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 { None=0; 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; }; 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;//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;//不知道是什么 int32 right_lock=12;//不知道是什么 //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 can_net_frame { sint32 dlc =1; int32 canid =2; bytes data=3; }; message CCCanMsg { repeated can_net_frame frams=1; }; //20231206车控杂乱数据 message vehicle_data { sint32 dlc =1; }; message vehicle_QT { repeated vehicle_data _vehicle_data = 1; };