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

enum Hardware_statu        //硬件状态
{
    eNormal=0;             //正常且空闲
    eBusy=1;               //工作中
    eMiss=2;                //连接丢失
    eError=3;              //故障报错

}

//硬件位置.
message Position
{
    required float x=1;
    required float y=2;
    required float z=3;

}

//搬运器状态
message Carrier_status
{
    required Hardware_statu             statu=1;                   //状态
    optional int32                      command_id=2;                   //指令唯一标识符id
    optional string                     error_description=3;       //搬运器错误信息(可无)
    required Position                   position=4;                //搬运器位置(z表示电梯位置)
    required bool                       empty=5;                   //是否空载
}

//搬运机构各个零部件状态
message Harware_statu_msg
{
    required Message_type               msg_type=1;                 //消息类型
    required Carrier_status             carrier1_statu=2;           //搬运器1状态
    required Carrier_status             carrier2_statu=3;           //搬运器2状态
    required Carrier_status             carrier3_statu=4;           //搬运器3状态
}

enum Action_type
{
    ePark=0;
    ePick=1;
}

//执行搬运请求
message Execute_request_msg
{
    required Base_info                   msg_info=1;         //消息类型                         //消息类型
    required int32                      command_id=2;                   //指令唯一标识符id
    required Action_type                action_type=3;
    required int32                      from_id=4;
    required int32                      destination=5;
    required Locate_information         locate_information=6;
}

//搬运动作执行完成后反馈结果
message Execute_response_msg
{
    required Base_info                   msg_info=1;                    //消息类型
    required int32                      command_id=2;                   //指令唯一标识符id
    required int32                      error_code=3;
    optional string                     error_description=4;
}