Add relays.proto and update core.proto to include Relays as a Device (#…

…26) I created relays.proto with RelaysCommand and Data message types. I also updated core.proto to include RELAYS as a device type. --------- Co-authored-by: Levi Lesches <[email protected]>
BinghamtonRover · Jan 24, 2025 · ae2275f · ae2275f
1 parent 386dd7e
commit ae2275f
Show file tree

Hide file tree

Showing 2 changed files with 37 additions and 5 deletions.
diff --git a/core.proto b/core.proto
@@ -3,13 +3,13 @@
 syntax = "proto3";
 
 // Used for a simple handshake between devices.
-message Connect { 
+message Connect {
 	Device sender = 1;
 	Device receiver = 2;
 }
 
 // Notifies the recipient that the sender will no longer be connected.
-message Disconnect { 
+message Disconnect {
 	Device sender = 1;
 }
 
@@ -24,7 +24,7 @@ enum Device {
 	GRIPPER = 7;
 	SCIENCE = 8;
 	DRIVE = 9;
-	BASE_STATION = 10;
-	ANTENNA = 11;
+	RELAY = 10;
+	BASE_STATION = 11;
+	ANTENNA = 12;
 }
-
diff --git a/relays.proto b/relays.proto
@@ -0,0 +1,32 @@
+syntax = "proto3";
+
+import "utils.proto";
+
+message RelaysCommand {
+  // Turn the following devices on or off
+  BoolState backLeftMotor = 1;
+  BoolState backRightMotor = 2;
+  BoolState frontLeftMotor = 3;
+  BoolState frontRightMotor = 4;
+  BoolState arm = 5;
+  BoolState science = 6;
+  BoolState drive = 7;
+
+  // Special commands
+  BoolState bypass = 8;
+}
+
+message RelaysData {
+  // Whether the following devices are on or off
+  BoolState backLeftMotor = 1;
+  BoolState backRightMotor = 2;
+  BoolState frontLeftMotor = 3;
+  BoolState frontRightMotor = 4;
+  BoolState arm = 5;
+  BoolState science = 6;
+  BoolState drive = 7;
+
+  // Special data
+  BoolState bypass = 8;
+  BoolState mechanicalOverride = 9;
+}