carla-driver-interface 1.0.0__py3-none-any.whl

carla_driver_interface/__init__.py

@@ -0,0 +1,28 @@
+"""Both ends of alpasim's ``egodriver.EgodriverService`` gRPC contract, without CARLA.
+
+A *policy* -- anything that plans a trajectory from camera frames, ego motion and a
+route -- implements :class:`~carla_driver_interface.driver.BaseDriver` and is served
+with :func:`~carla_driver_interface.server.run_server` (or
+``carla-driver-interface serve``). A *runtime* drives it: autoware_carla_scenario
+(https://github.com/autowarefoundation/autoware_carla_scenario, with
+``ego.entity=carla_driver``) against CARLA, an upstream alpasim runtime, or
+:mod:`carla_driver_interface.testing` without a simulator.
+
+The package is deliberately light -- numpy, scipy, grpcio, protobuf and Pillow -- so a
+policy depends on it without pulling in a simulator or a scenario framework, and it runs
+on Python 3.10-3.14. The wire contract is vendored from NVlabs/alpasim (see
+``proto/README.md`` in the source repository); field numbers and service names are
+unchanged, so it interoperates with upstream. The package is versioned on its own, and
+the wire contract is its compatibility unit.
+"""
+
+from __future__ import annotations
+
+from importlib.metadata import PackageNotFoundError, version
+
+try:
+    __version__ = version("carla-driver-interface")
+except PackageNotFoundError:  # pragma: no cover - running from a source tree
+    __version__ = "0.0.0"
+
+__all__ = ["__version__"]

carla_driver_interface/_proto/__init__.py

@@ -0,0 +1,5 @@
+"""Generated protobuf modules for the alpasim ``egodriver`` contract.
+
+This package is generated by ``scripts/compile_protos.py`` -- see
+``proto/README.md``.
+"""

carla_driver_interface/_proto/carla_driver_pb2.py

@@ -0,0 +1,61 @@
+# Generated by scripts/compile_protos.py -- do not edit.
+#
+# Sources: NVlabs/alpasim@6870924 and
+#          hakuturu583/carla_driver_interface@af1dcd3 (both Apache-2.0)
+# Regenerate with: uv run python scripts/compile_protos.py
+
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: carla_driver/v0/carla_driver.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from . import common_pb2 as alpasim__grpc_dot_v0_dot_common__pb2
+from . import egodriver_pb2 as alpasim__grpc_dot_v0_dot_egodriver__pb2
+from . import sensorsim_pb2 as alpasim__grpc_dot_v0_dot_sensorsim__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"carla_driver/v0/carla_driver.proto\x12\x0f\x63\x61rla_driver.v0\x1a\x1c\x61lpasim_grpc/v0/common.proto\x1a\x1f\x61lpasim_grpc/v0/egodriver.proto\x1a\x1f\x61lpasim_grpc/v0/sensorsim.proto\"\xce\x01\n\x0c\x43\x61rlaWeather\x12\x12\n\ncloudiness\x18\x01 \x01(\x02\x12\x15\n\rprecipitation\x18\x02 \x01(\x02\x12\x1e\n\x16precipitation_deposits\x18\x03 \x01(\x02\x12\x16\n\x0ewind_intensity\x18\x04 \x01(\x02\x12\x19\n\x11sun_azimuth_angle\x18\x05 \x01(\x02\x12\x1a\n\x12sun_altitude_angle\x18\x06 \x01(\x02\x12\x13\n\x0b\x66og_density\x18\x07 \x01(\x02\x12\x0f\n\x07wetness\x18\x08 \x01(\x02\"\xa7\x01\n\x0f\x43\x61rlaActorState\x12\x10\n\x08track_id\x18\x01 \x01(\t\x12\x0f\n\x07type_id\x18\x02 \x01(\t\x12(\n\x12pose_local_to_aabb\x18\x03 \x01(\x0b\x32\x0c.common.Pose\x12\x1a\n\x04\x61\x61\x62\x62\x18\x04 \x01(\x0b\x32\x0c.common.AABB\x12+\n\rdynamic_state\x18\x05 \x01(\x0b\x32\x14.common.DynamicState\"\xb6\x03\n\x11\x43\x61rlaRendererData\x12\x1d\n\x15snapshot_timestamp_us\x18\x01 \x01(\x06\x12\x10\n\x08\x66rame_id\x18\x02 \x01(\x04\x12\x10\n\x08map_name\x18\x03 \x01(\t\x12.\n\x07weather\x18\x04 \x01(\x0b\x32\x1d.carla_driver.v0.CarlaWeather\x12=\n\x11\x65go_traffic_light\x18\x05 \x01(\x0e\x32\".carla_driver.v0.TrafficLightState\x12$\n\x1c\x65go_traffic_light_distance_m\x18\x06 \x01(\x02\x12\x17\n\x0fspeed_limit_mps\x18\x07 \x01(\x02\x12\x30\n\x06\x61\x63tors\x18\x08 \x03(\x0b\x32 .carla_driver.v0.CarlaActorState\x12*\n\x05lidar\x18\n \x03(\x0b\x32\x1b.carla_driver.v0.LidarSweep\x12\x0e\n\x06map_id\x18\x0b \x01(\t\x12\x35\n\x0etraffic_lights\x18\x0c \x03(\x0b\x32\x1d.carla_driver.v0.TrafficLightJ\x04\x08\t\x10\nR\x05lanes\"\x88\x01\n\x0cTrafficLight\x12\x14\n\x0copendrive_id\x18\x01 \x01(\t\x12\x31\n\x05state\x18\x02 \x01(\x0e\x32\".carla_driver.v0.TrafficLightState\x12/\n\x0bstop_points\x18\x03 \x03(\x0b\x32\x1a.carla_driver.v0.StopPoint\"g\n\tStopPoint\x12\x0f\n\x07road_id\x18\x01 \x01(\x05\x12\x12\n\nsection_id\x18\x02 \x01(\x05\x12\x0f\n\x07lane_id\x18\x03 \x01(\x05\x12$\n\x0eposition_local\x18\x04 \x01(\x0b\x32\x0c.common.Vec3\"\x83\x01\n\nLidarSweep\x12\x12\n\nlogical_id\x18\x01 \x01(\t\x12\x14\n\x0ctimestamp_us\x18\x02 \x01(\x06\x12\"\n\x0crig_to_lidar\x18\x03 \x01(\x0b\x32\x0c.common.Pose\x12\x12\n\nnum_points\x18\x04 \x01(\r\x12\x13\n\x0bpoints_xyzi\x18\x05 \x01(\x0c\"\xb9\x01\n\x13\x43\x61rlaDriveDebugInfo\x12\x13\n\x0bpolicy_name\x18\x01 \x01(\t\x12\x19\n\x11inference_seconds\x18\x02 \x01(\x02\x12\x42\n\x07scalars\x18\x03 \x03(\x0b\x32\x31.carla_driver.v0.CarlaDriveDebugInfo.ScalarsEntry\x1a.\n\x0cScalarsEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\x01:\x02\x38\x01\"\x92\x02\n\x15\x43\x61rlaDriveSessionInfo\x12,\n\x04\x62\x61se\x18\x01 \x01(\x0b\x32\x1e.egodriver.DriveSessionRequest\x12\x10\n\x08map_name\x18\x02 \x01(\t\x12\x15\n\rscenario_name\x18\x03 \x01(\t\x12\x16\n\x0e\x66ixed_delta_us\x18\x04 \x01(\x06\x12\x1a\n\x12policy_timestep_us\x18\x05 \x01(\x06\x12\x1a\n\x12rear_axle_offset_m\x18\x06 \x01(\x02\x12R\n\x07\x63\x61meras\x18\x07 \x03(\x0b\x32\x41.nre.grpc.protos.sensorsim.AvailableCamerasReturn.AvailableCamera\"\x8d\x01\n\x0b\x43ompatEntry\x12\x0c\n\x04\x61rea\x18\x01 \x01(\t\x12\x19\n\x11\x61lpasim_behaviour\x18\x02 \x01(\t\x12\x17\n\x0f\x63\x61rla_behaviour\x18\x03 \x01(\t\x12+\n\x05level\x18\x04 \x01(\x0e\x32\x1c.carla_driver.v0.CompatLevel\x12\x0f\n\x07symbols\x18\x05 \x03(\t\"\xc4\x01\n\x11\x43\x61rlaCompatReport\x12&\n\x1e\x63\x61rla_driver_interface_version\x18\x01 \x01(\t\x12\x18\n\x10\x61lpasim_grpc_rev\x18\x02 \x01(\t\x12>\n\x18\x61lpasim_grpc_api_version\x18\x03 \x01(\x0b\x32\x1c.common.VersionId.APIVersion\x12-\n\x07\x65ntries\x18\x04 \x03(\x0b\x32\x1c.carla_driver.v0.CompatEntry*\xcb\x01\n\x11TrafficLightState\x12\x1f\n\x1bTRAFFIC_LIGHT_STATE_UNKNOWN\x10\x00\x12\x1c\n\x18TRAFFIC_LIGHT_STATE_NONE\x10\x01\x12\x1b\n\x17TRAFFIC_LIGHT_STATE_RED\x10\x02\x12\x1e\n\x1aTRAFFIC_LIGHT_STATE_YELLOW\x10\x03\x12\x1d\n\x19TRAFFIC_LIGHT_STATE_GREEN\x10\x04\x12\x1b\n\x17TRAFFIC_LIGHT_STATE_OFF\x10\x05*\xb6\x01\n\x0b\x43ompatLevel\x12\x1c\n\x18\x43OMPAT_LEVEL_UNSPECIFIED\x10\x00\x12\x16\n\x12\x43OMPAT_LEVEL_EXACT\x10\x01\x12\x18\n\x14\x43OMPAT_LEVEL_PARTIAL\x10\x02\x12\x1b\n\x17\x43OMPAT_LEVEL_STRUCTURAL\x10\x03\x12\x1e\n\x1a\x43OMPAT_LEVEL_UNIMPLEMENTED\x10\x04\x12\x1a\n\x16\x43OMPAT_LEVEL_EXTENSION\x10\x05\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'carla_driver.v0.carla_driver_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_CARLADRIVEDEBUGINFO_SCALARSENTRY']._options = None
+  _globals['_CARLADRIVEDEBUGINFO_SCALARSENTRY']._serialized_options = b'8\001'
+  _globals['_TRAFFICLIGHTSTATE']._serialized_start=2158
+  _globals['_TRAFFICLIGHTSTATE']._serialized_end=2361
+  _globals['_COMPATLEVEL']._serialized_start=2364
+  _globals['_COMPATLEVEL']._serialized_end=2546
+  _globals['_CARLAWEATHER']._serialized_start=152
+  _globals['_CARLAWEATHER']._serialized_end=358
+  _globals['_CARLAACTORSTATE']._serialized_start=361
+  _globals['_CARLAACTORSTATE']._serialized_end=528
+  _globals['_CARLARENDERERDATA']._serialized_start=531
+  _globals['_CARLARENDERERDATA']._serialized_end=969
+  _globals['_TRAFFICLIGHT']._serialized_start=972
+  _globals['_TRAFFICLIGHT']._serialized_end=1108
+  _globals['_STOPPOINT']._serialized_start=1110
+  _globals['_STOPPOINT']._serialized_end=1213
+  _globals['_LIDARSWEEP']._serialized_start=1216
+  _globals['_LIDARSWEEP']._serialized_end=1347
+  _globals['_CARLADRIVEDEBUGINFO']._serialized_start=1350
+  _globals['_CARLADRIVEDEBUGINFO']._serialized_end=1535
+  _globals['_CARLADRIVEDEBUGINFO_SCALARSENTRY']._serialized_start=1489
+  _globals['_CARLADRIVEDEBUGINFO_SCALARSENTRY']._serialized_end=1535
+  _globals['_CARLADRIVESESSIONINFO']._serialized_start=1538
+  _globals['_CARLADRIVESESSIONINFO']._serialized_end=1812
+  _globals['_COMPATENTRY']._serialized_start=1815
+  _globals['_COMPATENTRY']._serialized_end=1956
+  _globals['_CARLACOMPATREPORT']._serialized_start=1959
+  _globals['_CARLACOMPATREPORT']._serialized_end=2155
+# @@protoc_insertion_point(module_scope)

carla_driver_interface/_proto/carla_driver_pb2.pyi

@@ -0,0 +1,203 @@
+# # Generated by scripts/compile_protos.py -- do not edit.
+# #
+# # Sources: NVlabs/alpasim@6870924 and
+# #          hakuturu583/carla_driver_interface@af1dcd3 (both Apache-2.0)
+# # Regenerate with: uv run python scripts/compile_protos.py
+
+from . import common_pb2 as _common_pb2
+from . import egodriver_pb2 as _egodriver_pb2
+from . import sensorsim_pb2 as _sensorsim_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Iterable as _Iterable, Mapping as _Mapping, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class TrafficLightState(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    TRAFFIC_LIGHT_STATE_UNKNOWN: _ClassVar[TrafficLightState]
+    TRAFFIC_LIGHT_STATE_NONE: _ClassVar[TrafficLightState]
+    TRAFFIC_LIGHT_STATE_RED: _ClassVar[TrafficLightState]
+    TRAFFIC_LIGHT_STATE_YELLOW: _ClassVar[TrafficLightState]
+    TRAFFIC_LIGHT_STATE_GREEN: _ClassVar[TrafficLightState]
+    TRAFFIC_LIGHT_STATE_OFF: _ClassVar[TrafficLightState]
+
+class CompatLevel(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    COMPAT_LEVEL_UNSPECIFIED: _ClassVar[CompatLevel]
+    COMPAT_LEVEL_EXACT: _ClassVar[CompatLevel]
+    COMPAT_LEVEL_PARTIAL: _ClassVar[CompatLevel]
+    COMPAT_LEVEL_STRUCTURAL: _ClassVar[CompatLevel]
+    COMPAT_LEVEL_UNIMPLEMENTED: _ClassVar[CompatLevel]
+    COMPAT_LEVEL_EXTENSION: _ClassVar[CompatLevel]
+TRAFFIC_LIGHT_STATE_UNKNOWN: TrafficLightState
+TRAFFIC_LIGHT_STATE_NONE: TrafficLightState
+TRAFFIC_LIGHT_STATE_RED: TrafficLightState
+TRAFFIC_LIGHT_STATE_YELLOW: TrafficLightState
+TRAFFIC_LIGHT_STATE_GREEN: TrafficLightState
+TRAFFIC_LIGHT_STATE_OFF: TrafficLightState
+COMPAT_LEVEL_UNSPECIFIED: CompatLevel
+COMPAT_LEVEL_EXACT: CompatLevel
+COMPAT_LEVEL_PARTIAL: CompatLevel
+COMPAT_LEVEL_STRUCTURAL: CompatLevel
+COMPAT_LEVEL_UNIMPLEMENTED: CompatLevel
+COMPAT_LEVEL_EXTENSION: CompatLevel
+
+class CarlaWeather(_message.Message):
+    __slots__ = ("cloudiness", "precipitation", "precipitation_deposits", "wind_intensity", "sun_azimuth_angle", "sun_altitude_angle", "fog_density", "wetness")
+    CLOUDINESS_FIELD_NUMBER: _ClassVar[int]
+    PRECIPITATION_FIELD_NUMBER: _ClassVar[int]
+    PRECIPITATION_DEPOSITS_FIELD_NUMBER: _ClassVar[int]
+    WIND_INTENSITY_FIELD_NUMBER: _ClassVar[int]
+    SUN_AZIMUTH_ANGLE_FIELD_NUMBER: _ClassVar[int]
+    SUN_ALTITUDE_ANGLE_FIELD_NUMBER: _ClassVar[int]
+    FOG_DENSITY_FIELD_NUMBER: _ClassVar[int]
+    WETNESS_FIELD_NUMBER: _ClassVar[int]
+    cloudiness: float
+    precipitation: float
+    precipitation_deposits: float
+    wind_intensity: float
+    sun_azimuth_angle: float
+    sun_altitude_angle: float
+    fog_density: float
+    wetness: float
+    def __init__(self, cloudiness: _Optional[float] = ..., precipitation: _Optional[float] = ..., precipitation_deposits: _Optional[float] = ..., wind_intensity: _Optional[float] = ..., sun_azimuth_angle: _Optional[float] = ..., sun_altitude_angle: _Optional[float] = ..., fog_density: _Optional[float] = ..., wetness: _Optional[float] = ...) -> None: ...
+
+class CarlaActorState(_message.Message):
+    __slots__ = ("track_id", "type_id", "pose_local_to_aabb", "aabb", "dynamic_state")
+    TRACK_ID_FIELD_NUMBER: _ClassVar[int]
+    TYPE_ID_FIELD_NUMBER: _ClassVar[int]
+    POSE_LOCAL_TO_AABB_FIELD_NUMBER: _ClassVar[int]
+    AABB_FIELD_NUMBER: _ClassVar[int]
+    DYNAMIC_STATE_FIELD_NUMBER: _ClassVar[int]
+    track_id: str
+    type_id: str
+    pose_local_to_aabb: _common_pb2.Pose
+    aabb: _common_pb2.AABB
+    dynamic_state: _common_pb2.DynamicState
+    def __init__(self, track_id: _Optional[str] = ..., type_id: _Optional[str] = ..., pose_local_to_aabb: _Optional[_Union[_common_pb2.Pose, _Mapping]] = ..., aabb: _Optional[_Union[_common_pb2.AABB, _Mapping]] = ..., dynamic_state: _Optional[_Union[_common_pb2.DynamicState, _Mapping]] = ...) -> None: ...
+
+class CarlaRendererData(_message.Message):
+    __slots__ = ("snapshot_timestamp_us", "frame_id", "map_name", "weather", "ego_traffic_light", "ego_traffic_light_distance_m", "speed_limit_mps", "actors", "lidar", "map_id", "traffic_lights")
+    SNAPSHOT_TIMESTAMP_US_FIELD_NUMBER: _ClassVar[int]
+    FRAME_ID_FIELD_NUMBER: _ClassVar[int]
+    MAP_NAME_FIELD_NUMBER: _ClassVar[int]
+    WEATHER_FIELD_NUMBER: _ClassVar[int]
+    EGO_TRAFFIC_LIGHT_FIELD_NUMBER: _ClassVar[int]
+    EGO_TRAFFIC_LIGHT_DISTANCE_M_FIELD_NUMBER: _ClassVar[int]
+    SPEED_LIMIT_MPS_FIELD_NUMBER: _ClassVar[int]
+    ACTORS_FIELD_NUMBER: _ClassVar[int]
+    LIDAR_FIELD_NUMBER: _ClassVar[int]
+    MAP_ID_FIELD_NUMBER: _ClassVar[int]
+    TRAFFIC_LIGHTS_FIELD_NUMBER: _ClassVar[int]
+    snapshot_timestamp_us: int
+    frame_id: int
+    map_name: str
+    weather: CarlaWeather
+    ego_traffic_light: TrafficLightState
+    ego_traffic_light_distance_m: float
+    speed_limit_mps: float
+    actors: _containers.RepeatedCompositeFieldContainer[CarlaActorState]
+    lidar: _containers.RepeatedCompositeFieldContainer[LidarSweep]
+    map_id: str
+    traffic_lights: _containers.RepeatedCompositeFieldContainer[TrafficLight]
+    def __init__(self, snapshot_timestamp_us: _Optional[int] = ..., frame_id: _Optional[int] = ..., map_name: _Optional[str] = ..., weather: _Optional[_Union[CarlaWeather, _Mapping]] = ..., ego_traffic_light: _Optional[_Union[TrafficLightState, str]] = ..., ego_traffic_light_distance_m: _Optional[float] = ..., speed_limit_mps: _Optional[float] = ..., actors: _Optional[_Iterable[_Union[CarlaActorState, _Mapping]]] = ..., lidar: _Optional[_Iterable[_Union[LidarSweep, _Mapping]]] = ..., map_id: _Optional[str] = ..., traffic_lights: _Optional[_Iterable[_Union[TrafficLight, _Mapping]]] = ...) -> None: ...
+
+class TrafficLight(_message.Message):
+    __slots__ = ("opendrive_id", "state", "stop_points")
+    OPENDRIVE_ID_FIELD_NUMBER: _ClassVar[int]
+    STATE_FIELD_NUMBER: _ClassVar[int]
+    STOP_POINTS_FIELD_NUMBER: _ClassVar[int]
+    opendrive_id: str
+    state: TrafficLightState
+    stop_points: _containers.RepeatedCompositeFieldContainer[StopPoint]
+    def __init__(self, opendrive_id: _Optional[str] = ..., state: _Optional[_Union[TrafficLightState, str]] = ..., stop_points: _Optional[_Iterable[_Union[StopPoint, _Mapping]]] = ...) -> None: ...
+
+class StopPoint(_message.Message):
+    __slots__ = ("road_id", "section_id", "lane_id", "position_local")
+    ROAD_ID_FIELD_NUMBER: _ClassVar[int]
+    SECTION_ID_FIELD_NUMBER: _ClassVar[int]
+    LANE_ID_FIELD_NUMBER: _ClassVar[int]
+    POSITION_LOCAL_FIELD_NUMBER: _ClassVar[int]
+    road_id: int
+    section_id: int
+    lane_id: int
+    position_local: _common_pb2.Vec3
+    def __init__(self, road_id: _Optional[int] = ..., section_id: _Optional[int] = ..., lane_id: _Optional[int] = ..., position_local: _Optional[_Union[_common_pb2.Vec3, _Mapping]] = ...) -> None: ...
+
+class LidarSweep(_message.Message):
+    __slots__ = ("logical_id", "timestamp_us", "rig_to_lidar", "num_points", "points_xyzi")
+    LOGICAL_ID_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_US_FIELD_NUMBER: _ClassVar[int]
+    RIG_TO_LIDAR_FIELD_NUMBER: _ClassVar[int]
+    NUM_POINTS_FIELD_NUMBER: _ClassVar[int]
+    POINTS_XYZI_FIELD_NUMBER: _ClassVar[int]
+    logical_id: str
+    timestamp_us: int
+    rig_to_lidar: _common_pb2.Pose
+    num_points: int
+    points_xyzi: bytes
+    def __init__(self, logical_id: _Optional[str] = ..., timestamp_us: _Optional[int] = ..., rig_to_lidar: _Optional[_Union[_common_pb2.Pose, _Mapping]] = ..., num_points: _Optional[int] = ..., points_xyzi: _Optional[bytes] = ...) -> None: ...
+
+class CarlaDriveDebugInfo(_message.Message):
+    __slots__ = ("policy_name", "inference_seconds", "scalars")
+    class ScalarsEntry(_message.Message):
+        __slots__ = ("key", "value")
+        KEY_FIELD_NUMBER: _ClassVar[int]
+        VALUE_FIELD_NUMBER: _ClassVar[int]
+        key: str
+        value: float
+        def __init__(self, key: _Optional[str] = ..., value: _Optional[float] = ...) -> None: ...
+    POLICY_NAME_FIELD_NUMBER: _ClassVar[int]
+    INFERENCE_SECONDS_FIELD_NUMBER: _ClassVar[int]
+    SCALARS_FIELD_NUMBER: _ClassVar[int]
+    policy_name: str
+    inference_seconds: float
+    scalars: _containers.ScalarMap[str, float]
+    def __init__(self, policy_name: _Optional[str] = ..., inference_seconds: _Optional[float] = ..., scalars: _Optional[_Mapping[str, float]] = ...) -> None: ...
+
+class CarlaDriveSessionInfo(_message.Message):
+    __slots__ = ("base", "map_name", "scenario_name", "fixed_delta_us", "policy_timestep_us", "rear_axle_offset_m", "cameras")
+    BASE_FIELD_NUMBER: _ClassVar[int]
+    MAP_NAME_FIELD_NUMBER: _ClassVar[int]
+    SCENARIO_NAME_FIELD_NUMBER: _ClassVar[int]
+    FIXED_DELTA_US_FIELD_NUMBER: _ClassVar[int]
+    POLICY_TIMESTEP_US_FIELD_NUMBER: _ClassVar[int]
+    REAR_AXLE_OFFSET_M_FIELD_NUMBER: _ClassVar[int]
+    CAMERAS_FIELD_NUMBER: _ClassVar[int]
+    base: _egodriver_pb2.DriveSessionRequest
+    map_name: str
+    scenario_name: str
+    fixed_delta_us: int
+    policy_timestep_us: int
+    rear_axle_offset_m: float
+    cameras: _containers.RepeatedCompositeFieldContainer[_sensorsim_pb2.AvailableCamerasReturn.AvailableCamera]
+    def __init__(self, base: _Optional[_Union[_egodriver_pb2.DriveSessionRequest, _Mapping]] = ..., map_name: _Optional[str] = ..., scenario_name: _Optional[str] = ..., fixed_delta_us: _Optional[int] = ..., policy_timestep_us: _Optional[int] = ..., rear_axle_offset_m: _Optional[float] = ..., cameras: _Optional[_Iterable[_Union[_sensorsim_pb2.AvailableCamerasReturn.AvailableCamera, _Mapping]]] = ...) -> None: ...
+
+class CompatEntry(_message.Message):
+    __slots__ = ("area", "alpasim_behaviour", "carla_behaviour", "level", "symbols")
+    AREA_FIELD_NUMBER: _ClassVar[int]
+    ALPASIM_BEHAVIOUR_FIELD_NUMBER: _ClassVar[int]
+    CARLA_BEHAVIOUR_FIELD_NUMBER: _ClassVar[int]
+    LEVEL_FIELD_NUMBER: _ClassVar[int]
+    SYMBOLS_FIELD_NUMBER: _ClassVar[int]
+    area: str
+    alpasim_behaviour: str
+    carla_behaviour: str
+    level: CompatLevel
+    symbols: _containers.RepeatedScalarFieldContainer[str]
+    def __init__(self, area: _Optional[str] = ..., alpasim_behaviour: _Optional[str] = ..., carla_behaviour: _Optional[str] = ..., level: _Optional[_Union[CompatLevel, str]] = ..., symbols: _Optional[_Iterable[str]] = ...) -> None: ...
+
+class CarlaCompatReport(_message.Message):
+    __slots__ = ("carla_driver_interface_version", "alpasim_grpc_rev", "alpasim_grpc_api_version", "entries")
+    CARLA_DRIVER_INTERFACE_VERSION_FIELD_NUMBER: _ClassVar[int]
+    ALPASIM_GRPC_REV_FIELD_NUMBER: _ClassVar[int]
+    ALPASIM_GRPC_API_VERSION_FIELD_NUMBER: _ClassVar[int]
+    ENTRIES_FIELD_NUMBER: _ClassVar[int]
+    carla_driver_interface_version: str
+    alpasim_grpc_rev: str
+    alpasim_grpc_api_version: _common_pb2.VersionId.APIVersion
+    entries: _containers.RepeatedCompositeFieldContainer[CompatEntry]
+    def __init__(self, carla_driver_interface_version: _Optional[str] = ..., alpasim_grpc_rev: _Optional[str] = ..., alpasim_grpc_api_version: _Optional[_Union[_common_pb2.VersionId.APIVersion, _Mapping]] = ..., entries: _Optional[_Iterable[_Union[CompatEntry, _Mapping]]] = ...) -> None: ...

carla_driver_interface/_proto/common_pb2.py

@@ -0,0 +1,56 @@
+# Generated by scripts/compile_protos.py -- do not edit.
+#
+# Sources: NVlabs/alpasim@6870924 and
+#          hakuturu583/carla_driver_interface@af1dcd3 (both Apache-2.0)
+# Regenerate with: uv run python scripts/compile_protos.py
+
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: alpasim_grpc/v0/common.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1c\x61lpasim_grpc/v0/common.proto\x12\x06\x63ommon\"\x07\n\x05\x45mpty\"2\n\x04Quat\x12\t\n\x01w\x18\x01 \x01(\x02\x12\t\n\x01x\x18\x02 \x01(\x02\x12\t\n\x01y\x18\x03 \x01(\x02\x12\t\n\x01z\x18\x04 \x01(\x02\"\'\n\x04Vec3\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"=\n\x04Pose\x12\x19\n\x03vec\x18\x01 \x01(\x0b\x32\x0c.common.Vec3\x12\x1a\n\x04quat\x18\x02 \x01(\x0b\x32\x0c.common.Quat\"\xb4\x01\n\x0c\x44ynamicState\x12&\n\x10\x61ngular_velocity\x18\x01 \x01(\x0b\x32\x0c.common.Vec3\x12%\n\x0flinear_velocity\x18\x02 \x01(\x0b\x32\x0c.common.Vec3\x12)\n\x13linear_acceleration\x18\x03 \x01(\x0b\x32\x0c.common.Vec3\x12*\n\x14\x61ngular_acceleration\x18\x04 \x01(\x0b\x32\x0c.common.Vec3\"6\n\x04\x41\x41\x42\x42\x12\x0e\n\x06size_x\x18\x01 \x01(\x02\x12\x0e\n\x06size_y\x18\x02 \x01(\x02\x12\x0e\n\x06size_z\x18\x03 \x01(\x02\">\n\nPoseAtTime\x12\x1a\n\x04pose\x18\x01 \x01(\x0b\x32\x0c.common.Pose\x12\x14\n\x0ctimestamp_us\x18\x02 \x01(\x06\"d\n\x0bStateAtTime\x12\x14\n\x0ctimestamp_us\x18\x01 \x01(\x06\x12\x1a\n\x04pose\x18\x02 \x01(\x0b\x32\x0c.common.Pose\x12#\n\x05state\x18\x03 \x01(\x0b\x32\x14.common.DynamicState\"/\n\nTrajectory\x12!\n\x05poses\x18\x01 \x03(\x0b\x32\x12.common.PoseAtTime\"\xa4\x01\n\tVersionId\x12\x12\n\nversion_id\x18\x01 \x01(\t\x12\x10\n\x08git_hash\x18\x02 \x01(\t\x12\x36\n\x10grpc_api_version\x18\x03 \x01(\x0b\x32\x1c.common.VersionId.APIVersion\x1a\x39\n\nAPIVersion\x12\r\n\x05major\x18\x01 \x01(\r\x12\r\n\x05minor\x18\x02 \x01(\r\x12\r\n\x05patch\x18\x03 \x01(\r\"\x16\n\x14SessionRequestStatus\"*\n\x15\x41vailableScenesReturn\x12\x11\n\tscene_ids\x18\x01 \x03(\tb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'alpasim_grpc.v0.common_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_EMPTY']._serialized_start=40
+  _globals['_EMPTY']._serialized_end=47
+  _globals['_QUAT']._serialized_start=49
+  _globals['_QUAT']._serialized_end=99
+  _globals['_VEC3']._serialized_start=101
+  _globals['_VEC3']._serialized_end=140
+  _globals['_POSE']._serialized_start=142
+  _globals['_POSE']._serialized_end=203
+  _globals['_DYNAMICSTATE']._serialized_start=206
+  _globals['_DYNAMICSTATE']._serialized_end=386
+  _globals['_AABB']._serialized_start=388
+  _globals['_AABB']._serialized_end=442
+  _globals['_POSEATTIME']._serialized_start=444
+  _globals['_POSEATTIME']._serialized_end=506
+  _globals['_STATEATTIME']._serialized_start=508
+  _globals['_STATEATTIME']._serialized_end=608
+  _globals['_TRAJECTORY']._serialized_start=610
+  _globals['_TRAJECTORY']._serialized_end=657
+  _globals['_VERSIONID']._serialized_start=660
+  _globals['_VERSIONID']._serialized_end=824
+  _globals['_VERSIONID_APIVERSION']._serialized_start=767
+  _globals['_VERSIONID_APIVERSION']._serialized_end=824
+  _globals['_SESSIONREQUESTSTATUS']._serialized_start=826
+  _globals['_SESSIONREQUESTSTATUS']._serialized_end=848
+  _globals['_AVAILABLESCENESRETURN']._serialized_start=850
+  _globals['_AVAILABLESCENESRETURN']._serialized_end=892
+# @@protoc_insertion_point(module_scope)

carla_driver_interface/_proto/common_pb2.pyi

@@ -0,0 +1,121 @@
+# # Generated by scripts/compile_protos.py -- do not edit.
+# #
+# # Sources: NVlabs/alpasim@6870924 and
+# #          hakuturu583/carla_driver_interface@af1dcd3 (both Apache-2.0)
+# # Regenerate with: uv run python scripts/compile_protos.py
+
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Iterable as _Iterable, Mapping as _Mapping, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class Empty(_message.Message):
+    __slots__ = ()
+    def __init__(self) -> None: ...
+
+class Quat(_message.Message):
+    __slots__ = ("w", "x", "y", "z")
+    W_FIELD_NUMBER: _ClassVar[int]
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    w: float
+    x: float
+    y: float
+    z: float
+    def __init__(self, w: _Optional[float] = ..., x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ...) -> None: ...
+
+class Vec3(_message.Message):
+    __slots__ = ("x", "y", "z")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    z: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ...) -> None: ...
+
+class Pose(_message.Message):
+    __slots__ = ("vec", "quat")
+    VEC_FIELD_NUMBER: _ClassVar[int]
+    QUAT_FIELD_NUMBER: _ClassVar[int]
+    vec: Vec3
+    quat: Quat
+    def __init__(self, vec: _Optional[_Union[Vec3, _Mapping]] = ..., quat: _Optional[_Union[Quat, _Mapping]] = ...) -> None: ...
+
+class DynamicState(_message.Message):
+    __slots__ = ("angular_velocity", "linear_velocity", "linear_acceleration", "angular_acceleration")
+    ANGULAR_VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    LINEAR_VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    LINEAR_ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+    ANGULAR_ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+    angular_velocity: Vec3
+    linear_velocity: Vec3
+    linear_acceleration: Vec3
+    angular_acceleration: Vec3
+    def __init__(self, angular_velocity: _Optional[_Union[Vec3, _Mapping]] = ..., linear_velocity: _Optional[_Union[Vec3, _Mapping]] = ..., linear_acceleration: _Optional[_Union[Vec3, _Mapping]] = ..., angular_acceleration: _Optional[_Union[Vec3, _Mapping]] = ...) -> None: ...
+
+class AABB(_message.Message):
+    __slots__ = ("size_x", "size_y", "size_z")
+    SIZE_X_FIELD_NUMBER: _ClassVar[int]
+    SIZE_Y_FIELD_NUMBER: _ClassVar[int]
+    SIZE_Z_FIELD_NUMBER: _ClassVar[int]
+    size_x: float
+    size_y: float
+    size_z: float
+    def __init__(self, size_x: _Optional[float] = ..., size_y: _Optional[float] = ..., size_z: _Optional[float] = ...) -> None: ...
+
+class PoseAtTime(_message.Message):
+    __slots__ = ("pose", "timestamp_us")
+    POSE_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_US_FIELD_NUMBER: _ClassVar[int]
+    pose: Pose
+    timestamp_us: int
+    def __init__(self, pose: _Optional[_Union[Pose, _Mapping]] = ..., timestamp_us: _Optional[int] = ...) -> None: ...
+
+class StateAtTime(_message.Message):
+    __slots__ = ("timestamp_us", "pose", "state")
+    TIMESTAMP_US_FIELD_NUMBER: _ClassVar[int]
+    POSE_FIELD_NUMBER: _ClassVar[int]
+    STATE_FIELD_NUMBER: _ClassVar[int]
+    timestamp_us: int
+    pose: Pose
+    state: DynamicState
+    def __init__(self, timestamp_us: _Optional[int] = ..., pose: _Optional[_Union[Pose, _Mapping]] = ..., state: _Optional[_Union[DynamicState, _Mapping]] = ...) -> None: ...
+
+class Trajectory(_message.Message):
+    __slots__ = ("poses",)
+    POSES_FIELD_NUMBER: _ClassVar[int]
+    poses: _containers.RepeatedCompositeFieldContainer[PoseAtTime]
+    def __init__(self, poses: _Optional[_Iterable[_Union[PoseAtTime, _Mapping]]] = ...) -> None: ...
+
+class VersionId(_message.Message):
+    __slots__ = ("version_id", "git_hash", "grpc_api_version")
+    class APIVersion(_message.Message):
+        __slots__ = ("major", "minor", "patch")
+        MAJOR_FIELD_NUMBER: _ClassVar[int]
+        MINOR_FIELD_NUMBER: _ClassVar[int]
+        PATCH_FIELD_NUMBER: _ClassVar[int]
+        major: int
+        minor: int
+        patch: int
+        def __init__(self, major: _Optional[int] = ..., minor: _Optional[int] = ..., patch: _Optional[int] = ...) -> None: ...
+    VERSION_ID_FIELD_NUMBER: _ClassVar[int]
+    GIT_HASH_FIELD_NUMBER: _ClassVar[int]
+    GRPC_API_VERSION_FIELD_NUMBER: _ClassVar[int]
+    version_id: str
+    git_hash: str
+    grpc_api_version: VersionId.APIVersion
+    def __init__(self, version_id: _Optional[str] = ..., git_hash: _Optional[str] = ..., grpc_api_version: _Optional[_Union[VersionId.APIVersion, _Mapping]] = ...) -> None: ...
+
+class SessionRequestStatus(_message.Message):
+    __slots__ = ()
+    def __init__(self) -> None: ...
+
+class AvailableScenesReturn(_message.Message):
+    __slots__ = ("scene_ids",)
+    SCENE_IDS_FIELD_NUMBER: _ClassVar[int]
+    scene_ids: _containers.RepeatedScalarFieldContainer[str]
+    def __init__(self, scene_ids: _Optional[_Iterable[str]] = ...) -> None: ...

carla_driver_interface/_proto/egodriver_pb2.py

@@ -0,0 +1,66 @@
+# Generated by scripts/compile_protos.py -- do not edit.
+#
+# Sources: NVlabs/alpasim@6870924 and
+#          hakuturu583/carla_driver_interface@af1dcd3 (both Apache-2.0)
+# Regenerate with: uv run python scripts/compile_protos.py
+
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: alpasim_grpc/v0/egodriver.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from . import common_pb2 as alpasim__grpc_dot_v0_dot_common__pb2
+from . import sensorsim_pb2 as alpasim__grpc_dot_v0_dot_sensorsim__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1f\x61lpasim_grpc/v0/egodriver.proto\x12\tegodriver\x1a\x1c\x61lpasim_grpc/v0/common.proto\x1a\x1f\x61lpasim_grpc/v0/sensorsim.proto\">\n\x05Route\x12\x14\n\x0ctimestamp_us\x18\x02 \x01(\x06\x12\x1f\n\twaypoints\x18\x01 \x03(\x0b\x32\x0c.common.Vec3\"K\n\x0bGroundTruth\x12\x14\n\x0ctimestamp_us\x18\x02 \x01(\x06\x12&\n\ntrajectory\x18\x01 \x01(\x0b\x32\x12.common.Trajectory\"\xc5\x03\n\x13\x44riveSessionRequest\x12\x14\n\x0csession_uuid\x18\x01 \x01(\t\x12\x13\n\x0brandom_seed\x18\x02 \x01(\x06\x12\x41\n\ndebug_info\x18\x04 \x01(\x0b\x32(.egodriver.DriveSessionRequest.DebugInfoH\x00\x88\x01\x01\x12@\n\x0crollout_spec\x18\x05 \x01(\x0b\x32*.egodriver.DriveSessionRequest.RolloutSpec\x1a\xcf\x01\n\x0bRolloutSpec\x12M\n\x07vehicle\x18\x01 \x01(\x0b\x32<.egodriver.DriveSessionRequest.RolloutSpec.VehicleDefinition\x1aq\n\x11VehicleDefinition\x12\\\n\x11\x61vailable_cameras\x18\x03 \x03(\x0b\x32\x41.nre.grpc.protos.sensorsim.AvailableCamerasReturn.AvailableCamera\x1a\x1d\n\tDebugInfo\x12\x10\n\x08scene_id\x18\x01 \x01(\tB\r\n\x0b_debug_info\"0\n\x18\x44riveSessionCloseRequest\x12\x14\n\x0csession_uuid\x18\x01 \x01(\t\"\xd1\x01\n\x12RolloutCameraImage\x12\x14\n\x0csession_uuid\x18\x01 \x01(\t\x12?\n\x0c\x63\x61mera_image\x18\x03 \x01(\x0b\x32).egodriver.RolloutCameraImage.CameraImage\x1a\x64\n\x0b\x43\x61meraImage\x12\x16\n\x0e\x66rame_start_us\x18\x02 \x01(\x06\x12\x14\n\x0c\x66rame_end_us\x18\x03 \x01(\x06\x12\x13\n\x0bimage_bytes\x18\x04 \x01(\x0c\x12\x12\n\nlogical_id\x18\x05 \x01(\t\"\x82\x01\n\x14RolloutEgoTrajectory\x12\x14\n\x0csession_uuid\x18\x01 \x01(\t\x12&\n\ntrajectory\x18\x03 \x01(\x0b\x32\x12.common.Trajectory\x12,\n\x0e\x64ynamic_states\x18\x05 \x03(\x0b\x32\x14.common.DynamicState\"E\n\x0cRouteRequest\x12\x14\n\x0csession_uuid\x18\x01 \x01(\t\x12\x1f\n\x05route\x18\x03 \x01(\x0b\x32\x10.egodriver.Route\"X\n\x12GroundTruthRequest\x12\x14\n\x0csession_uuid\x18\x01 \x01(\t\x12,\n\x0cground_truth\x18\x02 \x01(\x0b\x32\x16.egodriver.GroundTruth\"\xaa\x01\n\x0c\x44riveRequest\x12\x14\n\x0csession_uuid\x18\x01 \x01(\t\x12\x13\n\x0btime_now_us\x18\x03 \x01(\x06\x12\x15\n\rtime_query_us\x18\x04 \x01(\x06\x12\x15\n\rrenderer_data\x18\x05 \x01(\x0c\x1a\x41\n\x13RolloutDriveRequest\x12\x13\n\x0btime_now_us\x18\x01 \x01(\x06\x12\x15\n\rtime_query_us\x18\x02 \x01(\x06\"\xea\x01\n\rDriveResponse\x12&\n\ntrajectory\x18\x02 \x01(\x0b\x32\x12.common.Trajectory\x12\x36\n\ndebug_info\x18\x03 \x01(\x0b\x32\".egodriver.DriveResponse.DebugInfo\x12\x19\n\x11terminate_session\x18\x04 \x01(\x08\x1a^\n\tDebugInfo\x12\x1f\n\x17unstructured_debug_info\x18\x01 \x01(\x0c\x12\x30\n\x14sampled_trajectories\x18\x02 \x03(\x0b\x32\x12.common.Trajectory2\xb4\x04\n\x10\x45godriverService\x12M\n\rstart_session\x12\x1e.egodriver.DriveSessionRequest\x1a\x1c.common.SessionRequestStatus\x12\x43\n\rclose_session\x12#.egodriver.DriveSessionCloseRequest\x1a\r.common.Empty\x12H\n\x18submit_image_observation\x12\x1d.egodriver.RolloutCameraImage\x1a\r.common.Empty\x12N\n\x1csubmit_egomotion_observation\x12\x1f.egodriver.RolloutEgoTrajectory\x1a\r.common.Empty\x12\x36\n\x0csubmit_route\x12\x17.egodriver.RouteRequest\x1a\r.common.Empty\x12M\n\x1dsubmit_recording_ground_truth\x12\x1d.egodriver.GroundTruthRequest\x1a\r.common.Empty\x12:\n\x05\x64rive\x12\x17.egodriver.DriveRequest\x1a\x18.egodriver.DriveResponse\x12/\n\x0bget_version\x12\r.common.Empty\x1a\x11.common.VersionIdb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'alpasim_grpc.v0.egodriver_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_ROUTE']._serialized_start=109
+  _globals['_ROUTE']._serialized_end=171
+  _globals['_GROUNDTRUTH']._serialized_start=173
+  _globals['_GROUNDTRUTH']._serialized_end=248
+  _globals['_DRIVESESSIONREQUEST']._serialized_start=251
+  _globals['_DRIVESESSIONREQUEST']._serialized_end=704
+  _globals['_DRIVESESSIONREQUEST_ROLLOUTSPEC']._serialized_start=451
+  _globals['_DRIVESESSIONREQUEST_ROLLOUTSPEC']._serialized_end=658
+  _globals['_DRIVESESSIONREQUEST_ROLLOUTSPEC_VEHICLEDEFINITION']._serialized_start=545
+  _globals['_DRIVESESSIONREQUEST_ROLLOUTSPEC_VEHICLEDEFINITION']._serialized_end=658
+  _globals['_DRIVESESSIONREQUEST_DEBUGINFO']._serialized_start=660
+  _globals['_DRIVESESSIONREQUEST_DEBUGINFO']._serialized_end=689
+  _globals['_DRIVESESSIONCLOSEREQUEST']._serialized_start=706
+  _globals['_DRIVESESSIONCLOSEREQUEST']._serialized_end=754
+  _globals['_ROLLOUTCAMERAIMAGE']._serialized_start=757
+  _globals['_ROLLOUTCAMERAIMAGE']._serialized_end=966
+  _globals['_ROLLOUTCAMERAIMAGE_CAMERAIMAGE']._serialized_start=866
+  _globals['_ROLLOUTCAMERAIMAGE_CAMERAIMAGE']._serialized_end=966
+  _globals['_ROLLOUTEGOTRAJECTORY']._serialized_start=969
+  _globals['_ROLLOUTEGOTRAJECTORY']._serialized_end=1099
+  _globals['_ROUTEREQUEST']._serialized_start=1101
+  _globals['_ROUTEREQUEST']._serialized_end=1170
+  _globals['_GROUNDTRUTHREQUEST']._serialized_start=1172
+  _globals['_GROUNDTRUTHREQUEST']._serialized_end=1260
+  _globals['_DRIVEREQUEST']._serialized_start=1263
+  _globals['_DRIVEREQUEST']._serialized_end=1433
+  _globals['_DRIVEREQUEST_ROLLOUTDRIVEREQUEST']._serialized_start=1368
+  _globals['_DRIVEREQUEST_ROLLOUTDRIVEREQUEST']._serialized_end=1433
+  _globals['_DRIVERESPONSE']._serialized_start=1436
+  _globals['_DRIVERESPONSE']._serialized_end=1670
+  _globals['_DRIVERESPONSE_DEBUGINFO']._serialized_start=1576
+  _globals['_DRIVERESPONSE_DEBUGINFO']._serialized_end=1670
+  _globals['_EGODRIVERSERVICE']._serialized_start=1673
+  _globals['_EGODRIVERSERVICE']._serialized_end=2237
+# @@protoc_insertion_point(module_scope)