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@@ -1,471 +0,0 @@
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-syntax="proto3";
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-package RemoNet;
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-enum CSMessage
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-{
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-
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- CS_NONE=0;
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- CS_Sign=2000;
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- CS_Req=2001;
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- CS_Rep=2002;
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- CS_CancelReq=2003;
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- CS_Offer=2004;
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- CS_Answer=2005;
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- CS_Candidate=2006;
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- CS_Leave=2007;
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- CS_KeepAlive=2008;
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- CS_Add=2009;
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- CS_Robot=2010;
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- CS_CloseVideo=2011;
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- CS_MoveBegin=2012;
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- CS_MoveEnd=2013;
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- CS_State=2014;
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- CS_SwitchDriver=2015;
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- CS_MoveRet=2016;
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- CS_SyncTime=2017;
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-
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-};
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-enum SCMessage
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-{
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- SC_NONE=0;
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- SC_Sign=4000;
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- SC_Req=4001;
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-
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- SC_Rep=4002;
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- SC_Cancel=4003;
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- SC_Offer=4004;
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- SC_Answer=4005;
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- SC_Candidate=4006;
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- SC_Add =4007;
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- SC_Robot=4008;
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- SC_NotifyReq=4009;
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- SC_NotifyRep=4010;
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- SC_NotifyAnswer=4011;
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- SC_NotifyOffer=4012;
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- SC_NotifyCandidate=4013;
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- SC_NotifyLeave=4014;
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- SC_NotifyCancel=4015;
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- SC_NotifyAdd=4016;
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- SC_NotifyDel=4017;
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- SC_NotifyCloseVideo=4018;
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- SC_KickOff=4019;
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- SC_MoveBegin=4020;
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- SC_MoveEnd=4021;
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- SC_State=4022;
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- SC_SwitchDriver=4023;
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- SC_MoveRet=4024;
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- SC_NotifyState=4025;
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- SC_SyncTime=4026;
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-
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-
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-};
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-enum CCMessage
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-{
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- CC_None=0;
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- CC_Text=8000;
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- CC_CAN=8001;
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- CC_IMU=8002;
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- CC_ASKDATACHANNEL=8003;
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- CC_Manipulation=8004;
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- CC_Radar=8005;
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- CC_Switch=8006;
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- CC_Ping=8007;
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- CC_SensorStop=8008;
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- CC_StopACK=8009;
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- CC_Lidar=8010;
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- CC_CANMSG=8011;
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- CC_STATE=8012;
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- CC_NDTPOS=8013;
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-
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-
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-
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-};
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-enum VideoDesc
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-{
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- OK=0;
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- Busy=1;
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- Reject=2;
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- NoFound=3;
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- IsVideoing=4;
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-
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-};
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-message SwitchDriver
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-{
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-int32 peer=1;
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-};
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-message NDTPos
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-{
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- float x =1;
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- float y =2;
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- float z =3;
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- float rx =4;
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- float ry =5;
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- float rz =6;
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- float rw =7;
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-};
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-message CSMoveBegin
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-{
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-int32 peer=1;
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-int32 area=2;
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-int32 no=3;
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-};
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-enum MoveDesc
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-{
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- Move_OK=0;
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- Move_Encode_Fail=1;
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- Move_Unknow_Faile=2;
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-};
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-message MoveRet
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-{
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- MoveDesc desc=1;
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- int32 peer=2;
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-};
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-message CSMoveEnd
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-{
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- int32 area=1;
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- int32 no=2;
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- int32 uid=3;
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-};
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-message SCMoveBegin
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-{
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- int32 uid=1;
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- int32 area=2;
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- int32 no=3;
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- float x=4;
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- float y=5;
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-};
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-message SCMoveEnd
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-{
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- int32 area=1;
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- int32 no=2;
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- int32 uid=3;
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-};
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-message CSAdd
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-{
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- string serial=1;
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- int32 type=2;
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- string name=3;
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- int32 car=4;
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-
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-};
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-message SCAdd
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-{
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- bool ret=1;
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- int32 uid=2;
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-
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- string name=3;
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- int32 car=4;
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-};
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-message SCKickOff
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-{
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-};
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-enum UserState
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-{
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- Offline=0;
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- Idle=1;
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- Remote=2;
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- Automotive=3;
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- AskRemote=4;
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-};
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-
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-message CSState
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-{
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- UserState state=1;
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- int32 uid=2;
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-};
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-message SCState
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-{
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- UserState state=1;
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- int32 uid=2;
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-};
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-message Robot
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-{
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- int32 rid=1;
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- string name=2;
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- int32 type=3;
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- UserState state=4;
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- int32 carType=5;
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-
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-};
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-message CSRobot
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-{
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-};
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-message SCRobot
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-{
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- repeated Robot robot=1;
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-};
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-
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-message CSSign
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-{
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- string account=1;
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- string password=2;
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-
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-
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-};
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-message SCSign
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-{
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- bool ret=1;
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- int32 uid=2;
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- string name=3;
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-};
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-
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-
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-message CSReq
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-{
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- int32 peer=1;
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-
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- int32 index=2;
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- int32 egotype=3;
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-
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-};
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-message SCReq
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-{
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- VideoDesc desc=1;
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- int32 peer=2;
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- int32 egotype=3;
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-
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-};
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-message CSRep
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-{
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-
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- VideoDesc desc=1;
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- int32 peer=2;
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- int32 index=3;
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- int32 egotype=4;
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-};
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-message SCRep
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-{
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-
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- VideoDesc desc=1;
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- int32 index=2;
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- int32 egotype=3;
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- int32 peer=4;
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-
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-};
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-
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-message Offer
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-{
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- int32 index=1;
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- int32 peer=2;
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- string type=3;
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- string sdp=4;
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-
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-};
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-
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-message Answer
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-{
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- int32 index=1;
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- int32 peer=2;
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- string type=3;
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- string sdp=4;
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-
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-};
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-
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-message Candidate
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-{
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- int32 index=1;
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- int32 peer=2;
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- string type=3;
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- string candidate=4;
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- int32 sdpMLineIndex =5;
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- string sdpMid =6;
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- int32 egotype=7;
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-};
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-message Leave
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-{
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- int32 peer=1;
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- int32 egotype=2;
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-};
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- message Close
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-{
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-int32 peer=1;
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-int32 egotype=2;
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-int32 index=3;
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-};
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-
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-message TestTextReq
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-{
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- string text=1;
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-};
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-message SyncTime
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-{
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- int32 tm_sec =1; // seconds after the minute - [0, 60] including leap second
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- int32 tm_min =2; // minutes after the hour - [0, 59]
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- int32 tm_hour =3; // hours since midnight - [0, 23]
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- int32 tm_mday =4; // day of the month - [1, 31]
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- int32 tm_mon =5; // months since January - [0, 11]
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- int32 tm_year =6; // years since 1900
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-
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- int32 tm_wday =7; // days since Sunday - [0, 6]
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- int32 tm_yday =8; // days since January 1 - [0, 365]
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- int32 tm_isdst =9; // daylight savings time flag
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- bool update_time=10;
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-};
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-message CCAskDataChannel
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-{
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-
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-
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-};
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-
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-message IMuMessage
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-{
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-
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- float rx=1;
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- float ry=2;
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- // float rz=3;
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-};
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-
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-
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-message CCPing
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-{
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- int64 tick=1;
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- double temp=2;
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-};
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-/*
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-message radar_info
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-{
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- .. int32 index=1;
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- int32 range=2;
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- // int32 azimuth=3;
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- // float verl=4;
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- // int32 count=5;
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- // int32 snr=6;
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-}
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-*/
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-
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-message radar_node
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-{
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- int32 id =1;
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- int32 range=2;
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-};
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-message CCRadarMessage
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-{
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- int32 radar0=1;
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- int32 radar1=2;
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- int32 radar2=3;
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- int32 radar3=4;
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- int32 radar4=5;
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- int32 radar5=6;
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- int32 radar6=7;
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- int32 radar7=8;
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-};
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-message CCSensor
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-{
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- repeated radar_node node=1;
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- int32 left_encode=2;
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- int32 right_encode=3;
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-};
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-
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-message CCSwitch
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-{
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- bool front=1;
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-};
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-message State
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-{
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- /*
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- int32 work_pressure=1;//工作系统压力
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- int32 brake_pressure=2; //制动系统压力
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-
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- int32 gearbox_oil_temp=3;//变速箱油温
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- int32 gearbox_oil_pressure=4; //变速箱油压
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- int32 engine_rpm=5;//发动机转速
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- int32 speed=6;
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- // int32 gear=7;
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- int32 engine_pressure=8;
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- int32 cold_water=9;
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- int32 steer_angle=10;
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- int32 left_lock=11;
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- int32 right_lock=12;
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- */
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-
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- ///////////////////////////////////////////////////////状态参数
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- int32 engine_speed = 1;//发动机转速
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- int32 travel_speed = 2;//行驶速度
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- int32 fuel_level = 3;//燃油油位
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- int32 engine_temperature = 4;//发动机水温
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- int32 hydraulic_oil_temperature = 5;//液压油油温
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- int32 main_pump_1_pressure = 6;//主泵1压力
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- int32 main_pump_2_pressure = 7;//主泵2压力
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- int32 hand_gear = 8;//手挡挡位----改为水箱水位
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- int32 actual_gear = 9;//实际挡位----改为发动机机油压力
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- float gripper_height = 10;//抓具高度
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- float amplitude = 11;//幅度
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- int32 boom_angle = 12;//动臂角度
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- int32 stick_angle = 13;//斗杆角度
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- ///////////////////////////////////////////////////////报警信息
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- int32 idle_protection = 14;//怠速保护
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- int32 front_toggle = 15;//前轮对中-----新增的
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- int32 back_toggle = 16;//后轮对中-----新增的
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- bytes error_Buff = 17;//报警信息-----由原来的15改为17
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-
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- int32 interlock = 18;//启动联锁
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- int32 safety_switch = 19;//安全开关阀异常
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- int32 arm_lift_pilot = 20;//大臂提升先导比例阀异常
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- int32 arm_lowering_pilot = 21;//大臂下降先导比例阀异常
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- int32 lever_lifting_pilot = 22;//斗杆提升先导比例阀异常
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- int32 rod_lowering_pilot = 23;//斗杆下降先导比例阀异常
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- int32 left_rotary_pilot = 24;//左回转先导比例阀异常
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- int32 right_rotary_pilot = 25;//右回转先导比例阀异常
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- int32 grab_open_pilot = 26;//抓斗开启先导比例阀异常
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- int32 grab_close_pilot = 27;//抓斗闭合先导比例阀异常
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- int32 safety_valves = 28;//安全开关阀
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-
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- //增加 0x384
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- int32 function_code =29 ; //功能码
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- int32 main_add =30; //主地址
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- int32 sub_add =31; //次地址
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- int32 paramter=32 ; //参数值
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-
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- //增加0x28b
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- int32 engine_spn =33; //发动机实时故障SPN
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- int32 engine_fmi =34; //发动机实时故障FMI
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- int32 engine_num =35; //发动机故障次数
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-
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- //增加0x28f
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- bytes all_Buff =36;
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-
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-};
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-message LidarPoint
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-{
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- optional double timestamp = 1;
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- optional uint32 seq = 2;
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- optional string frame_id = 3;
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- optional uint32 height=4;
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- optional uint32 width=5;
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- optional bool is_dense=6;
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- optional bool is_left=7;
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- repeated float data = 8;
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-};
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-message SensorStop
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-{
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-};
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-message StopAck
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-{
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-};
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-/*
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-message CCManipulation
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-{
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- bytes sensor=1;
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- bytes car=2;
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-};
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-*/
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-message can_net_frame
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-{
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- sint32 dlc =1;
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- int32 canid =2;
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- bytes data=3;
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-};
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-message CCCanMsg
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-{
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- repeated can_net_frame frams=1;
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-};
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-
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-message SCAddRobot
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-{
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- Robot robot=1;
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-};
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-message SCDelRobot
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-{
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- int32 peer=1;
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- int32 egotype=2;
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-};
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-
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Casper