puai_wj_2021/message/locate_message.proto

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

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 Locate_status_msg
{
    required Base_msg                   msg_type=1;                 //消息类型
    required Laser_manager_status       laser_manager_status = 2;
    repeated Laser_statu                laser_statu_vector = 3;
    required Locate_manager_status      locate_manager_status = 4;
    required Locate_data                locate_date_realtime=5;
}

//定位请求消息
message Locate_request_msg
{
    required Base_msg                   msg_base=1;         //消息类型
    required int32                      command_id=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 Locate_response_msg
{
    required Base_msg                   msg_base=1;                          //消息类型
    required int32                      command_id=2;                   //指令唯一标识符id
    required int32                      terminal_id=3;
    required Locate_data                locate_data=4;
}