modularization/src/driver/driver_cloud_grpc_client_BS/VehicleControl.proto

syntax = "proto3";

package org.jeecg.defsControl.grpc;

option java_multiple_files = true;
option java_package = "org.jeecg.defsControl.model";
option java_outer_classname = "VehicleControl";


enum CtrlMode{
    CMD_AUTO = 0;
    CMD_REMOTE = 1;
    CMD_EMERGENCY_STOP = 2;
    CMD_CLOUD_PLATFORM = 3; // 云平台控制模式
}

enum UseStatus{
    DEACTIVATING = 0; //停用中
    ENABLING = 1; //启用中
}

enum NavSwitch{
    NAV_STOP = 0; // 停止导航
    NAV_START = 1; // 开始导航
}

enum ShiftStatus{
    SHIFT_UNKOWN = 0;
    SHIFT_ERROR = 1;
    SHIFT_INTERVAL = 2;
    SHIFT_PARKING = 3;
    SHIFT_REVERSE = 4;
    SHIFT_NEUTRAL = 5;
    SHIFT_DRIVE = 6;
    SHIFT_SPORT = 7;

    SHIFT_LOW = 10;
    SHIFT_LEVEL1 = 11;
    SHIFT_LEVEL2 = 12;
    SHIFT_LEVEL3 = 13;
    SHIFT_LEVEL4 = 14;
    SHIFT_LEVEL5 = 15;
    SHIFT_LEVEL6 = 16;
    SHIFT_LEVEL7 = 17;
    SHIFT_LEVEL8 = 18;
    SHIFT_LEVEL9 = 19;
    SHIFT_LEVEL10 = 20;
}

message GPSPoint{
    double latitude = 1;
    double longitude = 2;
    double height = 3;
}

message ControlReply {
    string id = 1; // 车辆 SIM 码
    ShiftStatus shiftCMD = 2;
    double steeringWheelAngleCMD = 3;  //+/-540 degree
    double throttleCMD = 4; // 0-100
    double brakeCMD = 5;    // 0-100
}

message Empty {
    string id = 1;
}

message MapPoint{
    int64 index = 1;
    GPSPoint mapPoint = 2;
}

message UploadMapReply {
    string id = 1; // 车辆SIM码
    bool isNeedMap = 2; //是否需要路径规划
    string patrolPathID = 3; //对应巡逻路径的ID
    repeated MapPoint mapPoints = 4; //需要经过的POI点
}

message CtrlModeReply {
    string id = 1; // 车辆 SIM 码
    CtrlMode modeCMD = 2; //mode change command
    UseStatus useStatusCMD = 3; //使用状态修改命令
    GPSPoint deactivatePosition = 4; //停用站点
    double speedCMD = 5; //平台设定的期望运行速度
    NavSwitch navagationSwitch = 6; //开始-停止导航
}