From: Federica Di Lauro Date: Tue, 25 Feb 2020 09:51:41 +0000 (+0100) Subject: update proto messages X-Git-Url: http://git.leonardobizzoni.com/?a=commitdiff_plain;h=aa69e86ec1b2a6bfaecf219b9e649fba877646b1;p=pioneer-stm32 update proto messages --- diff --git a/.gitignore b/.gitignore index 3b16db8..6bd615f 100644 --- a/.gitignore +++ b/.gitignore @@ -68,3 +68,5 @@ lib/ msg_gen/ srv_gen/ +#Py cache +*.pyc diff --git a/otto_controller/Core/Inc/otto_communication.pb.h b/otto_controller/Core/Inc/otto_communication.pb.h index 8fca389..0822d21 100644 --- a/otto_controller/Core/Inc/otto_communication.pb.h +++ b/otto_controller/Core/Inc/otto_communication.pb.h @@ -13,17 +13,6 @@ 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; @@ -44,8 +33,8 @@ typedef struct _ConfigCommand { 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 { @@ -54,17 +43,11 @@ 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} @@ -93,8 +76,8 @@ typedef struct _VelocityCommand { #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 @@ -131,7 +114,7 @@ extern const pb_msgdesc_t VelocityCommand_msg; #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 diff --git a/otto_controller/Core/Src/main.cpp b/otto_controller/Core/Src/main.cpp index bd62e03..8b2da4e 100644 --- a/otto_controller/Core/Src/main.cpp +++ b/otto_controller/Core/Src/main.cpp @@ -205,27 +205,14 @@ int main(void) vel_cmd = VelocityCommand_init_zero; status_msg = StatusMessage_init_zero; - in_pb_stream = pb_istream_from_buffer(proto_buffer_rx, - sizeof(proto_buffer_rx)); - out_pb_stream = pb_ostream_from_buffer(proto_buffer_tx, - sizeof(proto_buffer_tx)); - - pb_encode(&out_pb_stream, VelocityCommand_fields, &vel_cmd); - velocity_cmd_length = out_pb_stream.bytes_written; - - pb_encode(&out_pb_stream, StatusMessage_fields, &status_msg); - status_msg_length = out_pb_stream.bytes_written; - //Enables TIM6 interrupt (used for periodic transmission of the odometry) HAL_TIM_Base_Start_IT(&htim6); //Enables UART RX interrupt HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx, - velocity_cmd_length); + VelocityCommand_size); /* USER CODE END 2 */ - - /* Infinite loop */ /* USER CODE BEGIN WHILE */ @@ -338,11 +325,11 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { status_msg.delta_millis = current_tx_millis - previous_tx_millis; previous_tx_millis = current_tx_millis; - status_msg.status = StatusMessage_Status_RUNNING; + status_msg.status = 3; pb_encode(&stream, StatusMessage_fields, &status_msg); - HAL_UART_Transmit_DMA(&huart6,(uint8_t*) &proto_buffer_tx, status_msg_length); + HAL_UART_Transmit_DMA(&huart6,(uint8_t*) &proto_buffer_tx, StatusMessage_size); } } @@ -362,7 +349,7 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) { float angular_velocity; pb_istream_t stream = pb_istream_from_buffer(proto_buffer_rx, - velocity_cmd_length); + VelocityCommand_size); bool status = pb_decode(&stream, VelocityCommand_fields, &vel_cmd); @@ -389,7 +376,7 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) { } HAL_UART_Receive_DMA(&huart6, (uint8_t*) &proto_buffer_rx, - velocity_cmd_length); + VelocityCommand_size); end_time = HAL_GetTick(); time_diff = end_time - start_time; diff --git a/otto_controller/Core/Src/otto_communication.pb.c b/otto_controller/Core/Src/otto_communication.pb.c index 9a82e27..79705b7 100644 --- a/otto_controller/Core/Src/otto_communication.pb.c +++ b/otto_controller/Core/Src/otto_communication.pb.c @@ -16,4 +16,3 @@ PB_BIND(VelocityCommand, VelocityCommand, AUTO) - diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.py b/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.py index fe68e9f..340dd63 100644 --- a/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.py +++ b/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.py @@ -19,54 +19,12 @@ DESCRIPTOR = _descriptor.FileDescriptor( 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', @@ -91,14 +49,14 @@ _STATUSMESSAGE = _descriptor.Descriptor( 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, @@ -108,7 +66,6 @@ _STATUSMESSAGE = _descriptor.Descriptor( ], nested_types=[], enum_types=[ - _STATUSMESSAGE_STATUS, ], options=None, is_extendable=False, @@ -116,8 +73,8 @@ _STATUSMESSAGE = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=29, - serialized_end=287, + serialized_start=28, + serialized_end=132, ) @@ -231,8 +188,8 @@ _CONFIGCOMMAND = _descriptor.Descriptor( extension_ranges=[], oneofs=[ ], - serialized_start=290, - serialized_end=581, + serialized_start=135, + serialized_end=426, ) @@ -269,12 +226,10 @@ _VELOCITYCOMMAND = _descriptor.Descriptor( 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 diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.pyc b/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.pyc deleted file mode 100644 index acdac7a..0000000 Binary files a/utils/catkin_ws/src/joypad_bridge/scripts/otto_communication_pb2.pyc and /dev/null differ diff --git a/utils/catkin_ws/src/joypad_bridge/scripts/serial_receiver.py b/utils/catkin_ws/src/joypad_bridge/scripts/serial_receiver.py index b088347..196f594 100755 --- a/utils/catkin_ws/src/joypad_bridge/scripts/serial_receiver.py +++ b/utils/catkin_ws/src/joypad_bridge/scripts/serial_receiver.py @@ -39,10 +39,10 @@ def serial_receiver(): 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() @@ -56,14 +56,14 @@ def serial_receiver(): 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 @@ -110,11 +110,6 @@ def serial_receiver(): 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__': diff --git a/utils/protobuf_messages/otto_communication.pb b/utils/protobuf_messages/otto_communication.pb deleted file mode 100644 index 435262e..0000000 --- a/utils/protobuf_messages/otto_communication.pb +++ /dev/null @@ -1,26 +0,0 @@ - -å -otto_communication.proto"ž - StatusMessage' -linear_velocity (RlinearVelocity) -angular_velocity (RangularVelocity! - delta_millis (R deltaMillis -status (Rstatus"À - ConfigCommand -left_kp (RleftKp -left_ki (RleftKi -left_kd (RleftKd -right_kp (RrightKp -right_ki (RrightKi -right_kd (RrightKd -cross_kp (RcrossKp -cross_ki (RcrossKi -cross_kd (RcrossKd -baseline - (Rbaseline0 -ticks_per_revolution (RticksPerRevolution: -right_wheel_circumference (RrightWheelCircumference8 -left_wheel_circumference (RleftWheelCircumference"e -VelocityCommand' -linear_velocity (RlinearVelocity) -angular_velocity (RangularVelocity \ No newline at end of file diff --git a/utils/protobuf_messages/otto_communication.pb.c b/utils/protobuf_messages/otto_communication.pb.c deleted file mode 100644 index 79705b7..0000000 --- a/utils/protobuf_messages/otto_communication.pb.c +++ /dev/null @@ -1,18 +0,0 @@ -/* 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) - - - diff --git a/utils/protobuf_messages/otto_communication.pb.h b/utils/protobuf_messages/otto_communication.pb.h deleted file mode 100644 index 0822d21..0000000 --- a/utils/protobuf_messages/otto_communication.pb.h +++ /dev/null @@ -1,125 +0,0 @@ -/* 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 - -#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 diff --git a/utils/protobuf_messages/otto_communication.proto b/utils/protobuf_messages/otto_communication.proto index 7568b4c..1e865ac 100644 --- a/utils/protobuf_messages/otto_communication.proto +++ b/utils/protobuf_messages/otto_communication.proto @@ -21,6 +21,7 @@ message StatusMessage { required fixed32 status = 4; } +// Message sent from the computer to ST board message ConfigCommand { required float left_kp = 1; required float left_ki = 2; @@ -41,6 +42,7 @@ message ConfigCommand { 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; diff --git a/utils/protobuf_messages/otto_communication_pb2.py b/utils/protobuf_messages/otto_communication_pb2.py deleted file mode 100644 index 340dd63..0000000 --- a/utils/protobuf_messages/otto_communication_pb2.py +++ /dev/null @@ -1,259 +0,0 @@ -# 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)