# -*- coding: utf-8 -*-
# Generated by the protocol buffer compiler.  DO NOT EDIT!
# NO CHECKED-IN PROTOBUF GENCODE
# source: agv_calib_control.proto
# Protobuf Python Version: 6.31.1
"""Generated protocol buffer code."""
from google.protobuf import descriptor as _descriptor
from google.protobuf import descriptor_pool as _descriptor_pool
from google.protobuf import runtime_version as _runtime_version
from google.protobuf import symbol_database as _symbol_database
from google.protobuf.internal import builder as _builder
_runtime_version.ValidateProtobufRuntimeVersion(
    _runtime_version.Domain.PUBLIC,
    6,
    31,
    1,
    '',
    'agv_calib_control.proto'
)
# @@protoc_insertion_point(imports)

_sym_db = _symbol_database.Default()




DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x17\x61gv_calib_control.proto\x12\x17\x61gv.calibration.control\"\x07\n\x05\x45mpty\"4\n\x10StandardResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\"\x8b\x01\n\x0bModeRequest\x12>\n\x0btarget_mode\x18\x01 \x01(\x0e\x32).agv.calibration.control.ModeRequest.Mode\"<\n\x04Mode\x12\x0f\n\x0bNORMAL_MODE\x10\x00\x12\x12\n\x0eOPEN_LOOP_MODE\x10\x01\x12\x0f\n\x0bTUNING_MODE\x10\x02\"p\n\x0fOpenLoopRequest\x12\x16\n\x0eleft_motor_cmd\x18\x01 \x01(\x01\x12\x17\n\x0fright_motor_cmd\x18\x02 \x01(\x01\x12\x16\n\x0esteering_angle\x18\x03 \x01(\x01\x12\x14\n\x0c\x64uration_sec\x18\x04 \x01(\x01\"h\n\x0fTrajectoryPoint\x12\x0b\n\x03x_m\x18\x01 \x01(\x01\x12\x0b\n\x03y_m\x18\x02 \x01(\x01\x12\x0f\n\x07yaw_rad\x18\x03 \x01(\x01\x12\x17\n\x0ftarget_speed_ms\x18\x04 \x01(\x01\x12\x11\n\tcurvature\x18\x05 \x01(\x01\"a\n\x11TrajectoryRequest\x12\x14\n\x0ctest_case_id\x18\x01 \x01(\t\x12\x36\n\x04path\x18\x02 \x03(\x0b\x32(.agv.calibration.control.TrajectoryPoint\"G\n\x13StepResponseRequest\x12\x1a\n\x12target_velocity_ms\x18\x01 \x01(\x01\x12\x14\n\x0c\x64uration_sec\x18\x02 \x01(\x01\"\xf9\x05\n\rControlParams\x12$\n\x17wheel_radius_left_ratio\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12%\n\x18wheel_radius_right_ratio\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12$\n\x17\x65\x66\x66\x65\x63tive_track_width_m\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12%\n\x18steering_zero_offset_deg\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x1b\n\x0epid_kp_lateral\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x1b\n\x0epid_ki_lateral\x18\x06 \x01(\x01H\x05\x88\x01\x01\x12\x1b\n\x0epid_kd_lateral\x18\x07 \x01(\x01H\x06\x88\x01\x01\x12\x1b\n\x0epid_kp_heading\x18\x08 \x01(\x01H\x07\x88\x01\x01\x12\x1b\n\x0epid_ki_heading\x18\t \x01(\x01H\x08\x88\x01\x01\x12\x1b\n\x0epid_kd_heading\x18\n \x01(\x01H\t\x88\x01\x01\x12%\n\x18pure_pursuit_lookahead_m\x18\x0b \x01(\x01H\n\x88\x01\x01\x12!\n\x14mpc_weight_q_lateral\x18\x0c \x01(\x01H\x0b\x88\x01\x01\x12\"\n\x15mpc_weight_r_steering\x18\r \x01(\x01H\x0c\x88\x01\x01\x42\x1a\n\x18_wheel_radius_left_ratioB\x1b\n\x19_wheel_radius_right_ratioB\x1a\n\x18_effective_track_width_mB\x1b\n\x19_steering_zero_offset_degB\x11\n\x0f_pid_kp_lateralB\x11\n\x0f_pid_ki_lateralB\x11\n\x0f_pid_kd_lateralB\x11\n\x0f_pid_kp_headingB\x11\n\x0f_pid_ki_headingB\x11\n\x0f_pid_kd_headingB\x1b\n\x19_pure_pursuit_lookahead_mB\x17\n\x15_mpc_weight_q_lateralB\x18\n\x16_mpc_weight_r_steering\"\xad\x02\n\rTelemetryData\x12\x1d\n\x15hardware_timestamp_us\x18\x01 \x01(\x03\x12\x10\n\x08odom_x_m\x18\x02 \x01(\x01\x12\x10\n\x08odom_y_m\x18\x03 \x01(\x01\x12\x14\n\x0codom_yaw_rad\x18\x04 \x01(\x01\x12\x1e\n\x16\x66\x65\x65\x64\x62\x61\x63k_linear_vel_ms\x18\x05 \x01(\x01\x12!\n\x19\x66\x65\x65\x64\x62\x61\x63k_angular_vel_rads\x18\x06 \x01(\x01\x12\x1e\n\x16left_motor_current_amp\x18\x07 \x01(\x01\x12\x1f\n\x17right_motor_current_amp\x18\x08 \x01(\x01\x12\"\n\x1asteering_motor_current_amp\x18\t \x01(\x01\x12\x1b\n\x13\x63md_steering_output\x18\n \x01(\x01\x32\xd1\x06\n\x16\x41gvCalibControlService\x12\x61\n\x0eSetControlMode\x12$.agv.calibration.control.ModeRequest\x1a).agv.calibration.control.StandardResponse\x12Z\n\rEmergencyStop\x12\x1e.agv.calibration.control.Empty\x1a).agv.calibration.control.StandardResponse\x12i\n\x12\x45xecuteOpenLoopCmd\x12(.agv.calibration.control.OpenLoopRequest\x1a).agv.calibration.control.StandardResponse\x12m\n\x14\x46ollowTestTrajectory\x12*.agv.calibration.control.TrajectoryRequest\x1a).agv.calibration.control.StandardResponse\x12n\n\x13\x45xecuteStepResponse\x12,.agv.calibration.control.StepResponseRequest\x1a).agv.calibration.control.StandardResponse\x12k\n\x16InjectTuningParameters\x12&.agv.calibration.control.ControlParams\x1a).agv.calibration.control.StandardResponse\x12\x64\n\x17\x43ommitControlParameters\x12\x1e.agv.calibration.control.Empty\x1a).agv.calibration.control.StandardResponse\x12[\n\x0fStreamTelemetry\x12\x1e.agv.calibration.control.Empty\x1a&.agv.calibration.control.TelemetryData0\x01\x62\x06proto3')

_globals = globals()
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'agv_calib_control_pb2', _globals)
if not _descriptor._USE_C_DESCRIPTORS:
  DESCRIPTOR._loaded_options = None
  _globals['_EMPTY']._serialized_start=52
  _globals['_EMPTY']._serialized_end=59
  _globals['_STANDARDRESPONSE']._serialized_start=61
  _globals['_STANDARDRESPONSE']._serialized_end=113
  _globals['_MODEREQUEST']._serialized_start=116
  _globals['_MODEREQUEST']._serialized_end=255
  _globals['_MODEREQUEST_MODE']._serialized_start=195
  _globals['_MODEREQUEST_MODE']._serialized_end=255
  _globals['_OPENLOOPREQUEST']._serialized_start=257
  _globals['_OPENLOOPREQUEST']._serialized_end=369
  _globals['_TRAJECTORYPOINT']._serialized_start=371
  _globals['_TRAJECTORYPOINT']._serialized_end=475
  _globals['_TRAJECTORYREQUEST']._serialized_start=477
  _globals['_TRAJECTORYREQUEST']._serialized_end=574
  _globals['_STEPRESPONSEREQUEST']._serialized_start=576
  _globals['_STEPRESPONSEREQUEST']._serialized_end=647
  _globals['_CONTROLPARAMS']._serialized_start=650
  _globals['_CONTROLPARAMS']._serialized_end=1411
  _globals['_TELEMETRYDATA']._serialized_start=1414
  _globals['_TELEMETRYDATA']._serialized_end=1715
  _globals['_AGVCALIBCONTROLSERVICE']._serialized_start=1718
  _globals['_AGVCALIBCONTROLSERVICE']._serialized_end=2567
# @@protoc_insertion_point(module_scope)
