mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 17:40:46 -04:00
52 lines
1.3 KiB
Go
52 lines
1.3 KiB
Go
package roverd
|
|
|
|
type helloMessage struct {
|
|
Type string `json:"type"`
|
|
Name string `json:"name"`
|
|
Battery BatteryConfig `json:"battery"`
|
|
MaxWheelSpeed int `json:"maxWheelSpeed"`
|
|
Media MediaConfig `json:"media"`
|
|
}
|
|
|
|
type sensorMessage struct {
|
|
Type string `json:"type"`
|
|
Timestamp int64 `json:"ts"`
|
|
Data string `json:"data"`
|
|
}
|
|
|
|
type inboundMessage struct {
|
|
Type string `json:"type"`
|
|
ID string `json:"id"`
|
|
DriveDirect *driveDirectPayload `json:"driveDirect,omitempty"`
|
|
MotorPWM *motorPWMPayload `json:"motorPwm,omitempty"`
|
|
Raw string `json:"raw,omitempty"`
|
|
SensorStream *sensorStreamPayload `json:"sensorStream,omitempty"`
|
|
Media *mediaCommand `json:"media,omitempty"`
|
|
}
|
|
|
|
type driveDirectPayload struct {
|
|
Left int `json:"left"`
|
|
Right int `json:"right"`
|
|
}
|
|
|
|
type motorPWMPayload struct {
|
|
Main int `json:"main"`
|
|
Side int `json:"side"`
|
|
Vacuum int `json:"vacuum"`
|
|
}
|
|
|
|
type sensorStreamPayload struct {
|
|
Enable bool `json:"enable"`
|
|
}
|
|
|
|
type mediaCommand struct {
|
|
Action string `json:"action"`
|
|
}
|
|
|
|
type ackMessage struct {
|
|
Type string `json:"type"`
|
|
ID string `json:"id"`
|
|
Status string `json:"status"`
|
|
Error string `json:"error,omitempty"`
|
|
}
|