56 lines
3.7 KiB
Protocol Buffer
56 lines
3.7 KiB
Protocol Buffer
syntax = "proto2";
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package chassis;
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import "header.proto";
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message RoboSweeperFuTianCleanCmd {
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optional uint32 clean_open_requirement = 1 [default = 0]; // 清扫作业开启需求 0--no req 1--Req_clean_work, 2--No_clean_work
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optional uint32 clean_mode_requirement = 2 [default = 0]; // 清扫作业模式需求 0--no req, 1--Sweeping mode, 2--Wash sweeper mode, 3--Pure wash mode, 4--Pure draw mode, 5--close clean mode
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optional uint32 clean_direction_requirement = 3 [default = 0]; // 清扫方向需求指 0--no req, 1--both side work, 2--left side work, 3--right side work, 4--close side work
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optional uint32 clean_intensity_requirement = 4 [default = 0]; // 作业强度需求 0--no req, 1--stand clean work, 2--strong clean work, 3--default work
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optional uint32 dusk_close_requirement = 5 [default = 0]; // 降尘关闭需求 0--no req, 1--close dusk, 2--open dusk
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optional uint32 suction_nozzlefle_open_requirement = 6 [default = 0]; // 吸嘴挡板需求 0--no req, 1--open, 2--close
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optional uint32 spray_gun_open_requirement = 7 [default = 0]; // 喷雾枪需求 0--no req, 1--open, 2--close
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optional uint32 sweepdisk_speed_requirement = 8 [default = 0]; // 扫盘加速需求 0--no req, 1--decelerate req, 2--accelerate req（扫盘加速需求，每点一次为加速一次，每次加速为5%pwm）
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optional uint32 sweepdisk_desire_speed_requirement = 9 [default = 0]; // 扫盘期望转速, 0-100% 必须是5的倍数
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optional uint32 one_touch_take_out_trash_requirement = 10 [default = 0]; // 一键倒垃圾请求，0：no req; 1: take out; 2: stop take out
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optional uint32 clean_tail_door_requirement = 11 [default = 0]; // 垃圾尾门开关请求，0--no req; 1-- open; 2:--stop take out
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optional uint32 clean_tail_tip_requirement = 12 [default = 0]; // 垃圾箱举升请求，0--no req; 1 -- tail ret,2-- tail tip
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optional uint32 clean_work_Enc_des_requirement = 13 [default = 0]; // 垃圾箱清淤请求，0--no req; 1:--open; 2--close
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}
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message RoboSweeperFuTianTaskCmd {
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optional RoboSweeperFuTianCleanCmd robo_sweeper_futian_clean_cmd = 1; // 福田清扫车清扫作业指令
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}
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message RoboVanSkywellTaskCmd {
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optional uint32 door_cmd = 1 [default = 0]; //1: 开门 2:关门
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optional uint32 horn_cmd = 2 [default = 0]; //1:开始鸣笛 2:停止鸣笛
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}
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message RoboBusJinlvM1Cmd {
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optional uint32 air_conditioner_cmd = 1; //0: default, 1: 开启空调, 2: 关闭空调
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optional uint32 air_conditioner_mode_cmd = 2; //模式 0: default, 1: 自动模式, 2: 制冷模式, 3: 通风模式（仅送风，无温度）
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optional uint32 air_conditioner_wind_speed_cmd = 3; //风速 0: default, 1: 1档，2: 2档，3:3档
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optional uint32 air_conditioner_temperature_cmd = 4; //温度 0: default, 16-26: 温度
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optional uint32 header_cmd = 5; //0: default, 1: 开启暖风机, 2: 关闭暖风机
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optional uint32 header_wind_speed_cmd = 6; //风速 0: default, 1: 1档，2: 2档
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optional uint32 main_lamp1_cmd = 7; //0: default, 1: 开启顶灯1, 2: 关闭顶灯1
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optional uint32 main_lamp2_cmd = 8; //0: default, 1: 开启顶灯2, 2: 关闭顶灯2
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optional uint32 small_lamp_cmd = 9; //0: default, 1: 开启小灯(氛围灯), 2: 关闭小灯(氛围灯)
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optional uint32 front_door_cmd = 10; //0: default, 1: 开启车门, 2: 关闭车门
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}
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message SpecialVehicleTaskCmd {
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optional common.Header header = 1;
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optional RoboSweeperFuTianTaskCmd robo_sweeper_futian_task_cmd = 2; // 福田清扫车业务指令
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optional RoboVanSkywellTaskCmd robo_van_skywell_task_cmd = 3; // 开沃小巴业务指令
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optional RoboBusJinlvM1Cmd robo_bus_jinlv_m1_cmd = 4; //金旅定制车m1指令
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optional uint32 source = 5; //消息来源, 0:鹰眼, 1:云端
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}
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