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;
};
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;
// int32 gear=7;
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;//手挡挡位----改为水箱水位
int32 actual_gear = 9;//实际挡位----改为发动机机油压力
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-----新增的
int32 back_toggle = 16;//后轮对中-----新增的
bytes error_Buff = 17;//报警信息-----由原来的15改为17
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
};
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;
};