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118 lines
5.3 KiB
118 lines
5.3 KiB
6 days ago
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/* Automatically generated nanopb header */
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/* Generated by nanopb-0.4.8 */
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#ifndef PB_BSP_CV_PB_H_INCLUDED
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#define PB_BSP_CV_PB_H_INCLUDED
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#include "pb.h"
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#include "bsp_PID.pb.h"
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#include "bsp_PV.pb.h"
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#if PB_PROTO_HEADER_VERSION != 40
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#error Regenerate this file with the current version of nanopb generator.
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#endif
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/* Struct definitions */
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typedef struct _CV_struct_define {
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/* 拉毛项目 配置参数 */
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int32_t MAXSpeed_m_per_min;
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int32_t LeftTurnSpeed;
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int32_t RightTurnSpeed;
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int32_t RobotLeftAngleValue; /* 水平左方向 单位0.01° */
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int32_t RobotRightAngleValue; /* 水平右方向角度值 单位0.01° */
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int32_t RobotUpAngleValue; /* 竖直方向角度值 单位0.01° */
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int32_t RobotDownAngleValue; /* 竖直向下角度值 单位0.01° */
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int32_t DMK0_Speed; /* 单位RPM */
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int32_t Lane_Change_Speed_m_per_min;
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int32_t IsAutomationAuthorized;
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int32_t IsFunctionAuthorized;
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int32_t Joy_Sticker_Angle_Allowance; /* 例如在90度的±30° */
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int32_t Joy_Sticker_Value_Allowance; /* 例如 joysticker的值超过600 */
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int32_t Allowable_Error_For_Angle_Tracking; /* 换道纠偏角度跟踪的允许误差1 度 */
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int32_t Horizontal_ChangeLane_Compensation; /* 水平换道补偿距离 */
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int32_t Vertical_ChangeLane_Compensation; /* 竖直换道补偿距离 */
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int32_t wheel_Reduction_Ratio; /* 减速比 */
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double wheel_Diameter_m; /* 车轮直径 m */
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bool has_PID_high;
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PID_Parameters PID_high;
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bool has_PID_mid;
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PID_Parameters PID_mid;
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bool has_PID_low;
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PID_Parameters PID_low;
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} CV_struct_define;
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Initializer values for message structs */
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#define CV_struct_define_init_default {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}
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#define CV_struct_define_init_zero {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}
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/* Field tags (for use in manual encoding/decoding) */
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#define CV_struct_define_MAXSpeed_m_per_min_tag 1
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#define CV_struct_define_LeftTurnSpeed_tag 2
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#define CV_struct_define_RightTurnSpeed_tag 3
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#define CV_struct_define_RobotLeftAngleValue_tag 4
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#define CV_struct_define_RobotRightAngleValue_tag 5
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#define CV_struct_define_RobotUpAngleValue_tag 6
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#define CV_struct_define_RobotDownAngleValue_tag 7
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#define CV_struct_define_DMK0_Speed_tag 8
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#define CV_struct_define_Lane_Change_Speed_m_per_min_tag 9
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#define CV_struct_define_IsAutomationAuthorized_tag 10
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#define CV_struct_define_IsFunctionAuthorized_tag 11
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#define CV_struct_define_Joy_Sticker_Angle_Allowance_tag 12
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#define CV_struct_define_Joy_Sticker_Value_Allowance_tag 13
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#define CV_struct_define_Allowable_Error_For_Angle_Tracking_tag 14
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#define CV_struct_define_Horizontal_ChangeLane_Compensation_tag 15
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#define CV_struct_define_Vertical_ChangeLane_Compensation_tag 16
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#define CV_struct_define_wheel_Reduction_Ratio_tag 17
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#define CV_struct_define_wheel_Diameter_m_tag 18
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#define CV_struct_define_PID_high_tag 19
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#define CV_struct_define_PID_mid_tag 20
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#define CV_struct_define_PID_low_tag 21
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/* Struct field encoding specification for nanopb */
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#define CV_struct_define_FIELDLIST(X, a) \
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X(a, STATIC, SINGULAR, INT32, MAXSpeed_m_per_min, 1) \
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X(a, STATIC, SINGULAR, INT32, LeftTurnSpeed, 2) \
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X(a, STATIC, SINGULAR, INT32, RightTurnSpeed, 3) \
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X(a, STATIC, SINGULAR, INT32, RobotLeftAngleValue, 4) \
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X(a, STATIC, SINGULAR, INT32, RobotRightAngleValue, 5) \
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X(a, STATIC, SINGULAR, INT32, RobotUpAngleValue, 6) \
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X(a, STATIC, SINGULAR, INT32, RobotDownAngleValue, 7) \
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X(a, STATIC, SINGULAR, INT32, DMK0_Speed, 8) \
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X(a, STATIC, SINGULAR, INT32, Lane_Change_Speed_m_per_min, 9) \
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X(a, STATIC, SINGULAR, INT32, IsAutomationAuthorized, 10) \
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X(a, STATIC, SINGULAR, INT32, IsFunctionAuthorized, 11) \
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X(a, STATIC, SINGULAR, INT32, Joy_Sticker_Angle_Allowance, 12) \
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X(a, STATIC, SINGULAR, INT32, Joy_Sticker_Value_Allowance, 13) \
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X(a, STATIC, SINGULAR, INT32, Allowable_Error_For_Angle_Tracking, 14) \
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X(a, STATIC, SINGULAR, INT32, Horizontal_ChangeLane_Compensation, 15) \
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X(a, STATIC, SINGULAR, INT32, Vertical_ChangeLane_Compensation, 16) \
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X(a, STATIC, SINGULAR, INT32, wheel_Reduction_Ratio, 17) \
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X(a, STATIC, SINGULAR, DOUBLE, wheel_Diameter_m, 18) \
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X(a, STATIC, OPTIONAL, MESSAGE, PID_high, 19) \
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X(a, STATIC, OPTIONAL, MESSAGE, PID_mid, 20) \
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X(a, STATIC, OPTIONAL, MESSAGE, PID_low, 21)
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#define CV_struct_define_CALLBACK NULL
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#define CV_struct_define_DEFAULT NULL
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#define CV_struct_define_PID_high_MSGTYPE PID_Parameters
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#define CV_struct_define_PID_mid_MSGTYPE PID_Parameters
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#define CV_struct_define_PID_low_MSGTYPE PID_Parameters
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extern const pb_msgdesc_t CV_struct_define_msg;
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/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
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#define CV_struct_define_fields &CV_struct_define_msg
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/* Maximum encoded size of messages (where known) */
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#define BSP_CV_PB_H_MAX_SIZE CV_struct_define_size
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#define CV_struct_define_size 322
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif
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