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Unverified Commit addcd5e9 authored by Charles JAVERLIAT's avatar Charles JAVERLIAT
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docs/Add documentation

parent e346042d
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...@@ -20,6 +20,9 @@ build: ...@@ -20,6 +20,9 @@ build:
stage: build stage: build
script: script:
- make - make
- ls python/
- ls cpp/
- ls nanopb/
artifacts: artifacts:
paths: paths:
- python/ - python/
...@@ -39,12 +42,17 @@ deploy_python: ...@@ -39,12 +42,17 @@ deploy_python:
script: script:
- echo "$SSH_PRIVATE_KEY_PYTHON" | tr -d '\r' | ssh-add - - echo "$SSH_PRIVATE_KEY_PYTHON" | tr -d '\r' | ssh-add -
- git clone $PYTHON_GIT_URL - git clone $PYTHON_GIT_URL
- rm -f messages-schemas-python/*.py messages-schemas-cpp/*.cc messages-schemas-cpp/*.h - rm -f messages-schemas-python/*.py
- mv python/* messages-schemas-python/ - mv python/* messages-schemas-python/
- cd messages-schemas-python - cd messages-schemas-python
- git add . - git add .
- git diff --quiet && git diff --staged --quiet || git commit -m "$COMMIT_MSG" - git diff --quiet && git diff --staged --quiet || git commit -m "$COMMIT_MSG"
- git push -u $PYTHON_GIT_URL master - git push -u $PYTHON_GIT_URL master
only:
refs:
- master
changes:
- messages/*
deploy_cpp: deploy_cpp:
stage: deploy stage: deploy
...@@ -53,11 +61,17 @@ deploy_cpp: ...@@ -53,11 +61,17 @@ deploy_cpp:
script: script:
- echo "$SSH_PRIVATE_KEY_CPP" | tr -d '\r' | ssh-add - - echo "$SSH_PRIVATE_KEY_CPP" | tr -d '\r' | ssh-add -
- git clone $CPP_GIT_URL - git clone $CPP_GIT_URL
- rm -f messages-schemas-cpp/*.cc messages-schemas-cpp/*.h
- mv cpp/* messages-schemas-cpp/ - mv cpp/* messages-schemas-cpp/
- cd messages-schemas-cpp - cd messages-schemas-cpp
- git add . - git add .
- git diff --quiet && git diff --staged --quiet || git commit -m "$COMMIT_MSG" - git diff --quiet && git diff --staged --quiet || git commit -m "$COMMIT_MSG"
- git push -u $CPP_GIT_URL master - git push -u $CPP_GIT_URL master
only:
refs:
- master
changes:
- messages/*
deploy_nanopb: deploy_nanopb:
stage: deploy stage: deploy
...@@ -66,8 +80,14 @@ deploy_nanopb: ...@@ -66,8 +80,14 @@ deploy_nanopb:
script: script:
- echo "$SSH_PRIVATE_KEY_NANOPB" | tr -d '\r' | ssh-add - - echo "$SSH_PRIVATE_KEY_NANOPB" | tr -d '\r' | ssh-add -
- git clone $NANOPB_GIT_URL - git clone $NANOPB_GIT_URL
- rm -f messages-schemas-nanopb/*.cc messages-schemas-cpp/*.h
- mv nanopb/* messages-schemas-nanopb/ - mv nanopb/* messages-schemas-nanopb/
- cd messages-schemas-nanopb - cd messages-schemas-nanopb
- git add . - git add .
- git diff --quiet && git diff --staged --quiet || git commit -m "$COMMIT_MSG" - git diff --quiet && git diff --staged --quiet || git commit -m "$COMMIT_MSG"
- git push -u $NANOPB_GIT_URL master - git push -u $NANOPB_GIT_URL master
only:
refs:
- master
changes:
- messages/*
...@@ -7,11 +7,29 @@ message Point2D { ...@@ -7,11 +7,29 @@ message Point2D {
float y = 2; float y = 2;
} }
/**
* Robot odometry message
*/
message OdomMessage { message OdomMessage {
/**
* Sensor ID used to differentiate the code wheels, LIDAR, ToF, ...
*/
int32 sensor_id = 1; int32 sensor_id = 1;
/**
* Cartesian coordinates in meters of the robot center point
*/
Point2D position = 2; Point2D position = 2;
/**
* Yaw angle in radians of the robot center point
*/
float angle = 3; float angle = 3;
/**
* Linear speed in meters/sec of the robot center point
*/
float linearSpeed = 4; float linearSpeed = 4;
/**
* Angular speed in radians/sec of the robot center point
*/
float angularSpeed = 5; float angularSpeed = 5;
} }
...@@ -6,9 +6,15 @@ import "OdomMessage.proto"; ...@@ -6,9 +6,15 @@ import "OdomMessage.proto";
package status_message; package status_message;
/**
* Robot status message at a given time
*/
message StatusMessage { message StatusMessage {
int32 id = 1; int32 id = 1;
google.protobuf.Timestamp timestamp = 2; google.protobuf.Timestamp timestamp = 2;
oneof body { oneof body {
ToFMessage tof = 3; ToFMessage tof = 3;
OdomMessage odom = 4; OdomMessage odom = 4;
......
...@@ -2,6 +2,9 @@ syntax = "proto3"; ...@@ -2,6 +2,9 @@ syntax = "proto3";
package status_message; package status_message;
/**
* Time of flight sensor message
*/
message ToFMessage { message ToFMessage {
int32 sensor_id = 1; int32 sensor_id = 1;
float distance = 2; float distance = 2;
......
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