214 lines
15 KiB
Protocol Buffer
214 lines
15 KiB
Protocol Buffer
syntax = "proto2";
|
||
package chassis;
|
||
|
||
import "chassis.proto";
|
||
import "header.proto";
|
||
|
||
enum EPBWorkStates {
|
||
EPB_STATE_NONE = 0;
|
||
EPB_STATE_LOCKING = 1;
|
||
EPB_STATE_LOCKED = 2;
|
||
EPB_STATE_RELEASING = 3;
|
||
EPB_STATE_RELEASED = 4;
|
||
EPB_STATE_LOCKED_FAIL = 5;
|
||
EPB_STATE_RELEASE_FAIL = 6;
|
||
EPB_STATE_FAULT = 7;
|
||
}
|
||
|
||
enum VehicleFaultLevels {
|
||
NONE_FAULT = 0;
|
||
GENERAL_FAULT = 1;
|
||
SERIOUS_FAULT = 2;
|
||
CRITICAL_FAULT = 3;
|
||
}
|
||
|
||
message VehicleMotionStates {
|
||
optional float speed = 1 [default = 0]; // vehicle speed in m/s
|
||
optional float angular_speed = 2 [default = 0]; // vehicle angular speeed in rad/s
|
||
optional float acceleration = 3 [default = 0]; // vehicle acceleration in m/s^2
|
||
optional float longitude_acceleration = 4 [default = 0]; // vehicle longitudinal acceleration in m/s^2
|
||
optional float lateral_acceleration = 5 [default = 0]; // vehicle lateral acceleration in m/s^2
|
||
optional bool speed_valid = 6 [default = false]; // validity of chassis speed infomation, inicates whether other modules can use this speed information
|
||
optional bool acceleration_valid = 7 [default = false]; // validity of chassis acceleration information, inicates whether other modules can use this acceleration information
|
||
}
|
||
|
||
message DrivingSystemStates {
|
||
optional uint32 driving_enable_state = 1 [default = 0]; // vehicle driving system wirecontrol enable state
|
||
optional float throttle_response_position = 2 [default = 0]; // vehicle throttle response with control command in percentage [0, 100]
|
||
optional bool acceleration_pedal_inference_state = 3 [default = false]; // manual intervention status of acceleration pedal
|
||
optional float acceleration_pedal_inference_position = 4 [default = 0];// manual intervention opening of acceleration pedal in percentage [0, 100]
|
||
}
|
||
|
||
message BMSSystemStates {
|
||
optional float bms_total_voltage = 1 [default = 0]; // total output voltage of power battery in V
|
||
optional float bms_total_current = 2 [default = 0]; // total output current of power battery in A
|
||
optional float bms_soc = 3 [default = 0]; // residual SOC value of power battery
|
||
optional VehicleFaultLevels bms_system_fault_state = 4 [default = NONE_FAULT]; // fault states of the power battery system
|
||
optional uint32 bms_main_positive_relay_state = 5;
|
||
optional uint32 bms_main_negative_relay_state = 6;
|
||
}
|
||
|
||
message MCUSystemStates {
|
||
optional float mcu_motor_speed = 1 [default = 0]; // driving motor speed in rpm
|
||
optional float mcu_motor_torque = 2 [default = 0]; // driving motor output torque in nm
|
||
optional float mcu_motor_voltage = 3 [default = 0]; // driving motor input voltage in V
|
||
optional float mcu_motor_current = 4 [default = 0]; // driving motor output current in A
|
||
optional VehicleFaultLevels mcu_system_fault_state = 5 [default = NONE_FAULT]; // fault states of the mcu system
|
||
optional uint32 mcu_motor_work_mode = 6; // driving motro work mode
|
||
}
|
||
|
||
message EngineSystemStates {
|
||
optional float engine_speed = 1 [default = 0]; // engine speed in rpm
|
||
optional float remaining_oil = 2 [default = 0]; // current actual remaining oil
|
||
optional VehicleFaultLevels engine_system_fault_state = 3 [default = NONE_FAULT]; // fault states of the engine system
|
||
}
|
||
|
||
message BrakeSystemStates {
|
||
optional uint32 brake_enable_sts = 1 [default = 0]; // vehicle brake system wirecontrol enable state
|
||
optional bool brake_pedal_inference_state = 2 [default = false]; // manual intervention status of brake pedal
|
||
optional bool brake_pedal_state = 3 [default = false]; // the status of the brake pedal. if it is true, it means the brake pedal is depressed
|
||
optional float brake_pedal_inference_position = 4 [default = 0]; // manual intervention opening of brake pedal in percentage [0, 100]
|
||
optional float average_brake_pressure = 5 [default = 0]; // Average brake pressure feedback in kPa
|
||
optional VehicleFaultLevels brake_system_fault_state = 6 [default = NONE_FAULT]; // fault states of the brake system
|
||
optional float brake_pedal_response_position = 7 [default = 0]; // Brake pedal opening for chassis response in percentage [0, 100]
|
||
optional uint32 foundation_brake_use = 8 [default = 0]; // The purpose of effective use of brake is to protect the brake valve body
|
||
}
|
||
|
||
message SteerSystemStates {
|
||
optional uint32 steer_enable_state = 1 [default = 0]; // vehicle steer system wirecontrol enable state
|
||
optional uint32 eps_work_mode_state = 2 [default = 0]; // eps system work mode states
|
||
optional float steering_wheel_angle = 3 [default = 0]; // steering angle in degrees
|
||
optional float steering_wheel_speed = 4 [default = 0]; // steering speed in degree/s
|
||
optional bool steering_wheel_inference_state = 5 [default = false]; // manual intervention status of steering wheel
|
||
optional float steering_wheel_inference_torque = 6 [default = 0];// manual intervention torque of steering wheel in nm
|
||
optional float front_left_wheel_angle = 7 [default = 0]; // front left wheel angle
|
||
optional float front_right_wheel_angle = 8 [default = 0]; // front right wheel angle
|
||
optional VehicleFaultLevels steer_system_fault_state = 9 [default = NONE_FAULT]; // fault states of the steer system
|
||
optional bool steering_wheel_angle_valid = 10 [default = false]; // validity of chassis steering_wheel_angle information, inicates whether other modules can use this steering_wheel_angle information
|
||
}
|
||
|
||
message GearSystemStates {
|
||
optional uint32 gear_enable_state = 1 [default = 0]; // vehicle gear system wirecontrol enable state
|
||
optional GearPosition gear_position = 2 [default = GEAR_NONE]; // vehicle real gear position
|
||
optional bool gear_switch_inference_state = 3 [default = false]; // manual intervention status of gear switch
|
||
optional VehicleFaultLevels gear_system_fault_state = 4 [default = NONE_FAULT]; // fault states of the gear system
|
||
optional bool gear_position_valid = 5 [default = false]; // validity of chassis gear_position information, inicates whether other modules can use this gear_position information
|
||
}
|
||
|
||
message EPBSystemStates {
|
||
optional uint32 epb_enable_state = 1 [default = 0]; // vehicle EPB system wirecontrol enable state
|
||
optional EPBWorkStates epb_work_state = 2 [default = EPB_STATE_NONE]; // EPB work status
|
||
optional bool epb_switch_inference_state = 3 [default = false]; // manual intervention status of EPB switch
|
||
optional VehicleFaultLevels epb_system_fault_state = 4 [default = NONE_FAULT]; // fault states of the EPB system
|
||
optional bool epb_work_state_valid = 5 [default = false]; // validity of chassis epb_work_state information, inicates whether other modules can use this epb_work_state information
|
||
}
|
||
|
||
message BCMSystemStates {
|
||
optional LightSwitch turn_light_state = 1 [default = LIGHT_NONE]; // real turn light status
|
||
optional uint32 horn_state = 2 [default = 0]; // real horn status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 highbeam_state = 3 [default = 0]; // real highbeam status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 lowbeam_state = 4 [default = 0]; // real lowbeam status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 front_foglight_state = 5 [default = 0]; // real front foglight status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 back_foglight_state = 6 [default = 0]; // real back foglight status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 clearance_lamps_state = 7 [default = 0]; // real clearance lamps status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 alarm_light_state = 8 [default = 0]; // real alarm light status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 position_light_state = 9 [default = 0]; // position light status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 driver_door_state = 10 [default = 0]; // real driver door status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 brake_light_state = 11 [default = 0]; // real brake light status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 daytime_runing_light_state = 13 [default = 0]; // real daytime running light status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 driver_safty_belt_state = 14 [default = 0]; // real driver safty belf status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 front_hood_open_state = 15 [default = 0]; // real front hood opening status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 wipers_work_state = 16 [default = 0]; // real wipers work status 0-off 1-open 2-reserved 3-reserved
|
||
optional uint32 wipers_work_intermittent_gear = 17 [default = 0]; // real wipers work gear
|
||
}
|
||
|
||
|
||
message SweeperFuTianTaskSystemStates {
|
||
optional bool secu_rem_ctrl_sts = 1 [default = false]; // 远程控制使能信号
|
||
optional bool secu_mot_work_sts = 2 [default = false]; // 电机启停控制状态信号
|
||
optional bool secu_dup_tail_door_open_sts = 3 [default = false]; // 垃圾箱尾门开状态信号
|
||
optional bool secu_dup_tail_door_close_sts = 4 [default = false]; // 垃圾箱尾门关状态信号
|
||
optional bool secu_auto_dup_tail_tip_sts = 5 [default = false]; // 垃圾箱倾翻状态信号
|
||
optional bool secu_dup_tail_ret_sts = 6 [default = false]; // 垃圾箱回位状态信号
|
||
optional bool secu_work_stand_sts = 7 [default = false]; // 标准作业状态信号
|
||
optional bool secu_work_strong_sts = 8 [default = false]; // 强力作业状态信号
|
||
optional bool secu_suctionnozzlebaffle_sts = 9 [default = false]; // 吸嘴挡板开状态信号
|
||
optional bool secu_dusk_close_sts = 10 [default = false]; // 降尘关闭状态信号
|
||
optional bool secu_work_left_sts = 11 [default = false]; // 左侧作业状态信号
|
||
optional bool secu_work_on_bothsides_sts = 12 [default = false]; // 两侧作业状态信号
|
||
optional bool secu_work_right_sts = 13 [default = false]; // 右侧作业状态信号
|
||
optional bool secu_work_ton_sts = 14 [default = false]; // 纯吸作业状态信号
|
||
optional bool secu_work_spray_gun_sts = 15 [default = false]; // 喷雾喷枪作业状态信号
|
||
optional bool secu_work_enc_des_sts = 16 [default = false]; // 箱体清淤作业状态信号
|
||
optional bool secu_mod_wash_sweep_sts = 17 [default = false]; // 洗扫模式状态信号
|
||
optional bool secu_mod_wash_sts = 18 [default = false]; // 纯洗模式状态信号
|
||
optional bool secu_sweepdisk_red_sts = 19 [default = false]; // 扫盘减速开关状态信号
|
||
optional bool secu_sweepdisk_acc_sts = 20 [default = false]; // 扫盘加速开关状态信号
|
||
optional bool secu_arrowlight_sts = 21 [default = false]; // 箭头灯开关状态信号
|
||
optional bool secu_floodlight_sts = 22 [default = false]; // 照明灯开关状态信号
|
||
optional bool secu_work_cleaning_sts = 23 [default = false]; // 保洁作业状态信号
|
||
optional bool secu_clean_music_sts = 24 [default = false]; // 音乐开关状态信号
|
||
|
||
optional bool secu_motor_oil_com_fail = 25 [default = false]; // 油泵电机通讯失败报警
|
||
optional bool secu_motor_water_com_fail = 26 [default = false]; // 水泵电机通讯失败报警
|
||
optional bool secu_motor_air_com_fail = 27 [default = false]; // 风机电机通讯失败报警
|
||
optional bool secu_fan_fault = 28 [default = false]; // 散热风扇故障报警
|
||
optional bool secu_chassis_com_fail = 29 [default = false]; // 底盘通讯失败报警
|
||
optional bool secu_panel_com_fail = 30 [default = false]; // 操作面板通讯失败报警
|
||
optional bool secu_oillevel_check = 31 [default = false]; // 液压油位低请停机检查报警信号
|
||
optional bool secu_oilstmjam_check = 32 [default = false]; // 液压油滤堵塞请停机检查报警信号
|
||
optional bool secu_water_valve_close = 33 [default = false]; // 出水阀门关闭不能清洗作业报警信号
|
||
optional bool secu_clean_water_tank_low = 34 [default = false]; // 清水箱水位低不能清洗作业报警信号
|
||
optional bool secu_sewage_water_tank_full = 35 [default = false]; // 污水箱满请停止作业报警信号
|
||
optional bool secu_coolwatertemp_high = 36 [default = false]; // 水温过高请停机检查报警信号
|
||
optional bool secu_coolwater_less = 37 [default = false]; // 冷却液位低报警信号
|
||
optional bool secu_tail_gate_open = 38 [default = false]; // 尾门打开接近开关
|
||
optional bool secu_manual_intervention_sts = 39 [default = false]; // 提示是否有人为介入
|
||
optional bool secu_ready_finish_sts = 40 [default = false]; // 上装ready完成
|
||
optional float secu_sweepdisk_speed = 41 [default = 0]; // 扫盘转速
|
||
}
|
||
|
||
message TaskSystemStates {
|
||
optional SweeperFuTianTaskSystemStates sweeper_futian_task_system_states = 1;
|
||
}
|
||
|
||
message ChassisAutopilotAssistanceInformation {
|
||
optional PilotMode chassis_pilot_mode_state = 1 [default = MODE_MANUAL];
|
||
optional bool Emergency_Stop_Switch_state = 2 [default = false]; // 急停开关状态
|
||
optional bool vehicle_pilot_switch_state = 3 [default = false]; // 车辆自动驾驶开关状态
|
||
optional float vehicle_low_voltage_battery_voltage = 4; // 车辆低压蓄电池电压
|
||
optional float vehicle_remaining_mileage = 5; // 车辆剩余续航里程
|
||
optional float average_power_consumption = 6; // 平均电耗，KW.h/100km
|
||
optional float average_fuel_consumpiton = 7; // 平均油耗，L/100km
|
||
}
|
||
|
||
message VehicleChassisFaultInformation {
|
||
optional VehicleFaultLevels vehiclefaultlevel = 1 [default = NONE_FAULT]; // 整车故障状态
|
||
}
|
||
|
||
// 附加的车载附件状态信息
|
||
message AdditionalVehicleAccessoriesStates {
|
||
optional uint32 left_fill_light_state = 1 [default = 0]; // left fill light status 0-off 1-open
|
||
optional uint32 right_fill_light_state = 2 [default = 0]; // right fill light status 0-off 1-op1n
|
||
optional uint32 back_fill_light_state = 3 [default = 0]; // back fill light status 0-off 1-op1n
|
||
}
|
||
|
||
|
||
message ChassisStates {
|
||
optional common.Header header = 1;
|
||
optional VehicleMotionStates vehicle_motion_states = 2;
|
||
optional DrivingSystemStates driving_system_states = 3;
|
||
optional BrakeSystemStates brake_system_states = 4;
|
||
optional SteerSystemStates steer_system_states = 5;
|
||
optional GearSystemStates gear_system_states = 6;
|
||
optional EPBSystemStates epb_system_states = 7;
|
||
optional BCMSystemStates bcm_system_states = 8;
|
||
optional BMSSystemStates bms_system_states = 9;
|
||
optional MCUSystemStates mcu_system_states = 10;
|
||
optional EngineSystemStates engine_system_states = 11;
|
||
optional ChassisAutopilotAssistanceInformation chassis_autopilot_assistance_information = 12;
|
||
optional TaskSystemStates task_system_states = 13;
|
||
optional VehicleChassisFaultInformation vehicle_chassis_fault_information = 14;
|
||
optional AdditionalVehicleAccessoriesStates additional_vehicle_accessories_states = 15;
|
||
}
|