msg_gen/
srv_gen/
+#Py cache
+*.pyc
extern "C" {
#endif
-/* Enum definitions */
-typedef enum _StatusMessage_Status {
- StatusMessage_Status_UNKNOWN = 0,
- StatusMessage_Status_WAITING_CONFIG = 1,
- StatusMessage_Status_READY = 2,
- StatusMessage_Status_RUNNING = 3,
- StatusMessage_Status_H_BRIDGE_FAULT_1 = 4,
- StatusMessage_Status_H_BRIDGE_FAULT_2 = 5,
- StatusMessage_Status_UNKNOWN_ERROR = 6
-} StatusMessage_Status;
-
/* Struct definitions */
typedef struct _ConfigCommand {
float left_kp;
typedef struct _StatusMessage {
float linear_velocity;
float angular_velocity;
- uint64_t delta_millis;
- StatusMessage_Status status;
+ uint32_t delta_millis;
+ uint32_t status;
} StatusMessage;
typedef struct _VelocityCommand {
} VelocityCommand;
-/* Helper constants for enums */
-#define _StatusMessage_Status_MIN StatusMessage_Status_UNKNOWN
-#define _StatusMessage_Status_MAX StatusMessage_Status_UNKNOWN_ERROR
-#define _StatusMessage_Status_ARRAYSIZE ((StatusMessage_Status)(StatusMessage_Status_UNKNOWN_ERROR+1))
-
-
/* Initializer values for message structs */
-#define StatusMessage_init_default {0, 0, 0, _StatusMessage_Status_MIN}
+#define StatusMessage_init_default {0, 0, 0, 0}
#define ConfigCommand_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define VelocityCommand_init_default {0, 0}
-#define StatusMessage_init_zero {0, 0, 0, _StatusMessage_Status_MIN}
+#define StatusMessage_init_zero {0, 0, 0, 0}
#define ConfigCommand_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define VelocityCommand_init_zero {0, 0}
#define StatusMessage_FIELDLIST(X, a) \
X(a, STATIC, REQUIRED, FLOAT, linear_velocity, 1) \
X(a, STATIC, REQUIRED, FLOAT, angular_velocity, 2) \
-X(a, STATIC, REQUIRED, FIXED64, delta_millis, 3) \
-X(a, STATIC, REQUIRED, UENUM, status, 4)
+X(a, STATIC, REQUIRED, FIXED32, delta_millis, 3) \
+X(a, STATIC, REQUIRED, FIXED32, status, 4)
#define StatusMessage_CALLBACK NULL
#define StatusMessage_DEFAULT NULL
#define VelocityCommand_fields &VelocityCommand_msg
/* Maximum encoded size of messages (where known) */
-#define StatusMessage_size 21
+#define StatusMessage_size 20
#define ConfigCommand_size 65
#define VelocityCommand_size 10
vel_cmd = VelocityCommand_init_zero;\r
status_msg = StatusMessage_init_zero;\r
\r
- in_pb_stream = pb_istream_from_buffer(proto_buffer_rx,\r
- sizeof(proto_buffer_rx));\r
- out_pb_stream = pb_ostream_from_buffer(proto_buffer_tx,\r
- sizeof(proto_buffer_tx));\r
-\r
- pb_encode(&out_pb_stream, VelocityCommand_fields, &vel_cmd);\r
- velocity_cmd_length = out_pb_stream.bytes_written;\r
-\r
- pb_encode(&out_pb_stream, StatusMessage_fields, &status_msg);\r
- status_msg_length = out_pb_stream.bytes_written;\r
-\r
//Enables TIM6 interrupt (used for periodic transmission of the odometry)\r
HAL_TIM_Base_Start_IT(&htim6);\r
\r
//Enables UART RX interrupt\r
HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,\r
- velocity_cmd_length);\r
+ VelocityCommand_size);\r
\r
/* USER CODE END 2 */\r
- \r
- \r
\r
/* Infinite loop */\r
/* USER CODE BEGIN WHILE */\r
status_msg.delta_millis = current_tx_millis - previous_tx_millis;\r
previous_tx_millis = current_tx_millis;\r
\r
- status_msg.status = StatusMessage_Status_RUNNING;\r
+ status_msg.status = 3;\r
\r
pb_encode(&stream, StatusMessage_fields, &status_msg);\r
\r
- HAL_UART_Transmit_DMA(&huart6,(uint8_t*) &proto_buffer_tx, status_msg_length);\r
+ HAL_UART_Transmit_DMA(&huart6,(uint8_t*) &proto_buffer_tx, StatusMessage_size);\r
}\r
}\r
\r
float angular_velocity;\r
\r
pb_istream_t stream = pb_istream_from_buffer(proto_buffer_rx,\r
- velocity_cmd_length);\r
+ VelocityCommand_size);\r
\r
bool status = pb_decode(&stream, VelocityCommand_fields, &vel_cmd);\r
\r
}\r
\r
HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx,\r
- velocity_cmd_length);\r
+ VelocityCommand_size);\r
\r
end_time = HAL_GetTick();\r
time_diff = end_time - start_time;\r
name='otto_communication.proto',
package='',
syntax='proto2',
- serialized_pb=_b('\n\x18otto_communication.proto\"\x82\x02\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x06\x12%\n\x06status\x18\x04 \x02(\x0e\x32\x15.StatusMessage.Status\"\x80\x01\n\x06Status\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x12\n\x0eWAITING_CONFIG\x10\x01\x12\t\n\x05READY\x10\x02\x12\x0b\n\x07RUNNING\x10\x03\x12\x14\n\x10H_BRIDGE_FAULT_1\x10\x04\x12\x14\n\x10H_BRIDGE_FAULT_2\x10\x05\x12\x11\n\rUNKNOWN_ERROR\x10\x06\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x02(\x02\x12\x0f\n\x07left_ki\x18\x02 \x02(\x02\x12\x0f\n\x07left_kd\x18\x03 \x02(\x02\x12\x10\n\x08right_kp\x18\x04 \x02(\x02\x12\x10\n\x08right_ki\x18\x05 \x02(\x02\x12\x10\n\x08right_kd\x18\x06 \x02(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x02(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x02(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x02(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x02(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x02(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x02(\x02\x12 \n\x18left_wheel_circumference\x18\r \x02(\x02\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02')
+ serialized_pb=_b('\n\x18otto_communication.proto\"h\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x07\x12\x0e\n\x06status\x18\x04 \x02(\x07\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x02(\x02\x12\x0f\n\x07left_ki\x18\x02 \x02(\x02\x12\x0f\n\x07left_kd\x18\x03 \x02(\x02\x12\x10\n\x08right_kp\x18\x04 \x02(\x02\x12\x10\n\x08right_ki\x18\x05 \x02(\x02\x12\x10\n\x08right_kd\x18\x06 \x02(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x02(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x02(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x02(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x02(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x02(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x02(\x02\x12 \n\x18left_wheel_circumference\x18\r \x02(\x02\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02')
)
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-_STATUSMESSAGE_STATUS = _descriptor.EnumDescriptor(
- name='Status',
- full_name='StatusMessage.Status',
- filename=None,
- file=DESCRIPTOR,
- values=[
- _descriptor.EnumValueDescriptor(
- name='UNKNOWN', index=0, number=0,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='WAITING_CONFIG', index=1, number=1,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='READY', index=2, number=2,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='RUNNING', index=3, number=3,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='H_BRIDGE_FAULT_1', index=4, number=4,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='H_BRIDGE_FAULT_2', index=5, number=5,
- options=None,
- type=None),
- _descriptor.EnumValueDescriptor(
- name='UNKNOWN_ERROR', index=6, number=6,
- options=None,
- type=None),
- ],
- containing_type=None,
- options=None,
- serialized_start=159,
- serialized_end=287,
-)
-_sym_db.RegisterEnumDescriptor(_STATUSMESSAGE_STATUS)
-
_STATUSMESSAGE = _descriptor.Descriptor(
name='StatusMessage',
options=None),
_descriptor.FieldDescriptor(
name='delta_millis', full_name='StatusMessage.delta_millis', index=2,
- number=3, type=6, cpp_type=4, label=2,
+ number=3, type=7, cpp_type=3, label=2,
has_default_value=False, default_value=0,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
options=None),
_descriptor.FieldDescriptor(
name='status', full_name='StatusMessage.status', index=3,
- number=4, type=14, cpp_type=8, label=2,
+ number=4, type=7, cpp_type=3, label=2,
has_default_value=False, default_value=0,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
],
nested_types=[],
enum_types=[
- _STATUSMESSAGE_STATUS,
],
options=None,
is_extendable=False,
extension_ranges=[],
oneofs=[
],
- serialized_start=29,
- serialized_end=287,
+ serialized_start=28,
+ serialized_end=132,
)
extension_ranges=[],
oneofs=[
],
- serialized_start=290,
- serialized_end=581,
+ serialized_start=135,
+ serialized_end=426,
)
extension_ranges=[],
oneofs=[
],
- serialized_start=583,
- serialized_end=651,
+ serialized_start=428,
+ serialized_end=496,
)
-_STATUSMESSAGE.fields_by_name['status'].enum_type = _STATUSMESSAGE_STATUS
-_STATUSMESSAGE_STATUS.containing_type = _STATUSMESSAGE
DESCRIPTOR.message_types_by_name['StatusMessage'] = _STATUSMESSAGE
DESCRIPTOR.message_types_by_name['ConfigCommand'] = _CONFIGCOMMAND
DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
odom_broadcaster = tf.TransformBroadcaster()
otto_status = otto_communication_pb2.StatusMessage()
- otto_status.linear_velocity = 7
- otto_status.angular_velocity = 7
- otto_status.delta_millis = 7
- otto_status.status = otto_communication_pb2.StatusMessage.Status.RUNNING
+ otto_status.linear_velocity = 0
+ otto_status.angular_velocity = 0
+ otto_status.delta_millis = 0
+ otto_status.status = 0
encoded_buffer = otto_status.SerializeToString()
radius = 0;
while (not rospy.is_shutdown()):
- start = datetime.datetime.now()
- encoded_buffer = ser.read(31)
+ ser.reset_input_buffer()
+ encoded_buffer = ser.read(status_length)
try:
otto_status.ParseFromString(encoded_buffer)
print(otto_status)
- if (otto_status.status == otto_communication_pb2.StatusMessage.Status.RUNNING):
+ if (otto_status.status == 3):
lin_vel = otto_status.linear_velocity
ang_vel = otto_status.angular_velocity
d_time = otto_status.delta_millis
except DecodeError:
print("Decode Error")
ser.reset_input_buffer()
-
- end = datetime.datetime.now()
- delta = end - start
- delta = (delta.total_seconds()*1000)
- print(delta)
if __name__ == '__main__':
+++ /dev/null
-
-å\ 5
-\18otto_communication.proto"\9e\ 1
-\rStatusMessage\12'
-\ flinear_velocity\18\ 1 \ 2(\ 2R\ elinearVelocity\12)
-\10angular_velocity\18\ 2 \ 2(\ 2R\ fangularVelocity\12!
-\fdelta_millis\18\ 3 \ 2(\aR\vdeltaMillis\12\16
-\ 6status\18\ 4 \ 2(\aR\ 6status"À\ 3
-\rConfigCommand\12\17
-\aleft_kp\18\ 1 \ 2(\ 2R\ 6leftKp\12\17
-\aleft_ki\18\ 2 \ 2(\ 2R\ 6leftKi\12\17
-\aleft_kd\18\ 3 \ 2(\ 2R\ 6leftKd\12\19
-\bright_kp\18\ 4 \ 2(\ 2R\arightKp\12\19
-\bright_ki\18\ 5 \ 2(\ 2R\arightKi\12\19
-\bright_kd\18\ 6 \ 2(\ 2R\arightKd\12\19
-\bcross_kp\18\a \ 2(\ 2R\acrossKp\12\19
-\bcross_ki\18\b \ 2(\ 2R\acrossKi\12\19
-\bcross_kd\18 \ 2(\ 2R\acrossKd\12\1a
-\bbaseline\18
- \ 2(\ 2R\bbaseline\120
-\14ticks_per_revolution\18\v \ 2(\aR\12ticksPerRevolution\12:
-\19right_wheel_circumference\18\f \ 2(\ 2R\17rightWheelCircumference\128
-\18left_wheel_circumference\18\r \ 2(\ 2R\16leftWheelCircumference"e
-\ fVelocityCommand\12'
-\ flinear_velocity\18\ 1 \ 2(\ 2R\ elinearVelocity\12)
-\10angular_velocity\18\ 2 \ 2(\ 2R\ fangularVelocity
\ No newline at end of file
+++ /dev/null
-/* Automatically generated nanopb constant definitions */
-/* Generated by 0.4.1-dev */
-
-#include "otto_communication.pb.h"
-#if PB_PROTO_HEADER_VERSION != 40
-#error Regenerate this file with the current version of nanopb generator.
-#endif
-
-PB_BIND(StatusMessage, StatusMessage, AUTO)
-
-
-PB_BIND(ConfigCommand, ConfigCommand, AUTO)
-
-
-PB_BIND(VelocityCommand, VelocityCommand, AUTO)
-
-
-
+++ /dev/null
-/* Automatically generated nanopb header */
-/* Generated by 0.4.1-dev */
-
-#ifndef PB_OTTO_COMMUNICATION_PB_H_INCLUDED
-#define PB_OTTO_COMMUNICATION_PB_H_INCLUDED
-#include <pb.h>
-
-#if PB_PROTO_HEADER_VERSION != 40
-#error Regenerate this file with the current version of nanopb generator.
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Struct definitions */
-typedef struct _ConfigCommand {
- float left_kp;
- float left_ki;
- float left_kd;
- float right_kp;
- float right_ki;
- float right_kd;
- float cross_kp;
- float cross_ki;
- float cross_kd;
- float baseline;
- uint32_t ticks_per_revolution;
- float right_wheel_circumference;
- float left_wheel_circumference;
-} ConfigCommand;
-
-typedef struct _StatusMessage {
- float linear_velocity;
- float angular_velocity;
- uint32_t delta_millis;
- uint32_t status;
-} StatusMessage;
-
-typedef struct _VelocityCommand {
- float linear_velocity;
- float angular_velocity;
-} VelocityCommand;
-
-
-/* Initializer values for message structs */
-#define StatusMessage_init_default {0, 0, 0, 0}
-#define ConfigCommand_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#define VelocityCommand_init_default {0, 0}
-#define StatusMessage_init_zero {0, 0, 0, 0}
-#define ConfigCommand_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#define VelocityCommand_init_zero {0, 0}
-
-/* Field tags (for use in manual encoding/decoding) */
-#define ConfigCommand_left_kp_tag 1
-#define ConfigCommand_left_ki_tag 2
-#define ConfigCommand_left_kd_tag 3
-#define ConfigCommand_right_kp_tag 4
-#define ConfigCommand_right_ki_tag 5
-#define ConfigCommand_right_kd_tag 6
-#define ConfigCommand_cross_kp_tag 7
-#define ConfigCommand_cross_ki_tag 8
-#define ConfigCommand_cross_kd_tag 9
-#define ConfigCommand_baseline_tag 10
-#define ConfigCommand_ticks_per_revolution_tag 11
-#define ConfigCommand_right_wheel_circumference_tag 12
-#define ConfigCommand_left_wheel_circumference_tag 13
-#define StatusMessage_linear_velocity_tag 1
-#define StatusMessage_angular_velocity_tag 2
-#define StatusMessage_delta_millis_tag 3
-#define StatusMessage_status_tag 4
-#define VelocityCommand_linear_velocity_tag 1
-#define VelocityCommand_angular_velocity_tag 2
-
-/* Struct field encoding specification for nanopb */
-#define StatusMessage_FIELDLIST(X, a) \
-X(a, STATIC, REQUIRED, FLOAT, linear_velocity, 1) \
-X(a, STATIC, REQUIRED, FLOAT, angular_velocity, 2) \
-X(a, STATIC, REQUIRED, FIXED32, delta_millis, 3) \
-X(a, STATIC, REQUIRED, FIXED32, status, 4)
-#define StatusMessage_CALLBACK NULL
-#define StatusMessage_DEFAULT NULL
-
-#define ConfigCommand_FIELDLIST(X, a) \
-X(a, STATIC, REQUIRED, FLOAT, left_kp, 1) \
-X(a, STATIC, REQUIRED, FLOAT, left_ki, 2) \
-X(a, STATIC, REQUIRED, FLOAT, left_kd, 3) \
-X(a, STATIC, REQUIRED, FLOAT, right_kp, 4) \
-X(a, STATIC, REQUIRED, FLOAT, right_ki, 5) \
-X(a, STATIC, REQUIRED, FLOAT, right_kd, 6) \
-X(a, STATIC, REQUIRED, FLOAT, cross_kp, 7) \
-X(a, STATIC, REQUIRED, FLOAT, cross_ki, 8) \
-X(a, STATIC, REQUIRED, FLOAT, cross_kd, 9) \
-X(a, STATIC, REQUIRED, FLOAT, baseline, 10) \
-X(a, STATIC, REQUIRED, FIXED32, ticks_per_revolution, 11) \
-X(a, STATIC, REQUIRED, FLOAT, right_wheel_circumference, 12) \
-X(a, STATIC, REQUIRED, FLOAT, left_wheel_circumference, 13)
-#define ConfigCommand_CALLBACK NULL
-#define ConfigCommand_DEFAULT NULL
-
-#define VelocityCommand_FIELDLIST(X, a) \
-X(a, STATIC, REQUIRED, FLOAT, linear_velocity, 1) \
-X(a, STATIC, REQUIRED, FLOAT, angular_velocity, 2)
-#define VelocityCommand_CALLBACK NULL
-#define VelocityCommand_DEFAULT NULL
-
-extern const pb_msgdesc_t StatusMessage_msg;
-extern const pb_msgdesc_t ConfigCommand_msg;
-extern const pb_msgdesc_t VelocityCommand_msg;
-
-/* Defines for backwards compatibility with code written before nanopb-0.4.0 */
-#define StatusMessage_fields &StatusMessage_msg
-#define ConfigCommand_fields &ConfigCommand_msg
-#define VelocityCommand_fields &VelocityCommand_msg
-
-/* Maximum encoded size of messages (where known) */
-#define StatusMessage_size 20
-#define ConfigCommand_size 65
-#define VelocityCommand_size 10
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif
required fixed32 status = 4;
}
+// Message sent from the computer to ST board
message ConfigCommand {
required float left_kp = 1;
required float left_ki = 2;
required float left_wheel_circumference = 13;
}
+// Message sent from the computer to ST board
message VelocityCommand {
required float linear_velocity = 1;
required float angular_velocity = 2;
+++ /dev/null
-# Generated by the protocol buffer compiler. DO NOT EDIT!
-# source: otto_communication.proto
-
-import sys
-_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import message as _message
-from google.protobuf import reflection as _reflection
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor.FileDescriptor(
- name='otto_communication.proto',
- package='',
- syntax='proto2',
- serialized_pb=_b('\n\x18otto_communication.proto\"h\n\rStatusMessage\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02\x12\x14\n\x0c\x64\x65lta_millis\x18\x03 \x02(\x07\x12\x0e\n\x06status\x18\x04 \x02(\x07\"\xa3\x02\n\rConfigCommand\x12\x0f\n\x07left_kp\x18\x01 \x02(\x02\x12\x0f\n\x07left_ki\x18\x02 \x02(\x02\x12\x0f\n\x07left_kd\x18\x03 \x02(\x02\x12\x10\n\x08right_kp\x18\x04 \x02(\x02\x12\x10\n\x08right_ki\x18\x05 \x02(\x02\x12\x10\n\x08right_kd\x18\x06 \x02(\x02\x12\x10\n\x08\x63ross_kp\x18\x07 \x02(\x02\x12\x10\n\x08\x63ross_ki\x18\x08 \x02(\x02\x12\x10\n\x08\x63ross_kd\x18\t \x02(\x02\x12\x10\n\x08\x62\x61seline\x18\n \x02(\x02\x12\x1c\n\x14ticks_per_revolution\x18\x0b \x02(\x07\x12!\n\x19right_wheel_circumference\x18\x0c \x02(\x02\x12 \n\x18left_wheel_circumference\x18\r \x02(\x02\"D\n\x0fVelocityCommand\x12\x17\n\x0flinear_velocity\x18\x01 \x02(\x02\x12\x18\n\x10\x61ngular_velocity\x18\x02 \x02(\x02')
-)
-_sym_db.RegisterFileDescriptor(DESCRIPTOR)
-
-
-
-
-_STATUSMESSAGE = _descriptor.Descriptor(
- name='StatusMessage',
- full_name='StatusMessage',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='linear_velocity', full_name='StatusMessage.linear_velocity', index=0,
- number=1, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='angular_velocity', full_name='StatusMessage.angular_velocity', index=1,
- number=2, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='delta_millis', full_name='StatusMessage.delta_millis', index=2,
- number=3, type=7, cpp_type=3, label=2,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='status', full_name='StatusMessage.status', index=3,
- number=4, type=7, cpp_type=3, label=2,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- options=None,
- is_extendable=False,
- syntax='proto2',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=28,
- serialized_end=132,
-)
-
-
-_CONFIGCOMMAND = _descriptor.Descriptor(
- name='ConfigCommand',
- full_name='ConfigCommand',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='left_kp', full_name='ConfigCommand.left_kp', index=0,
- number=1, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='left_ki', full_name='ConfigCommand.left_ki', index=1,
- number=2, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='left_kd', full_name='ConfigCommand.left_kd', index=2,
- number=3, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='right_kp', full_name='ConfigCommand.right_kp', index=3,
- number=4, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='right_ki', full_name='ConfigCommand.right_ki', index=4,
- number=5, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='right_kd', full_name='ConfigCommand.right_kd', index=5,
- number=6, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='cross_kp', full_name='ConfigCommand.cross_kp', index=6,
- number=7, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='cross_ki', full_name='ConfigCommand.cross_ki', index=7,
- number=8, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='cross_kd', full_name='ConfigCommand.cross_kd', index=8,
- number=9, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='baseline', full_name='ConfigCommand.baseline', index=9,
- number=10, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='ticks_per_revolution', full_name='ConfigCommand.ticks_per_revolution', index=10,
- number=11, type=7, cpp_type=3, label=2,
- has_default_value=False, default_value=0,
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='right_wheel_circumference', full_name='ConfigCommand.right_wheel_circumference', index=11,
- number=12, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='left_wheel_circumference', full_name='ConfigCommand.left_wheel_circumference', index=12,
- number=13, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- options=None,
- is_extendable=False,
- syntax='proto2',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=135,
- serialized_end=426,
-)
-
-
-_VELOCITYCOMMAND = _descriptor.Descriptor(
- name='VelocityCommand',
- full_name='VelocityCommand',
- filename=None,
- file=DESCRIPTOR,
- containing_type=None,
- fields=[
- _descriptor.FieldDescriptor(
- name='linear_velocity', full_name='VelocityCommand.linear_velocity', index=0,
- number=1, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- _descriptor.FieldDescriptor(
- name='angular_velocity', full_name='VelocityCommand.angular_velocity', index=1,
- number=2, type=2, cpp_type=6, label=2,
- has_default_value=False, default_value=float(0),
- message_type=None, enum_type=None, containing_type=None,
- is_extension=False, extension_scope=None,
- options=None),
- ],
- extensions=[
- ],
- nested_types=[],
- enum_types=[
- ],
- options=None,
- is_extendable=False,
- syntax='proto2',
- extension_ranges=[],
- oneofs=[
- ],
- serialized_start=428,
- serialized_end=496,
-)
-
-DESCRIPTOR.message_types_by_name['StatusMessage'] = _STATUSMESSAGE
-DESCRIPTOR.message_types_by_name['ConfigCommand'] = _CONFIGCOMMAND
-DESCRIPTOR.message_types_by_name['VelocityCommand'] = _VELOCITYCOMMAND
-
-StatusMessage = _reflection.GeneratedProtocolMessageType('StatusMessage', (_message.Message,), dict(
- DESCRIPTOR = _STATUSMESSAGE,
- __module__ = 'otto_communication_pb2'
- # @@protoc_insertion_point(class_scope:StatusMessage)
- ))
-_sym_db.RegisterMessage(StatusMessage)
-
-ConfigCommand = _reflection.GeneratedProtocolMessageType('ConfigCommand', (_message.Message,), dict(
- DESCRIPTOR = _CONFIGCOMMAND,
- __module__ = 'otto_communication_pb2'
- # @@protoc_insertion_point(class_scope:ConfigCommand)
- ))
-_sym_db.RegisterMessage(ConfigCommand)
-
-VelocityCommand = _reflection.GeneratedProtocolMessageType('VelocityCommand', (_message.Message,), dict(
- DESCRIPTOR = _VELOCITYCOMMAND,
- __module__ = 'otto_communication_pb2'
- # @@protoc_insertion_point(class_scope:VelocityCommand)
- ))
-_sym_db.RegisterMessage(VelocityCommand)
-
-
-# @@protoc_insertion_point(module_scope)
projects / pioneer-stm32 / commitdiff