Cleanup

client/compLib/CompLib.proto

@@ -0,0 +1,113 @@
+syntax = "proto3";
+
+package CompLib;
+
+message Header {
+  string message_type = 1;
+}
+
+message Status {
+  bool successful = 1;
+  string error_message = 2;
+}
+
+message GenericRequest {
+  Header header = 1;
+}
+
+message GenericResponse {
+  Header header = 1;
+  Status status = 2;
+}
+
+message EncoderReadPositionsRequest {
+  Header header = 1;
+}
+
+message EncoderReadPositionsResponse {
+  Header header = 1;
+  Status status = 2;
+  repeated int32 positions = 3 [packed = true];
+}
+
+message EncoderReadVelocitiesRequest {
+  Header header = 1;
+}
+
+message EncoderReadVelocitiesResponse {
+  Header header = 1;
+  Status status = 2;
+  repeated double velocities = 3 [packed = true];
+}
+
+message IRSensorsEnableRequest {
+  Header header = 1;
+}
+
+message IRSensorsDisableRequest {
+  Header header = 1;
+}
+
+message IRSensorsReadAllRequest {
+  Header header = 1;
+}
+
+message IRSensorsReadAllResponse {
+  Header header = 1;
+  Status status = 2;
+  repeated uint32 data = 3 [packed = true];
+}
+
+message MotorSetPowerRequest {
+  uint32 port = 1;
+  double power = 2;
+}
+
+message MotorsSetPowerRequest {
+  Header header = 1;
+  repeated MotorSetPowerRequest requests = 2;
+}
+
+message MotorSetSpeedRequest {
+  uint32 port = 1;
+  double speed = 2;
+}
+
+message MotorsSetSpeedRequest {
+  Header header = 1;
+  repeated MotorSetSpeedRequest requests = 2;
+}
+
+message OdometryReadRequest {
+  Header header = 1;
+}
+
+message OdometryReadResponse {
+  Header header = 1;
+  Status status = 2;
+  double x_position = 3;
+  double y_position = 4;
+  double orientation = 5;
+}
+
+message DriveDistanceRequest {
+  Header header = 1;
+  double distance_m = 2;
+  double velocity_m_s = 3;
+}
+
+message TurnDegreesRequest {
+  Header header = 1;
+  double angle_degrees = 2;
+  double velocity_rad_s = 3;
+}
+
+message DriveRequest {
+  Header header = 1;
+  double linear_velocity_m_s = 2;
+  double angular_velocity_rad_s = 3;
+}
+
+message HealthUpdateRequest {
+  Header header = 1;
+}