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_State=2014;
};
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_State=4022;
S2V_SendUserInfo=6011;
};
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_LIDARDATA=8010;
CC_CANMSG=8011;
CC_STATE=8012;
CC_RobotAnalog=8017;
CC_BootReq=8013;
CC_StartupReq=8014;
CC_BootRep=8015;
CC_StartupRep=8016;
// CC_FrontLight=8017;
// CC_Wiper=8018;
// CC_BackLight=8019;
};
enum VideoDesc
{
OK=0;
Busy=1;
Reject=2;
NoFound=3;
IsVideoing=4;
};
message CSAdd
{
string serial=1;
int32 type=2;
string name=3;
};
message SCAdd
{
bool ret=1;
int32 uid=2;
int32 cid=3;
string name=4;
};
message SCKickOff
{
};
message Robot
{
enum RobotState
{
Offline=0;
Online=1;
Busy=2;
};
int32 rid=1;
string name=2;
int32 type=3;
RobotState state=4;
};
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 CanMessage
{
int32 head=1;
int32 canid=2;
bytes data=3;
};
message CCCanMesage
{
bool islidar=1;
repeated CanMessage message=2;
};
message Wiper
{
bool ret=1;
};
message FrontLight
{
bool ret=1;
};
message BackLight
{
bool ret=1;
};
message CCAskDataChannel
{
};
message IMuMessage
{
float rx=1;
float ry=2;
// float rz=3;
};
message CCPing
{
int64 tick=1;
};
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;
};
enum Gears
{
Null=0; //todo 关键字占用，None改为Null
N=1;
D=2;
R=3;
};
//挂挡
enum Gears_D
{
None_d=0;
D_1=1;
D_2=2;
D_3=3;
D_4=4;
};
//左右转向灯
enum DirectionLight
{
RightLight=0;
LeftLight=1;
OffLight=2;
};
message CCRobotAnalog
{
int32 steer=1;
int32 arm=2; //举升臂
int32 bucket=3; //翻斗
int32 throttle=4; //油门
int32 brake=5; //刹车
// bool bootstrap=6; //钥匙一档上电
// bool startup=7; //钥匙二档启动
bool emergency=8; //急停
bool resume=9;// 急停反转
Gears gears=10;
bool frontlight=11;
bool backlight=12;
bool wipe=13;
DirectionLight directionlight=14;//左右转向灯
bool buzzer=15;//车鸣笛
Gears_D gears_d=16;//挂挡
};
message CCBootStrapReq
{
}
message CCBooStrapRep
{
bool ret=1;
}
message CCStartupReq
{
}
message CCStartupRep
{
bool ret=1;
}
message CCSwitch
{
bool front=1;
};
//todo 不支持optional
//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 SCAddRobot
{
Robot robot=1;
};
message SCDelRobot
{
int32 peer=1;
int32 egotype=2;
};
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;
int32 engine_pressure=8;
int32 cold_water=9;
int32 steer_angle=10;
int32 left_lock=11;
int32 right_lock=12;
*/
///////////////////////////////////////////////////////状态参数
int32 engine_speed = 1;//发动机转速
int32 travel_speed = 2;//行驶速度
int32 fuel_level = 3;//燃油油位
int32 engine_temperature = 4;//发动机水温
int32 hydraulic_oil_temperature = 5;//液压油油温
int32 main_pump_1_pressure = 6;//主泵1压力
int32 main_pump_2_pressure = 7;//主泵2压力
int32 hand_gear = 8;//水箱水位
int32 actual_gear = 9;//发动机机油压力
float gripper_height = 10;//抓具高度
float amplitude = 11;//幅度
int32 boom_angle = 12;//动臂角度
int32 stick_angle = 13;//斗杆角度
///////////////////////////////////////////////////////报警信息
int32 idle_protection = 14;//怠速保护
int32 front_toggle = 15;//前轮对中
int32 back_toggle = 16;//后轮对中
bytes error_Buff = 17;//报警信息
int32 interlock = 18;//启动联锁
int32 safety_switch = 19;//安全开关阀异常
int32 arm_lift_pilot = 20;//大臂提升先导比例阀异常
int32 arm_lowering_pilot = 21;//大臂下降先导比例阀异常
int32 lever_lifting_pilot = 22;//斗杆提升先导比例阀异常
int32 rod_lowering_pilot = 23;//斗杆下降先导比例阀异常
int32 left_rotary_pilot = 24;//左回转先导比例阀异常
int32 right_rotary_pilot = 25;//右回转先导比例阀异常
int32 grab_open_pilot = 26;//抓斗开启先导比例阀异常
int32 grab_close_pilot = 27;//抓斗闭合先导比例阀异常
int32 safety_valves = 28;//安全开关阀
//增加 0x384
int32 function_code =29 ; //功能码
int32 main_add =30; //主地址
int32 sub_add =31; //次地址
int32 paramter=32 ; //参数值
//增加0x28b
int32 engine_spn =33; //发动机实时故障SPN
int32 engine_fmi =34; //发动机实时故障FMI
int32 engine_num =35; //发动机故障次数
//增加0x28f
bytes all_Buff = 36; //0x28f 信息
};
message can_net_frame
{
sint32 dlc =1;
int32 canid =2;
bytes data=3;
};
message CCCanMsg
{
repeated can_net_frame frams=1;
};
enum UserState
{
Offline=0;
Idle=1;
Remote=2;
Automotive=3;
AskRemote=4;
};
message SCState
{
UserState state=1;
int32 uid=2;
};
message CSState
{
UserState state=1;
int32 uid=2;
};
message UserActivityInfo
{
string user_uuid=1;
int32 cockpit_id=2;
int32 vehicle_id=3;
};