156 lines
9.0 KiB
Python
156 lines
9.0 KiB
Python
# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# source: cmvr/msgs/canopen.proto
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"""Generated protocol buffer code."""
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from google.protobuf.internal import enum_type_wrapper
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import descriptor_pool as _descriptor_pool
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from google.protobuf import message as _message
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from google.protobuf import reflection as _reflection
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from google.protobuf import symbol_database as _symbol_database
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x17\x63mvr/msgs/canopen.proto\x12\tcmvr.msgs\"\x9f\x01\n\x08SdoFrame\x12\x0f\n\x07node_id\x18\x01 \x01(\r\x12\'\n\x02\x63s\x18\x02 \x01(\x0e\x32\x1b.cmvr.msgs.CommandSpecifier\x12!\n\x05index\x18\x03 \x01(\x0e\x32\x12.cmvr.msgs.ObIndex\x12(\n\tsub_index\x18\x04 \x01(\x0e\x32\x15.cmvr.msgs.ObSubIndex\x12\x0c\n\x04\x64\x61ta\x18\x05 \x01(\r*\xe8\x01\n\tPdoBaseId\x12\x1b\n\x17PDO_BASE_ID_UNSPECIFIED\x10\x00\x12\x16\n\x11RPDO1_BASE_ID_200\x10\x80\x04\x12\x16\n\x11RPDO2_BASE_ID_300\x10\x80\x06\x12\x16\n\x11RPDO3_BASE_ID_400\x10\x80\x08\x12\x16\n\x11RPDO4_BASE_ID_500\x10\x80\n\x12\x16\n\x11TPDO1_BASE_ID_180\x10\x80\x03\x12\x16\n\x11TPDO2_BASE_ID_280\x10\x80\x05\x12\x16\n\x11TPDO3_BASE_ID_380\x10\x80\x07\x12\x16\n\x11TPDO4_BASE_ID_480\x10\x80\t*\x9d\x01\n\x10TransmissionType\x12\x15\n\x11SYNC_EVENT_DRIVEN\x10\x00\x12\x0f\n\x0bSYNC_CYCLIC\x10\x01\x12\x10\n\x0bREMOTE_SYNC\x10\xfc\x01\x12\x11\n\x0cREMOTE_ASYNC\x10\xfd\x01\x12 \n\x1b\x41SYNC_MANUFACTURER_SPECIFIC\x10\xfe\x01\x12\x1a\n\x15\x41SYNC_DEVICE_SPECIFIC\x10\xff\x01*\xd1\x02\n\x10\x43ommandSpecifier\x12\t\n\x05\x43S_NO\x10\x00\x12\x15\n\x11\x43S_WRITE_ONE_BYTE\x10/\x12\x16\n\x12\x43S_WRITE_TWO_BYTES\x10+\x12\x18\n\x14\x43S_WRITE_THREE_BYTES\x10\'\x12\x17\n\x13\x43S_WRITE_FOUR_BYTES\x10#\x12\x1d\n\x19\x43S_WRITE_SUCCESS_RESPONSE\x10`\x12\x13\n\x0f\x43S_READ_REQUEST\x10@\x12\x1d\n\x19\x43S_READ_RESPONSE_ONE_BYTE\x10O\x12\x1e\n\x1a\x43S_READ_RESPONSE_TWO_BYTES\x10K\x12 \n\x1c\x43S_READ_RESPONSE_THREE_BYTES\x10G\x12\x1f\n\x1b\x43S_READ_RESPONSE_FOUR_BYTES\x10\x43\x12\x1a\n\x15\x43S_EXCEPTION_RESPONSE\x10\x80\x01*\xa1\x01\n\x08NmtState\x12\x14\n\x10NMT_INITIALIZING\x10\x00\x12\x19\n\x15NMT_RESET_APPLICATION\x10\x01\x12\x12\n\x0eNMT_CONNECTING\x10\x02\x12\x11\n\rNMT_PREPARING\x10\x03\x12\x0f\n\x0bNMT_STOPPED\x10\x04\x12\x13\n\x0fNMT_OPERATIONAL\x10\x05\x12\x17\n\x13NMT_PRE_OPERATIONAL\x10\x7f*\xb1\x01\n\nNmtCommand\x12\x1b\n\x17NMT_COMMAND_UNSPECIFIED\x10\x00\x12\x19\n\x15NMT_START_REMOTE_NODE\x10\x01\x12\x18\n\x14NMT_STOP_REMOTE_NODE\x10\x02\x12\x1e\n\x19NMT_ENTER_PRE_OPERATIONAL\x10\x80\x01\x12\x13\n\x0eNMT_RESET_NODE\x10\x81\x01\x12\x1c\n\x17NMT_RESET_COMMUNICATION\x10\x82\x01*\xce\x08\n\x07ObIndex\x12\x0e\n\nINDEX_ZERO\x10\x00\x12\x18\n\x13USER_SAVE_PARA_2000\x10\x80@\x12\x19\n\x14POSITION_OFFSET_2008\x10\x88@\x12\x15\n\x0f\x45RROR_CODE_6007\x10\x87\xc0\x01\x12\x15\n\x0f\x45RROR_CODE_603F\x10\xbf\xc0\x01\x12\x17\n\x11\x43ONTROL_WORD_6040\x10\xc0\xc0\x01\x12\x16\n\x10STATUS_WORD_6041\x10\xc1\xc0\x01\x12\x19\n\x13OPERATION_MODE_6060\x10\xe0\xc0\x01\x12\x17\n\x11MODE_DISPLAY_6061\x10\xe1\xc0\x01\x12\x1a\n\x14\x41\x43TUAL_POSITION_6064\x10\xe4\xc0\x01\x12\x17\n\x11\x41\x43TUAL_SPEED_606C\x10\xec\xc0\x01\x12\x19\n\x13\x41\x43TUAL_CURRENT_6078\x10\xf8\xc0\x01\x12\x18\n\x12TARGET_TORQUE_6071\x10\xf1\xc0\x01\x12\x15\n\x0fMAX_TORQUE_6072\x10\xf2\xc0\x01\x12\x18\n\x12\x44\x45MAND_TORQUE_6074\x10\xf4\xc0\x01\x12\x1a\n\x14TARGET_POSITION_607A\x10\xfa\xc0\x01\x12\"\n\x1cSOFTWARE_POSITION_LIMIT_607D\x10\xfd\xc0\x01\x12\x14\n\x0eMAX_SPEED_607F\x10\xff\xc0\x01\x12\x18\n\x12PROFILE_SPEED_6081\x10\x81\xc1\x01\x12\x1f\n\x19PROFILE_ACCELERATION_6083\x10\x83\xc1\x01\x12\x1f\n\x19PROFILE_DECELERATION_6084\x10\x84\xc1\x01\x12\x1b\n\x15\x43URRENT_LOOP_PID_60F6\x10\xf6\xc1\x01\x12\x19\n\x13SPEED_LOOP_PID_60F9\x10\xf9\xc1\x01\x12\x1c\n\x16POSITION_LOOP_PID_60FB\x10\xfb\xc1\x01\x12\x17\n\x11TARGET_SPEED_60FF\x10\xff\xc1\x01\x12\x1c\n\x16QUICK_STOP_OPTION_605A\x10\xda\xc0\x01\x12\x1b\n\x15QUICK_STOP_DECEL_6085\x10\x85\xc1\x01\x12\x14\n\x0fRPDO1_COMM_1400\x10\x80(\x12\x14\n\x0fRPDO2_COMM_1401\x10\x81(\x12\x14\n\x0fRPDO3_COMM_1402\x10\x82(\x12\x14\n\x0fRPDO4_COMM_1403\x10\x83(\x12\x14\n\x0fTPDO1_COMM_1800\x10\x80\x30\x12\x14\n\x0fTPDO2_COMM_1801\x10\x81\x30\x12\x14\n\x0fTPDO3_COMM_1802\x10\x82\x30\x12\x14\n\x0fTPDO4_COMM_1803\x10\x83\x30\x12\x13\n\x0eRPDO1_MAP_1600\x10\x80,\x12\x13\n\x0eRPDO2_MAP_1601\x10\x81,\x12\x13\n\x0eRPDO3_MAP_1602\x10\x82,\x12\x13\n\x0eRPDO4_MAP_1603\x10\x83,\x12\x13\n\x0eTPDO1_MAP_1A00\x10\x80\x34\x12\x13\n\x0eTPDO2_MAP_1A01\x10\x81\x34\x12\x13\n\x0eTPDO3_MAP_1A02\x10\x82\x34\x12\x13\n\x0eTPDO4_MAP_1A03\x10\x83\x34\x12\x1c\n\x17PRODUCER_HEARTBEAT_TIME\x10\x97 *\x94\x01\n\nObSubIndex\x12\x0f\n\x0bSUB_INDEX_0\x10\x00\x12\x0f\n\x0bSUB_INDEX_1\x10\x01\x12\x0f\n\x0bSUB_INDEX_2\x10\x02\x12\x0f\n\x0bSUB_INDEX_3\x10\x03\x12\x0f\n\x0bSUB_INDEX_4\x10\x04\x12\x0f\n\x0bSUB_INDEX_5\x10\x05\x12\x0f\n\x0bSUB_INDEX_6\x10\x06\x12\x0f\n\x0bSUB_INDEX_7\x10\x07\x62\x06proto3')
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_PDOBASEID = DESCRIPTOR.enum_types_by_name['PdoBaseId']
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PdoBaseId = enum_type_wrapper.EnumTypeWrapper(_PDOBASEID)
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_TRANSMISSIONTYPE = DESCRIPTOR.enum_types_by_name['TransmissionType']
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TransmissionType = enum_type_wrapper.EnumTypeWrapper(_TRANSMISSIONTYPE)
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_COMMANDSPECIFIER = DESCRIPTOR.enum_types_by_name['CommandSpecifier']
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CommandSpecifier = enum_type_wrapper.EnumTypeWrapper(_COMMANDSPECIFIER)
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_NMTSTATE = DESCRIPTOR.enum_types_by_name['NmtState']
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NmtState = enum_type_wrapper.EnumTypeWrapper(_NMTSTATE)
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_NMTCOMMAND = DESCRIPTOR.enum_types_by_name['NmtCommand']
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NmtCommand = enum_type_wrapper.EnumTypeWrapper(_NMTCOMMAND)
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_OBINDEX = DESCRIPTOR.enum_types_by_name['ObIndex']
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ObIndex = enum_type_wrapper.EnumTypeWrapper(_OBINDEX)
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_OBSUBINDEX = DESCRIPTOR.enum_types_by_name['ObSubIndex']
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ObSubIndex = enum_type_wrapper.EnumTypeWrapper(_OBSUBINDEX)
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PDO_BASE_ID_UNSPECIFIED = 0
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RPDO1_BASE_ID_200 = 512
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RPDO2_BASE_ID_300 = 768
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RPDO3_BASE_ID_400 = 1024
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RPDO4_BASE_ID_500 = 1280
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TPDO1_BASE_ID_180 = 384
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TPDO2_BASE_ID_280 = 640
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TPDO3_BASE_ID_380 = 896
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TPDO4_BASE_ID_480 = 1152
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SYNC_EVENT_DRIVEN = 0
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SYNC_CYCLIC = 1
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REMOTE_SYNC = 252
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REMOTE_ASYNC = 253
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ASYNC_MANUFACTURER_SPECIFIC = 254
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ASYNC_DEVICE_SPECIFIC = 255
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CS_NO = 0
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CS_WRITE_ONE_BYTE = 47
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CS_WRITE_TWO_BYTES = 43
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CS_WRITE_THREE_BYTES = 39
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CS_WRITE_FOUR_BYTES = 35
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CS_WRITE_SUCCESS_RESPONSE = 96
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CS_READ_REQUEST = 64
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CS_READ_RESPONSE_ONE_BYTE = 79
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CS_READ_RESPONSE_TWO_BYTES = 75
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CS_READ_RESPONSE_THREE_BYTES = 71
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CS_READ_RESPONSE_FOUR_BYTES = 67
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CS_EXCEPTION_RESPONSE = 128
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NMT_INITIALIZING = 0
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NMT_RESET_APPLICATION = 1
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NMT_CONNECTING = 2
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NMT_PREPARING = 3
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NMT_STOPPED = 4
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NMT_OPERATIONAL = 5
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NMT_PRE_OPERATIONAL = 127
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NMT_COMMAND_UNSPECIFIED = 0
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NMT_START_REMOTE_NODE = 1
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NMT_STOP_REMOTE_NODE = 2
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NMT_ENTER_PRE_OPERATIONAL = 128
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NMT_RESET_NODE = 129
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NMT_RESET_COMMUNICATION = 130
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INDEX_ZERO = 0
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USER_SAVE_PARA_2000 = 8192
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POSITION_OFFSET_2008 = 8200
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ERROR_CODE_6007 = 24583
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ERROR_CODE_603F = 24639
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CONTROL_WORD_6040 = 24640
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STATUS_WORD_6041 = 24641
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OPERATION_MODE_6060 = 24672
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MODE_DISPLAY_6061 = 24673
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ACTUAL_POSITION_6064 = 24676
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ACTUAL_SPEED_606C = 24684
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ACTUAL_CURRENT_6078 = 24696
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TARGET_TORQUE_6071 = 24689
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MAX_TORQUE_6072 = 24690
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DEMAND_TORQUE_6074 = 24692
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TARGET_POSITION_607A = 24698
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SOFTWARE_POSITION_LIMIT_607D = 24701
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MAX_SPEED_607F = 24703
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PROFILE_SPEED_6081 = 24705
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PROFILE_ACCELERATION_6083 = 24707
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PROFILE_DECELERATION_6084 = 24708
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CURRENT_LOOP_PID_60F6 = 24822
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SPEED_LOOP_PID_60F9 = 24825
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POSITION_LOOP_PID_60FB = 24827
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TARGET_SPEED_60FF = 24831
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QUICK_STOP_OPTION_605A = 24666
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QUICK_STOP_DECEL_6085 = 24709
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RPDO1_COMM_1400 = 5120
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RPDO2_COMM_1401 = 5121
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RPDO3_COMM_1402 = 5122
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RPDO4_COMM_1403 = 5123
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TPDO1_COMM_1800 = 6144
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TPDO2_COMM_1801 = 6145
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TPDO3_COMM_1802 = 6146
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TPDO4_COMM_1803 = 6147
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RPDO1_MAP_1600 = 5632
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RPDO2_MAP_1601 = 5633
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RPDO3_MAP_1602 = 5634
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RPDO4_MAP_1603 = 5635
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TPDO1_MAP_1A00 = 6656
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TPDO2_MAP_1A01 = 6657
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TPDO3_MAP_1A02 = 6658
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TPDO4_MAP_1A03 = 6659
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PRODUCER_HEARTBEAT_TIME = 4119
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SUB_INDEX_0 = 0
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SUB_INDEX_1 = 1
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SUB_INDEX_2 = 2
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SUB_INDEX_3 = 3
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SUB_INDEX_4 = 4
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SUB_INDEX_5 = 5
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SUB_INDEX_6 = 6
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SUB_INDEX_7 = 7
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_SDOFRAME = DESCRIPTOR.message_types_by_name['SdoFrame']
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SdoFrame = _reflection.GeneratedProtocolMessageType('SdoFrame', (_message.Message,), {
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'DESCRIPTOR' : _SDOFRAME,
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'__module__' : 'cmvr.msgs.canopen_pb2'
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# @@protoc_insertion_point(class_scope:cmvr.msgs.SdoFrame)
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})
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_sym_db.RegisterMessage(SdoFrame)
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if _descriptor._USE_C_DESCRIPTORS == False:
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DESCRIPTOR._options = None
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_PDOBASEID._serialized_start=201
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_PDOBASEID._serialized_end=433
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_TRANSMISSIONTYPE._serialized_start=436
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_TRANSMISSIONTYPE._serialized_end=593
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_COMMANDSPECIFIER._serialized_start=596
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_COMMANDSPECIFIER._serialized_end=933
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_NMTSTATE._serialized_start=936
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_NMTSTATE._serialized_end=1097
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_NMTCOMMAND._serialized_start=1100
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_NMTCOMMAND._serialized_end=1277
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_OBINDEX._serialized_start=1280
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_OBINDEX._serialized_end=2382
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_OBSUBINDEX._serialized_start=2385
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_OBSUBINDEX._serialized_end=2533
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_SDOFRAME._serialized_start=39
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_SDOFRAME._serialized_end=198
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# @@protoc_insertion_point(module_scope)
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