Server-py/sri-server-bg03/xprotobuf/protocol.proto

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;
  
};
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;
    int32 cid=3;
    string name=4;
};
 

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;
};