezierPath", // 连接上面高级点数组中 instanceName 为 1 和 2 的曲线
"startPos": {"className": "LandMark", "instanceName": "LM1", "pos": {"x": 21.930, "y": 29.520}},
"endPos": {"className": "LandMark", "instanceName": "LM2", "pos": {"x": 22.415, "y": 38.103}},
"controlPos1": {"x": -32.702, "y": 6.313},
"controlPos2": {"x": -32.702, "y": 6.313},
"property": [],
"devices": []}
],
"advancedAreaList": [ // (AdvancedArea[]) 高级区域数组
{"className":"AdvancedArea",
"instanceName":"1",
"posGroup":[
{"x":1.889,"y":2.250},
{"x":2.380,"y":2.250},
{"x":2.380,"y":1.751},
{"x":1.889,"y":1.751}],
"property":[
{"key":"ultrasonic","type":"bool","value":"ZmFsc2U=", "boolValue":false}, // 超声是否打开，不存在此字段时默认打开
{"key":"fallingdown","type":"bool","value":"ZmFsc2U=", "boolValue":false}] // 防跌落是否打开，不存在此字段时默认打开
}
],
"patrolRouteList": [
{"name": "route1",
"stationList": [
{
"id": "LM1"
},
{
"id": "LM2"
}]
}
]
}
注: 以上地图只是示例, 并不是一张可以使用的地图。
注: 高级点 (AdvancedPoint) 的点即为导航点，用户只需关心各种高级点以及连接它们的 BezierPath (AdvancedCurve) 即可。