message.proto 1.4 KB

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  1. syntax = "proto3";
  2. package NavMessage;
  3. message AGVStatu {
  4. float x=1;
  5. float y=2;
  6. float theta=3;
  7. float v=4;
  8. float vth=5;
  9. }
  10. message AGVSpeed{
  11. float v=1;
  12. float w=2;
  13. }
  14. message Speed {
  15. int32 H=1; //心跳
  16. int32 M=2; //模式:1整车模式,其他:单车
  17. int32 T=3; // 1:原地旋转,2:横移,3:MPC巡线/前进, 其他/未接收到:停止
  18. float V=4; //角速度
  19. float W=5; //线速度
  20. float L=6; //轴距
  21. int32 end=7;
  22. }
  23. message SpeedLimit
  24. {
  25. float min=1;
  26. float max=2;
  27. }
  28. message Pose2d
  29. {
  30. float x=1;
  31. float y=2;
  32. float theta=3;
  33. }
  34. message Trajectory
  35. {
  36. repeated Pose2d poses=1;
  37. }
  38. message Action
  39. {
  40. int32 type = 1; // 1:原地调整,2:巡线, 3:夹持, 4:松夹持
  41. Pose2d begin = 2;
  42. Pose2d target = 3;
  43. Pose2d target_diff = 4;
  44. SpeedLimit velocity_limit=5;
  45. SpeedLimit angular_limit=6;
  46. SpeedLimit horize_limit=7;
  47. }
  48. message NavCmd
  49. {
  50. int32 action=1; // 0 开始导航,1 pause, 2 continue ,3 cancel,4:切换到双车模式,5:切换到单车模式
  51. string key=2;
  52. float wheelbase=3; //轴距
  53. repeated Action actions=4;
  54. }
  55. message NavStatu
  56. {
  57. bool statu = 1; //0:ready 1:running
  58. bool main_agv=2; //是否是两节控制plc
  59. int32 move_mode=3; //运动模式,1:single,2:双车
  60. string key = 4; // 任务唯一码
  61. repeated Action unfinished_actions = 5; //未完成的动作,第一个即为当前动作
  62. Trajectory selected_traj = 6;
  63. Trajectory predict_traj = 7;
  64. }