message_map.proto

syntax = "proto3";
package rbk.protocol;
import "google/protobuf/wrappers.proto";

message Message_MapProperty {
	string key = 1;
 	string type = 2;
	bytes value = 3; // for backward compatibility
	oneof oneof_value {
		string string_value = 4;
		bool bool_value = 5;
        int32 int32_value = 6;
		uint32 uint32_value = 7;
		int64 int64_value = 8;
		uint64 uint64_value = 9;
		float float_value = 10;
		double double_value = 11;
		bytes bytes_value = 12;
	}
}

message Message_MapPos {
	double x = 1;
	double y = 2;
}

message Message_MapRSSIPos {
	double x = 1;
	double y = 2;
}

message Message_MapLine {
	Message_MapPos start_pos = 1;
	Message_MapPos end_pos = 2;
}

message Message_MapHeader {
	string map_type = 1;	//type of map: 2D-Map or 3D-Map
	string map_name = 2;	//name of map: the map file name
	Message_MapPos min_pos = 3;
	Message_MapPos max_pos = 4;
	double resolution = 5; //unit: m
	string version = 8;
}

message Message_MapAttribute {
	string description = 1; // description of the this class
	uint32 color_pen = 2;
	uint32 color_brush = 3;
	uint32 color_font=4;
}

message Message_AdvancedPoint {
	string class_name = 1;	//the class_name from the Message_AdvancedObjectDefine
	string instance_name = 2; // the name of this instance
	Message_MapPos pos = 3;
	double dir = 4;
	repeated Message_MapProperty property = 5; // write in json
	bool ignore_dir = 6;
	bytes desc = 8;
	Message_MapAttribute attribute = 10;
}

message Message_AdvancedLine {
	string class_name = 1;   //the class_name from the Message_AdvancedObjectDefine
	string instance_name = 2;// the name of this instance
	Message_MapLine line = 3;
	repeated Message_MapProperty property = 4; // write in json
	bytes desc = 8;
	Message_MapAttribute attribute = 10;
}

message Message_AdvancedCurve {
	string class_name = 1;   //the class_name from the Message_AdvancedObjectDefine
	string instance_name = 2;// the name of this instance
	Message_AdvancedPoint start_pos = 3;
	Message_AdvancedPoint end_pos = 4;
	Message_MapPos control_pos1 = 5;
	Message_MapPos control_pos2 = 6;
	repeated Message_MapProperty property = 7; // write in json
	bytes desc = 8;
	Message_MapPos control_pos3 = 9;
	repeated Message_Device devices = 12;
	Message_MapAttribute attribute = 15;
}

message Message_AdvancedArea {
	string class_name = 1;//the class_name from the Message_AdvancedObjectDefine
	string instance_name = 2;// the name of this instance
	repeated Message_MapPos pos_group = 3; // usually four lines in a group
	double dir = 4;
	repeated Message_MapProperty property = 5; // write in json
	bytes desc = 8;
	repeated Message_Device devices = 10;
	Message_MapAttribute attribute = 15;
}

message Message_VirtualLineList {
	repeated Message_MapLine virtual_map_line = 1;
}

message Message_LaserDevice {
	uint32 id = 1;
	repeated Message_MapPos laser_margin_pos = 2;
}

message Message_Device {
	string model_name = 1;
	repeated Message_LaserDevice laser_devices = 5;
	repeated double ultrasonic_dist = 6; // dist = -1 means not used
	repeated double fallingdown_dist = 7; // dist = -1 means not used
}

message Message_PatrolRouteStation {
	string id = 1;
}

message Message_PatrolRoute {
	string name = 1;
	repeated Message_PatrolRouteStation station_list = 2;
	google.protobuf.DoubleValue max_speed = 4;
	google.protobuf.DoubleValue max_acc = 5;
	google.protobuf.DoubleValue max_rot = 6;
	google.protobuf.DoubleValue max_rot_acc = 7;
	bytes desc = 8;
	google.protobuf.DoubleValue max_dec = 9;
	google.protobuf.DoubleValue max_rot_dec = 10;
}

message Message_Map {
	string map_directory = 1;
	Message_MapHeader header = 2;
	repeated Message_MapPos normal_pos_list = 3;
	repeated Message_MapLine normal_line_list = 4;
	repeated Message_AdvancedPoint advanced_point_list = 6;
	repeated Message_AdvancedLine  advanced_line_list = 7;
	repeated Message_AdvancedCurve advanced_curve_list = 8;
	repeated Message_AdvancedArea  advanced_area_list = 9;
	repeated Message_PatrolRoute patrol_route_list = 10;
	repeated Message_MapRSSIPos rssi_pos_list = 11;
}