modularization/src/apollo/apollolib/adchassis/chassis.proto

syntax = "proto2";

package iv;

message chassis
{
  optional int64 time = 1; //ns
  optional int32 EPSMode = 2  [default = 0]; //0 idle 1 Manual 2 Auto
  optional int32 EPBFault = 3 [default = 0];  //0 No 1 Have Fault
  optional int32 DriveMode = 4;      //0 Manual 1 Auto
  optional int32 Shift = 5;  //0 N  1 D   2 R  3 P  hapo:1p2r3n4d   cheerysterraes 1 P 2 r 3 N 4 D
  optional int32 AEBAvailable = 6;
  optional int32 CDDAvailable = 7;
  optional int32 angle_feedback = 8;
  optional float torque = 9;
  optional float vel = 10;   //km/h
  optional float accstep = 11;
  optional float soc = 12;
  optional float brake_feedback = 13;
  optional int32 EPB_feedback = 14;
  optional int32 EmergencyStop_feedback = 15;
  optional int32 brakelight_feedback = 16;
  optional float range_feedback = 17;
  optional int32 drivectrltype_feedback = 18;
  optional int32 brakectrltype_feedback = 19;
  optional int32 epsctrltype_feedback = 20;
  optional float frontleftwheel_feedback = 21;
  optional float frontrightwheel_feedback = 22;
  optional float rearleftwheel_feedback = 23;
  optional float rearrightwheel_feedback = 24;
  optional float engine_speed = 25;
  
};