You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
125 lines
6.1 KiB
125 lines
6.1 KiB
/* 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
|
|
|