syntax = "proto3";
package NavParameter;
message AgvEmqx_parameter
{
  string NodeId=1;
  string ip=2;
  int32 port=3;
  string pubSpeedTopic=4;
  string subPoseTopic=5;
  string subSpeedTopic=6;
}
message Emqx_parameter
{
    string NodeId=1;
    string ip=2;
    int32 port=3;
    string pubStatuTopic=4;
    string pubNavStatuTopic=5;
}
message BrotherEmqx
{
  string NodeId=1;
  string ip=2;
  int32 port=3;
  string subBrotherStatuTopic=4;
}


message MPC_parameter
{
  float shortest_radius=1;
  float dt=2;
  float acc_velocity=3;
  float acc_angular=4;
}

message SpeedLimit{
  float min=1;
  float max=2;
}

message Accuracy{
  float l=1;
  float w=2;
}

message Navigation_parameter
{
  bool main_agv=1;   //是否是两车整体
  AgvEmqx_parameter Agv_emqx=2;
  Emqx_parameter Terminal_emqx=3;
    BrotherEmqx brother_emqx=4;
    MPC_parameter x_mpc_parameter=5;
    MPC_parameter y_mpc_parameter=6;

  SpeedLimit InOutVLimit=7; //进出库速度
  SpeedLimit NodeVelocityLimit=8; //马路点MPC速度限制
  SpeedLimit NodeAngularLimit=9;  //马路点原地旋转速度限制
  string rpc_ipport=10;
}