syntax="proto3"; package RemoNet; enum CSMessage { CS_NONE=0; CS_Sign=2000; CS_Req=2001; CS_Rep=2002; CS_CancelReq=2003; CS_Offer=2004; CS_Answer=2005; CS_Candidate=2006; CS_Leave=2007; CS_KeepAlive=2008; CS_Add=2009; CS_Robot=2010; CS_CloseVideo=2011; CS_MoveBegin=2012; CS_MoveEnd=2013; CS_State=2014; CS_SwitchDriver=2015; CS_MoveRet=2016; CS_SyncTime=2017; }; enum SCMessage { SC_NONE=0; SC_Sign=4000; SC_Req=4001; SC_Rep=4002; SC_Cancel=4003; SC_Offer=4004; SC_Answer=4005; SC_Candidate=4006; SC_Add =4007; SC_Robot=4008; SC_NotifyReq=4009; SC_NotifyRep=4010; SC_NotifyAnswer=4011; SC_NotifyOffer=4012; SC_NotifyCandidate=4013; SC_NotifyLeave=4014; SC_NotifyCancel=4015; SC_NotifyAdd=4016; SC_NotifyDel=4017; SC_NotifyCloseVideo=4018; SC_KickOff=4019; SC_MoveBegin=4020; SC_MoveEnd=4021; SC_State=4022; SC_SwitchDriver=4023; SC_MoveRet=4024; SC_NotifyState=4025; SC_SyncTime=4026; }; enum CCMessage { CC_None=0; CC_Text=8000; CC_CAN=8001; CC_IMU=8002; CC_ASKDATACHANNEL=8003; CC_Manipulation=8004; CC_Radar=8005; CC_Switch=8006; CC_Ping=8007; CC_SensorStop=8008; CC_StopACK=8009; CC_Lidar=8010; CC_CANMSG=8011; CC_STATE=8012; CC_NDTPOS=8013; }; enum VideoDesc { OK=0; Busy=1; Reject=2; NoFound=3; IsVideoing=4; }; message SwitchDriver { int32 peer=1; }; message NDTPos { float x =1; float y =2; float z =3; float rx =4; float ry =5; float rz =6; float rw =7; }; message CSMoveBegin { int32 peer=1; int32 area=2; int32 no=3; }; enum MoveDesc { Move_OK=0; Move_Encode_Fail=1; Move_Unknow_Faile=2; }; message MoveRet { MoveDesc desc=1; int32 peer=2; }; message CSMoveEnd { int32 area=1; int32 no=2; int32 uid=3; }; message SCMoveBegin { int32 uid=1; int32 area=2; int32 no=3; float x=4; float y=5; }; message SCMoveEnd { int32 area=1; int32 no=2; int32 uid=3; }; message CSAdd { string serial=1; int32 type=2; string name=3; int32 car=4; }; message SCAdd { bool ret=1; int32 uid=2; string name=3; int32 car=4; }; message SCKickOff { }; enum UserState { Offline=0; Idle=1; Remote=2; Automotive=3; AskRemote=4; }; message CSState { UserState state=1; int32 uid=2; }; message SCState { UserState state=1; int32 uid=2; }; message Robot { int32 rid=1; string name=2; int32 type=3; UserState state=4; int32 carType=5; }; message CSRobot { }; message SCRobot { repeated Robot robot=1; }; message CSSign { string account=1; string password=2; }; message SCSign { bool ret=1; int32 uid=2; string name=3; }; message CSReq { int32 peer=1; int32 index=2; int32 egotype=3; }; message SCReq { VideoDesc desc=1; int32 peer=2; int32 egotype=3; }; message CSRep { VideoDesc desc=1; int32 peer=2; int32 index=3; int32 egotype=4; }; message SCRep { VideoDesc desc=1; int32 index=2; int32 egotype=3; int32 peer=4; }; message Offer { int32 index=1; int32 peer=2; string type=3; string sdp=4; }; message Answer { int32 index=1; int32 peer=2; string type=3; string sdp=4; }; message Candidate { int32 index=1; int32 peer=2; string type=3; string candidate=4; int32 sdpMLineIndex =5; string sdpMid =6; int32 egotype=7; }; message Leave { int32 peer=1; int32 egotype=2; }; message Close { int32 peer=1; int32 egotype=2; int32 index=3; }; message TestTextReq { string text=1; }; message SyncTime { int32 tm_sec =1; // seconds after the minute - [0, 60] including leap second int32 tm_min =2; // minutes after the hour - [0, 59] int32 tm_hour =3; // hours since midnight - [0, 23] int32 tm_mday =4; // day of the month - [1, 31] int32 tm_mon =5; // months since January - [0, 11] int32 tm_year =6; // years since 1900 int32 tm_wday =7; // days since Sunday - [0, 6] int32 tm_yday =8; // days since January 1 - [0, 365] int32 tm_isdst =9; // daylight savings time flag bool update_time=10; }; message CCAskDataChannel { }; message IMuMessage { float rx=1; float ry=2; // float rz=3; }; message CCPing { int64 tick=1; double temp=2; }; /* message radar_info { .. int32 index=1; int32 range=2; // int32 azimuth=3; // float verl=4; // int32 count=5; // int32 snr=6; } */ message radar_node { int32 id =1; int32 range=2; }; message CCRadarMessage { int32 radar0=1; int32 radar1=2; int32 radar2=3; int32 radar3=4; int32 radar4=5; int32 radar5=6; int32 radar6=7; int32 radar7=8; int32 radar8=9; }; message CCSensor { repeated radar_node node=1; int32 left_encode=2; int32 right_encode=3; }; message CCSwitch { bool front=1; }; message State { int32 work_pressure=1;//工作系统压力 int32 brake_pressure=2; //制动系统压力 int32 gearbox_oil_temp=3;//变速箱油温 int32 gearbox_oil_pressure=4; //变速箱油压 int32 engine_rpm=5;//发动机转速 int32 speed=6;//不知道？---可能是后加的传感器---驱动轮增量编码器 int32 gear=7; int32 engine_pressure=8;//发动机压力 int32 cold_water=9;//冷却液温度-发动机水温 float steer_angle=10;//转向角度（原来金川是轮子的现在大冶用铰链位置） 铰接转向姿态编码器 int32 left_lock=11;//切换为遥操，发送报文给下位机 int32 right_lock=12;//切换为人工，不发送报文给下位机 //大冶新加的 int32 engine_time=13;//发动机运行小时 int32 wire_sensor_l=14;//拉线传感器左侧 int32 wire_sensor_r=15;//拉线传感器右侧 int32 fuel_level = 16;//燃油油位 int32 lock_switch_l = 17;//锁钩到位开关左 int32 lock_switch_r = 18; //锁钩到位开关右 int32 tip_limit= 19;//倾翻限位 int32 turn_left=20;//左转 int32 turn_right=21;//右转 int32 hight_beam =22;//远光灯 int32 low_beam =23;//近光灯 int32 parking=24;//驻车 int32 brake=25;//刹车 int32 back_car=26;//倒车 int32 front_work_lamp=27;//前工作灯 int32 rear_work_lamp =28;//后工作灯 int32 cargo_weight =29;//渣包重量 int32 system_vol=30;//系统电压 bytes error_Buff = 31;//报警信息 int32 f_gear = 32;//1F，2R，3N int32 gear_1 =33;//1，2，3，4 int32 outgrigger_l = 34;//左支腿伸到位开关 int32 outgrigger_r = 35;//右支腿伸到位开关 int32 tip_pressure = 36;//倾翻压力开关 }; message LidarPoint { optional double timestamp = 1; optional uint32 seq = 2; optional string frame_id = 3; optional uint32 height=4; optional uint32 width=5; optional bool is_dense=6; optional bool is_left=7; repeated float data = 8; }; message SensorStop { }; message StopAck { }; /* message CCManipulation { bytes sensor=1; bytes car=2; }; */ message can_net_frame { sint32 dlc =1; int32 canid =2; bytes data=3; }; message CCCanMsg { repeated can_net_frame frams=1; }; message SCAddRobot { Robot robot=1; }; message SCDelRobot { int32 peer=1; int32 egotype=2; };