agv_rviz/message/measure_message.proto

syntax = "proto2";
package message;
import "message_base.proto";

//雷达管理模块的工作状态
enum Laser_manager_status
{
    LASER_MANAGER_UNKNOW               	= 0;    //未知
    LASER_MANAGER_READY               	= 1;    //准备，待机
	LASER_MANAGER_ISSUED_TASK			= 2;	//工作下发任务
	LASER_MANAGER_WAIT_REPLY			= 3;	//工作等待答复
	LASER_MANAGER_FAULT					= 4;	//故障
}
	
//子雷达状态
enum Laser_statu
{
	LASER_DISCONNECT	=0;	        //雷达断连
	LASER_READY			=1;			//雷达正常待机，空闲
	LASER_BUSY			=2;	        //雷达正在工作，正忙
	LASER_FAULT			=3;         //雷达错误
}

//定位管理模块的工作状态
enum Locate_manager_status
{
	LOCATE_MANAGER_UNKNOW               	= 0;    //未知
	LOCATE_MANAGER_READY               		= 1;    //准备，待机
	LOCATE_MANAGER_SIFT						= 2;	//sift点云筛选; 将车身和轮胎的点剥离出来
	LOCATE_MANAGER_CAR						= 3;	//通过车身 计算汽车的定位信息.
	LOCATE_MANAGER_WHEEL					= 4;	//通过车轮 计算汽车的定位信息.
	LOCATE_MANAGER_FAULT					= 5;	//故障
}
	
	
//定位模块状态
message Measure_status_msg
{
    required Base_info                  base_info=1;                 //消息类型
    required int32                      terminal_id=2;
    required Laser_manager_status       laser_manager_status = 3;
    repeated Laser_statu                laser_statu_vector = 4;
    required Locate_manager_status      locate_manager_status = 5;

    optional Locate_information         locate_information_realtime=6;  //地面雷达的 实时定位信息
    required Error_manager              error_manager = 7;
}


//定位请求消息
message Measure_request_msg
{
    required Base_info                  base_info=1;        //消息类型
    required string                     command_key=2;                   //指令唯一标识符id
    required int32                      terminal_id=3;          //终端id
}

//定位测量返回消息
message Measure_response_msg
{
    required Base_info                  base_info=1;                         //消息类型
    required string                     command_key=2;                   //指令唯一标识符id
    required int32                      terminal_id=3;

    optional Locate_information         locate_information=4;
    required Error_manager              error_manager = 5;
}

//点云坐标
message Cloud_coordinate
{
    required float                      x=1;
    required float                      y=2;
    required float                      z=3;
}
//点云类型
message Cloud_type
{
    required int32                      type=1;
}

//筛选点云, 请求消息
message Locate_sift_request_msg
{
    required Base_info                  base_info=1;            //消息类型
    required string                     command_key=2;          //指令唯一标识符id
    required int32                      terminal_id=3;          //终端id
    repeated Cloud_coordinate           cloud_coordinates=4;     //点云坐标
}

//筛选点云, 请求消息
message Locate_sift_response_msg
{
    required Base_info                  base_info=1;            //消息类型
    required string                     command_key=2;          //指令唯一标识符id
    required int32                      terminal_id=3;          //终端id
    repeated Cloud_type                 cloud_type=4;            //点云类型
    required Error_manager              error_manager = 5;      //错误码

}