Niklas Jensen
132 lines
3.8 KiB
Protocol Buffer
132 lines
3.8 KiB
Protocol Buffer
syntax = "proto3";
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package socket_message;
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message Vector { float x = 1; float y = 2; }
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message I2CDevice { int32 address = 1; string part_number = 2; string name = 3; }
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message PinConfig { int32 pin = 1; string mode = 2; string type = 3; string role = 4; }
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message KnownNetworkItem { string ssid = 1; string password = 2; bool static_ip = 3; optional string local_ip = 4; optional string subnet_mask = 5; optional string gateway_ip = 6; optional string dns_ip_1 = 7; optional string dns_ip_2 = 8; }
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// Individual message data types
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message IMUData {
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float x = 1;
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float y = 2;
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float z = 3;
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float heading = 4;
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float altitude = 5;
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float bmp_temp = 6;
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float pressure = 7;
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}
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enum ModesEnum {
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DEACTIVATED = 0;
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IDLE = 1;
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CALIBRATION = 2;
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REST = 3;
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STAND = 4;
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WALK = 5;
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}
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message StaticSystemInformation {
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string esp_platform = 1;
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string firmware_version = 2;
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uint32 cpu_freq_mhz = 3;
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string cpu_type = 4;
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int32 cpu_rev = 5;
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uint32 cpu_cores = 6;
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uint32 sketch_size = 7;
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uint32 free_sketch_space = 8;
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string sdk_version = 9;
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string arduino_version = 10;
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uint32 flash_chip_size = 11;
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uint32 flash_chip_speed = 12;
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string cpu_reset_reason = 13;
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}
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message IMUCalibrateData { bool success = 1; }
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message IMUCalibrateExecute {}
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message ModeData { ModesEnum mode = 1; }
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message ControllerInputData {
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Vector left = 1;
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Vector right = 2;
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float height = 3;
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float speed = 4;
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float s1 = 5;
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}
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message AnalyticsData {
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int32 max_alloc_heap = 1;
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int32 psram_size = 2;
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int32 free_psram = 3;
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int32 free_heap = 4;
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int32 total_heap = 5;
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int32 min_free_heap = 6;
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float core_temp = 7;
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int32 fs_total = 8;
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int32 fs_used = 9;
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int64 uptime = 10;
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int32 cpu0_usage = 11;
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int32 cpu1_usage = 12;
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int32 cpu_usage = 13;
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}
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message AnglesData { repeated int32 angles = 1; }
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message I2CScanData { repeated I2CDevice devices = 1; }
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message PeripheralSettingsData { int32 sda = 1; int32 scl = 2; int32 frequency = 3; repeated PinConfig pins = 4; }
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message WifiSettingsData { string hostname = 1; bool priority_rssi = 2; repeated KnownNetworkItem wifi_networks = 3; }
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message RSSIData { int32 rssi = 1; }
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message DownloadOTAData { string status = 1; int32 progress = 2; string error = 3; }
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message SonarData { string dummy_field = 1; }
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message HumanInputData {
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Vector left = 10; Vector right = 11; float height = 20; float speed = 21; float s1 = 22;
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}
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message SystemInformation {
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AnalyticsData analytics_data = 1; StaticSystemInformation static_system_information = 2;
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}
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enum WalkGaits {
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TROT = 0;
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CRAWL = 1;
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}
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message WalkGaitData {
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WalkGaits gait = 1;
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}
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message KinematicData {
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float omega = 1;
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float phi = 2;
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float psi = 3;
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float xm = 4;
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float ym = 5;
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float zm = 6;
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}
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message SubscribeNotification { int32 tag = 1; }
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message UnsubscribeNotification {int32 tag = 1; }
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message PingMsg {}
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message PongMsg {}
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// WebSocket message wrapper
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// Only ONE field will be set at a time (oneof ensures this)
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message WebsocketMessage {
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oneof message {
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SubscribeNotification sub_notif = 20;
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UnsubscribeNotification unsub_notif = 21;
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PingMsg pingmsg = 30;
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PongMsg pongmsg = 31;
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IMUData imu = 110;
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IMUCalibrateData imu_calibrate = 120;
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IMUCalibrateExecute imu_calibrate_execute = 121;
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ModeData mode = 130;
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ControllerInputData input = 140;
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AnalyticsData analytics = 150;
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AnglesData angles = 170;
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I2CScanData i2c_scan = 180;
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PeripheralSettingsData peripheral_settings = 190;
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KinematicData kinematic_data = 200;
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WifiSettingsData wifi_settings = 240;
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HumanInputData human_input_data = 250;
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RSSIData rssi = 260;
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}
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}
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