31 lines
1.8 KiB
Protocol Buffer
31 lines
1.8 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
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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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}
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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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}
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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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}
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