/* Automatically generated nanopb header */
/* Generated by nanopb-0.4.8 */

#ifndef PB_BSP_CV_PB_H_INCLUDED
#define PB_BSP_CV_PB_H_INCLUDED
#include "pb.h"
#include "bsp_PV.pb.h"
#include "bsp_PID.pb.h"

#if PB_PROTO_HEADER_VERSION != 40
#error Regenerate this file with the current version of nanopb generator.
#endif

/* Struct definitions */
typedef struct _CV_struct_define {
    int32_t Speed_m_per_min; /* MPMin =  1m/min  1米每分钟 m/min */
    int32_t LeftTurnSpeed;
    int32_t RightTurnSpeed;
    int32_t RobotLeftAngleValue; /* 水平左方向  单位0.01° */
    int32_t RobotRightAngleValue; /* 水平右方向角度值 单位0.01° */
    int32_t RobotUpAngleValue; /* 竖直方向角度值 单位0.01° */
    int32_t RobotDownAngleValue; /* 竖直向下角度值 单位0.01° */
    int32_t Robot_Permitted_Angler_Error_Value_E_2D; /* 作业时需用的最大角度偏差值 0.01°，超出将停止作业 */
    int32_t Robot_Angle_Start_BaseE_2D; /* 角度值 0.01° */
    int32_t Lane_Change_Speed_m_per_min;
    int32_t Is_Automation_Authorized;
    int32_t Is_Function_Authorized;
    int32_t Joy_Sticker_Angle_Allowance; /* 例如在90度的±30° */
    int32_t Joy_Sticker_Value_Allowance; /* 例如 joysticker的值超过600 */
    int32_t Allowable_Error_For_Angle_Tracking; /* 纠偏角度跟踪的允许误差1 度 */
    int32_t Paint_Gun_Shutdown_Distance; /* 喷枪关闭距离，喷枪关闭后多上厘米停止运行 */
    int32_t Horizontal_ChangeLane_Compensation; /* 水平换道补偿距离 */
    int32_t Vertical_ChangeLane_Compensation; /* 竖直换道补偿距离 */
    int32_t pulse_Per_Circle; /* 每转多少脉冲 */
    int32_t wheel_Reduction_Ratio; /* 减速比 */
    double wheel_Diameter_m; /* 车轮直径 m */
    bool has_PID_high;
    PID_Parameters PID_high;
    bool has_PID_mid;
    PID_Parameters PID_mid;
    bool has_PID_low;
    PID_Parameters PID_low;
} CV_struct_define;


#ifdef __cplusplus
extern "C" {
#endif

/* Initializer values for message structs */
#define CV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_default, false, PID_Parameters_init_default, false, PID_Parameters_init_default}
#define CV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero, false, PID_Parameters_init_zero}

/* Field tags (for use in manual encoding/decoding) */
#define CV_struct_define_Speed_m_per_min_tag     1
#define CV_struct_define_LeftTurnSpeed_tag       2
#define CV_struct_define_RightTurnSpeed_tag      3
#define CV_struct_define_RobotLeftAngleValue_tag 4
#define CV_struct_define_RobotRightAngleValue_tag 5
#define CV_struct_define_RobotUpAngleValue_tag   6
#define CV_struct_define_RobotDownAngleValue_tag 7
#define CV_struct_define_Robot_Permitted_Angler_Error_Value_E_2D_tag 8
#define CV_struct_define_Robot_Angle_Start_BaseE_2D_tag 9
#define CV_struct_define_Lane_Change_Speed_m_per_min_tag 10
#define CV_struct_define_Is_Automation_Authorized_tag 11
#define CV_struct_define_Is_Function_Authorized_tag 12
#define CV_struct_define_Joy_Sticker_Angle_Allowance_tag 13
#define CV_struct_define_Joy_Sticker_Value_Allowance_tag 14
#define CV_struct_define_Allowable_Error_For_Angle_Tracking_tag 15
#define CV_struct_define_Paint_Gun_Shutdown_Distance_tag 16
#define CV_struct_define_Horizontal_ChangeLane_Compensation_tag 17
#define CV_struct_define_Vertical_ChangeLane_Compensation_tag 18
#define CV_struct_define_pulse_Per_Circle_tag    19
#define CV_struct_define_wheel_Reduction_Ratio_tag 20
#define CV_struct_define_wheel_Diameter_m_tag    21
#define CV_struct_define_PID_high_tag            22
#define CV_struct_define_PID_mid_tag             23
#define CV_struct_define_PID_low_tag             24

/* Struct field encoding specification for nanopb */
#define CV_struct_define_FIELDLIST(X, a) \
X(a, STATIC,   SINGULAR, INT32,    Speed_m_per_min,   1) \
X(a, STATIC,   SINGULAR, INT32,    LeftTurnSpeed,     2) \
X(a, STATIC,   SINGULAR, INT32,    RightTurnSpeed,    3) \
X(a, STATIC,   SINGULAR, INT32,    RobotLeftAngleValue,   4) \
X(a, STATIC,   SINGULAR, INT32,    RobotRightAngleValue,   5) \
X(a, STATIC,   SINGULAR, INT32,    RobotUpAngleValue,   6) \
X(a, STATIC,   SINGULAR, INT32,    RobotDownAngleValue,   7) \
X(a, STATIC,   SINGULAR, INT32,    Robot_Permitted_Angler_Error_Value_E_2D,   8) \
X(a, STATIC,   SINGULAR, INT32,    Robot_Angle_Start_BaseE_2D,   9) \
X(a, STATIC,   SINGULAR, INT32,    Lane_Change_Speed_m_per_min,  10) \
X(a, STATIC,   SINGULAR, INT32,    Is_Automation_Authorized,  11) \
X(a, STATIC,   SINGULAR, INT32,    Is_Function_Authorized,  12) \
X(a, STATIC,   SINGULAR, INT32,    Joy_Sticker_Angle_Allowance,  13) \
X(a, STATIC,   SINGULAR, INT32,    Joy_Sticker_Value_Allowance,  14) \
X(a, STATIC,   SINGULAR, INT32,    Allowable_Error_For_Angle_Tracking,  15) \
X(a, STATIC,   SINGULAR, INT32,    Paint_Gun_Shutdown_Distance,  16) \
X(a, STATIC,   SINGULAR, INT32,    Horizontal_ChangeLane_Compensation,  17) \
X(a, STATIC,   SINGULAR, INT32,    Vertical_ChangeLane_Compensation,  18) \
X(a, STATIC,   SINGULAR, INT32,    pulse_Per_Circle,  19) \
X(a, STATIC,   SINGULAR, INT32,    wheel_Reduction_Ratio,  20) \
X(a, STATIC,   SINGULAR, DOUBLE,   wheel_Diameter_m,  21) \
X(a, STATIC,   OPTIONAL, MESSAGE,  PID_high,         22) \
X(a, STATIC,   OPTIONAL, MESSAGE,  PID_mid,          23) \
X(a, STATIC,   OPTIONAL, MESSAGE,  PID_low,          24)
#define CV_struct_define_CALLBACK NULL
#define CV_struct_define_DEFAULT NULL
#define CV_struct_define_PID_high_MSGTYPE PID_Parameters
#define CV_struct_define_PID_mid_MSGTYPE PID_Parameters
#define CV_struct_define_PID_low_MSGTYPE PID_Parameters

extern const pb_msgdesc_t CV_struct_define_msg;

/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
#define CV_struct_define_fields &CV_struct_define_msg

/* Maximum encoded size of messages (where known) */
#define BSP_CV_PB_H_MAX_SIZE                     CV_struct_define_size
#define CV_struct_define_size                    358

#ifdef __cplusplus
} /* extern "C" */
#endif

#endif