79 lines
1.4 KiB
Protocol Buffer
79 lines
1.4 KiB
Protocol Buffer
syntax = "proto2";
|
|
package amr_comms;
|
|
|
|
message TofSensor {
|
|
required int32 sensorId = 1;
|
|
|
|
enum State {
|
|
TIMEDOUT = 0;
|
|
MEASURING = 1;
|
|
ERROR = 2;
|
|
}
|
|
|
|
required State state = 2;
|
|
|
|
required int32 reading = 3;
|
|
}
|
|
|
|
message EncoderUpdate {
|
|
required int32 encoderId = 1;
|
|
|
|
required int32 ticks = 2;
|
|
|
|
// timeStep is number of milliseconds
|
|
required int32 timeStep = 3;
|
|
}
|
|
|
|
enum CONTROLLER_ID {
|
|
CONTROLLER_ID_UNKNOWN = 0;
|
|
CONTROLLER_ID_FORWARD_PICO = 1;
|
|
CONTROLLER_ID_REAR_PICO = 2;
|
|
CONTROLLER_ID_TURRET_PICO = 3;
|
|
}
|
|
|
|
message InitMessage {
|
|
required CONTROLLER_ID controllerId = 1;
|
|
required int32 numberOfDistanceSensors = 2;
|
|
required int32 numberOfEncoders = 3;
|
|
required int32 numberOfServos = 4;
|
|
}
|
|
|
|
message DebugMessage {
|
|
required string message = 1;
|
|
}
|
|
|
|
message ClientMessages {
|
|
oneof msg {
|
|
TofSensor tofSensor = 1;
|
|
EncoderUpdate encoderUpdate = 2;
|
|
InitMessage initMessage = 3;
|
|
DebugMessage debugMessage = 4;
|
|
}
|
|
}
|
|
|
|
message SetMotor {
|
|
required int32 motorId = 1;
|
|
required float speed = 2;
|
|
}
|
|
|
|
message SetServo {
|
|
required int32 servoId = 1;
|
|
required float position = 2;
|
|
}
|
|
|
|
message ShootShooter {
|
|
required int32 shooterId = 1;
|
|
}
|
|
|
|
message InitRequest {
|
|
}
|
|
|
|
message ControllerMessages {
|
|
oneof msg {
|
|
SetMotor setMotor = 1;
|
|
SetServo setServo = 2;
|
|
InitRequest initRequest = 3;
|
|
ShootShooter shootShooter = 4;
|
|
}
|
|
}
|