diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotCommand.java
deleted file mode 100644
index 2846f52..0000000
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotCommand.java
+++ /dev/null
@@ -1,13665 +0,0 @@
-// Generated by the protocol buffer compiler. DO NOT EDIT!
-// source: cmvr/api/humanoid_robot_command.proto
-
-package cmvr.api;
-
-public final class HumanoidRobotCommand {
- private HumanoidRobotCommand() {}
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistryLite registry) {
- }
-
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistry registry) {
- registerAllExtensions(
- (com.google.protobuf.ExtensionRegistryLite) registry);
- }
- /**
- * Protobuf enum {@code cmvr.api.RobotCartesian}
- */
- public enum RobotCartesian
- implements com.google.protobuf.ProtocolMessageEnum {
- /**
- * X = 0;
- */
- X(0),
- /**
- * Y = 1;
- */
- Y(1),
- /**
- * Z = 2;
- */
- Z(2),
- /**
- * RX = 3;
- */
- RX(3),
- /**
- * RY = 4;
- */
- RY(4),
- /**
- * RZ = 5;
- */
- RZ(5),
- UNRECOGNIZED(-1),
- ;
-
- /**
- * X = 0;
- */
- public static final int X_VALUE = 0;
- /**
- * Y = 1;
- */
- public static final int Y_VALUE = 1;
- /**
- * Z = 2;
- */
- public static final int Z_VALUE = 2;
- /**
- * RX = 3;
- */
- public static final int RX_VALUE = 3;
- /**
- * RY = 4;
- */
- public static final int RY_VALUE = 4;
- /**
- * RZ = 5;
- */
- public static final int RZ_VALUE = 5;
-
-
- public final int getNumber() {
- if (this == UNRECOGNIZED) {
- throw new java.lang.IllegalArgumentException(
- "Can't get the number of an unknown enum value.");
- }
- return value;
- }
-
- /**
- * @param value The numeric wire value of the corresponding enum entry.
- * @return The enum associated with the given numeric wire value.
- * @deprecated Use {@link #forNumber(int)} instead.
- */
- @java.lang.Deprecated
- public static RobotCartesian valueOf(int value) {
- return forNumber(value);
- }
-
- /**
- * @param value The numeric wire value of the corresponding enum entry.
- * @return The enum associated with the given numeric wire value.
- */
- public static RobotCartesian forNumber(int value) {
- switch (value) {
- case 0: return X;
- case 1: return Y;
- case 2: return Z;
- case 3: return RX;
- case 4: return RY;
- case 5: return RZ;
- default: return null;
- }
- }
-
- public static com.google.protobuf.Internal.EnumLiteMap
- internalGetValueMap() {
- return internalValueMap;
- }
- private static final com.google.protobuf.Internal.EnumLiteMap<
- RobotCartesian> internalValueMap =
- new com.google.protobuf.Internal.EnumLiteMap() {
- public RobotCartesian findValueByNumber(int number) {
- return RobotCartesian.forNumber(number);
- }
- };
-
- public final com.google.protobuf.Descriptors.EnumValueDescriptor
- getValueDescriptor() {
- if (this == UNRECOGNIZED) {
- throw new java.lang.IllegalStateException(
- "Can't get the descriptor of an unrecognized enum value.");
- }
- return getDescriptor().getValues().get(ordinal());
- }
- public final com.google.protobuf.Descriptors.EnumDescriptor
- getDescriptorForType() {
- return getDescriptor();
- }
- public static final com.google.protobuf.Descriptors.EnumDescriptor
- getDescriptor() {
- return cmvr.api.HumanoidRobotCommand.getDescriptor().getEnumTypes().get(0);
- }
-
- private static final RobotCartesian[] VALUES = values();
-
- public static RobotCartesian valueOf(
- com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
- if (desc.getType() != getDescriptor()) {
- throw new java.lang.IllegalArgumentException(
- "EnumValueDescriptor is not for this type.");
- }
- if (desc.getIndex() == -1) {
- return UNRECOGNIZED;
- }
- return VALUES[desc.getIndex()];
- }
-
- private final int value;
-
- private RobotCartesian(int value) {
- this.value = value;
- }
-
- // @@protoc_insertion_point(enum_scope:cmvr.api.RobotCartesian)
- }
-
- /**
- * Protobuf enum {@code cmvr.api.RobotJointIndexDirection}
- */
- public enum RobotJointIndexDirection
- implements com.google.protobuf.ProtocolMessageEnum {
- /**
- * FORWARD = 0;
- */
- FORWARD(0),
- /**
- * BACKWARD = 1;
- */
- BACKWARD(1),
- /**
- *
- * X轴正向
- *
- *
- * X_POSITIVE = 2;
- */
- X_POSITIVE(2),
- /**
- *
- * X轴负向
- *
- *
- * X_NEGATIVE = 3;
- */
- X_NEGATIVE(3),
- /**
- *
- * Y轴正向
- *
- *
- * Y_POSITIVE = 4;
- */
- Y_POSITIVE(4),
- /**
- *
- * Y轴负向
- *
- *
- * Y_NEGATIVE = 5;
- */
- Y_NEGATIVE(5),
- /**
- *
- * Z轴正向
- *
- *
- * Z_POSITIVE = 6;
- */
- Z_POSITIVE(6),
- /**
- *
- * Z轴负向
- *
- *
- * Z_NEGATIVE = 7;
- */
- Z_NEGATIVE(7),
- /**
- *
- * 绕X轴旋转
- *
- *
- * ROTATE_X = 8;
- */
- ROTATE_X(8),
- /**
- *
- * 绕Y轴旋转
- *
- *
- * ROTATE_Y = 9;
- */
- ROTATE_Y(9),
- /**
- *
- * 绕Z轴旋转
- *
- *
- * ROTATE_Z = 10;
- */
- ROTATE_Z(10),
- UNRECOGNIZED(-1),
- ;
-
- /**
- * FORWARD = 0;
- */
- public static final int FORWARD_VALUE = 0;
- /**
- * BACKWARD = 1;
- */
- public static final int BACKWARD_VALUE = 1;
- /**
- *
- * X轴正向
- *
- *
- * X_POSITIVE = 2;
- */
- public static final int X_POSITIVE_VALUE = 2;
- /**
- *
- * X轴负向
- *
- *
- * X_NEGATIVE = 3;
- */
- public static final int X_NEGATIVE_VALUE = 3;
- /**
- *
- * Y轴正向
- *
- *
- * Y_POSITIVE = 4;
- */
- public static final int Y_POSITIVE_VALUE = 4;
- /**
- *
- * Y轴负向
- *
- *
- * Y_NEGATIVE = 5;
- */
- public static final int Y_NEGATIVE_VALUE = 5;
- /**
- *
- * Z轴正向
- *
- *
- * Z_POSITIVE = 6;
- */
- public static final int Z_POSITIVE_VALUE = 6;
- /**
- *
- * Z轴负向
- *
- *
- * Z_NEGATIVE = 7;
- */
- public static final int Z_NEGATIVE_VALUE = 7;
- /**
- *
- * 绕X轴旋转
- *
- *
- * ROTATE_X = 8;
- */
- public static final int ROTATE_X_VALUE = 8;
- /**
- *
- * 绕Y轴旋转
- *
- *
- * ROTATE_Y = 9;
- */
- public static final int ROTATE_Y_VALUE = 9;
- /**
- *
- * 绕Z轴旋转
- *
- *
- * ROTATE_Z = 10;
- */
- public static final int ROTATE_Z_VALUE = 10;
-
-
- public final int getNumber() {
- if (this == UNRECOGNIZED) {
- throw new java.lang.IllegalArgumentException(
- "Can't get the number of an unknown enum value.");
- }
- return value;
- }
-
- /**
- * @param value The numeric wire value of the corresponding enum entry.
- * @return The enum associated with the given numeric wire value.
- * @deprecated Use {@link #forNumber(int)} instead.
- */
- @java.lang.Deprecated
- public static RobotJointIndexDirection valueOf(int value) {
- return forNumber(value);
- }
-
- /**
- * @param value The numeric wire value of the corresponding enum entry.
- * @return The enum associated with the given numeric wire value.
- */
- public static RobotJointIndexDirection forNumber(int value) {
- switch (value) {
- case 0: return FORWARD;
- case 1: return BACKWARD;
- case 2: return X_POSITIVE;
- case 3: return X_NEGATIVE;
- case 4: return Y_POSITIVE;
- case 5: return Y_NEGATIVE;
- case 6: return Z_POSITIVE;
- case 7: return Z_NEGATIVE;
- case 8: return ROTATE_X;
- case 9: return ROTATE_Y;
- case 10: return ROTATE_Z;
- default: return null;
- }
- }
-
- public static com.google.protobuf.Internal.EnumLiteMap
- internalGetValueMap() {
- return internalValueMap;
- }
- private static final com.google.protobuf.Internal.EnumLiteMap<
- RobotJointIndexDirection> internalValueMap =
- new com.google.protobuf.Internal.EnumLiteMap() {
- public RobotJointIndexDirection findValueByNumber(int number) {
- return RobotJointIndexDirection.forNumber(number);
- }
- };
-
- public final com.google.protobuf.Descriptors.EnumValueDescriptor
- getValueDescriptor() {
- if (this == UNRECOGNIZED) {
- throw new java.lang.IllegalStateException(
- "Can't get the descriptor of an unrecognized enum value.");
- }
- return getDescriptor().getValues().get(ordinal());
- }
- public final com.google.protobuf.Descriptors.EnumDescriptor
- getDescriptorForType() {
- return getDescriptor();
- }
- public static final com.google.protobuf.Descriptors.EnumDescriptor
- getDescriptor() {
- return cmvr.api.HumanoidRobotCommand.getDescriptor().getEnumTypes().get(1);
- }
-
- private static final RobotJointIndexDirection[] VALUES = values();
-
- public static RobotJointIndexDirection valueOf(
- com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
- if (desc.getType() != getDescriptor()) {
- throw new java.lang.IllegalArgumentException(
- "EnumValueDescriptor is not for this type.");
- }
- if (desc.getIndex() == -1) {
- return UNRECOGNIZED;
- }
- return VALUES[desc.getIndex()];
- }
-
- private final int value;
-
- private RobotJointIndexDirection(int value) {
- this.value = value;
- }
-
- // @@protoc_insertion_point(enum_scope:cmvr.api.RobotJointIndexDirection)
- }
-
- public interface JointCmdOrBuilder extends
- // @@protoc_insertion_point(interface_extends:cmvr.api.JointCmd)
- com.google.protobuf.MessageOrBuilder {
-
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The jointName.
- */
- java.lang.String getJointName();
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The bytes for jointName.
- */
- com.google.protobuf.ByteString
- getJointNameBytes();
-
- /**
- *
- * 弧度
- *
- *
- * double rad = 2;
- * @return The rad.
- */
- double getRad();
-
- /**
- *
- * 角速度，rad/s
- *
- *
- * double vel = 3;
- * @return The vel.
- */
- double getVel();
- }
- /**
- * Protobuf type {@code cmvr.api.JointCmd}
- */
- public static final class JointCmd extends
- com.google.protobuf.GeneratedMessageV3 implements
- // @@protoc_insertion_point(message_implements:cmvr.api.JointCmd)
- JointCmdOrBuilder {
- private static final long serialVersionUID = 0L;
- // Use JointCmd.newBuilder() to construct.
- private JointCmd(com.google.protobuf.GeneratedMessageV3.Builder builder) {
- super(builder);
- }
- private JointCmd() {
- jointName_ = "";
- }
-
- @java.lang.Override
- @SuppressWarnings({"unused"})
- protected java.lang.Object newInstance(
- UnusedPrivateParameter unused) {
- return new JointCmd();
- }
-
- @java.lang.Override
- public final com.google.protobuf.UnknownFieldSet
- getUnknownFields() {
- return this.unknownFields;
- }
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointCmd_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
- internalGetFieldAccessorTable() {
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- .ensureFieldAccessorsInitialized(
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- }
-
- public static final int JOINT_NAME_FIELD_NUMBER = 1;
- private volatile java.lang.Object jointName_;
- /**
- *
- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The jointName.
- */
- @java.lang.Override
- public java.lang.String getJointName() {
- java.lang.Object ref = jointName_;
- if (ref instanceof java.lang.String) {
- return (java.lang.String) ref;
- } else {
- com.google.protobuf.ByteString bs =
- (com.google.protobuf.ByteString) ref;
- java.lang.String s = bs.toStringUtf8();
- jointName_ = s;
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- }
- /**
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- * 关节名称
- *
- *
- * string joint_name = 1;
- * @return The bytes for jointName.
- */
- @java.lang.Override
- public com.google.protobuf.ByteString
- getJointNameBytes() {
- java.lang.Object ref = jointName_;
- if (ref instanceof java.lang.String) {
- com.google.protobuf.ByteString b =
- com.google.protobuf.ByteString.copyFromUtf8(
- (java.lang.String) ref);
- jointName_ = b;
- return b;
- } else {
- return (com.google.protobuf.ByteString) ref;
- }
- }
-
- public static final int RAD_FIELD_NUMBER = 2;
- private double rad_;
- /**
- *
- * 弧度
- *
- *
- * double rad = 2;
- * @return The rad.
- */
- @java.lang.Override
- public double getRad() {
- return rad_;
- }
-
- public static final int VEL_FIELD_NUMBER = 3;
- private double vel_;
- /**
- *
- * 角速度，rad/s
- *
- *
- * double vel = 3;
- * @return The vel.
- */
- @java.lang.Override
- public double getVel() {
- return vel_;
- }
-
- private byte memoizedIsInitialized = -1;
- @java.lang.Override
- public final boolean isInitialized() {
- byte isInitialized = memoizedIsInitialized;
- if (isInitialized == 1) return true;
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-
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- @java.lang.Override
- public void writeTo(com.google.protobuf.CodedOutputStream output)
- throws java.io.IOException {
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- @java.lang.Override
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- @java.lang.Override
- public boolean equals(final java.lang.Object obj) {
- if (obj == this) {
- return true;
- }
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- return super.equals(obj);
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- if (!getJointName()
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- if (java.lang.Double.doubleToLongBits(getRad())
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- if (java.lang.Double.doubleToLongBits(getVel())
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- other.getVel())) return false;
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- return true;
- }
-
- @java.lang.Override
- public int hashCode() {
- if (memoizedHashCode != 0) {
- return memoizedHashCode;
- }
- int hash = 41;
- hash = (19 * hash) + getDescriptor().hashCode();
- hash = (37 * hash) + JOINT_NAME_FIELD_NUMBER;
- hash = (53 * hash) + getJointName().hashCode();
- hash = (37 * hash) + RAD_FIELD_NUMBER;
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- hash = (29 * hash) + getUnknownFields().hashCode();
- memoizedHashCode = hash;
- return hash;
- }
-
- public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
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- }
- public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
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- public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
- com.google.protobuf.ByteString data)
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- }
- public static cmvr.api.HumanoidRobotCommand.JointCmd parseFrom(
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- bitField0_ = (bitField0_ & ~0x00000001);
- vel_ = 0D;
-
- acc_ = 0D;
-
- return this;
- }
-
- @java.lang.Override
- public com.google.protobuf.Descriptors.Descriptor
- getDescriptorForType() {
- return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Request_descriptor;
- }
-
- @java.lang.Override
- public cmvr.api.HumanoidRobotCommand.MoveJ.Request getDefaultInstanceForType() {
- return cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance();
- }
-
- @java.lang.Override
- public cmvr.api.HumanoidRobotCommand.MoveJ.Request build() {
- cmvr.api.HumanoidRobotCommand.MoveJ.Request result = buildPartial();
- if (!result.isInitialized()) {
- throw newUninitializedMessageException(result);
- }
- return result;
- }
-
- @java.lang.Override
- public cmvr.api.HumanoidRobotCommand.MoveJ.Request buildPartial() {
- cmvr.api.HumanoidRobotCommand.MoveJ.Request result = new cmvr.api.HumanoidRobotCommand.MoveJ.Request(this);
- int from_bitField0_ = bitField0_;
- if (headerBuilder_ == null) {
- result.header_ = header_;
- } else {
- result.header_ = headerBuilder_.build();
- }
- if (cmdsBuilder_ == null) {
- if (((bitField0_ & 0x00000001) != 0)) {
- cmds_ = java.util.Collections.unmodifiableList(cmds_);
- bitField0_ = (bitField0_ & ~0x00000001);
- }
- result.cmds_ = cmds_;
- } else {
- result.cmds_ = cmdsBuilder_.build();
- }
- result.vel_ = vel_;
- result.acc_ = acc_;
- onBuilt();
- return result;
- }
-
- @java.lang.Override
- public Builder clone() {
- return super.clone();
- }
- @java.lang.Override
- public Builder setField(
- com.google.protobuf.Descriptors.FieldDescriptor field,
- java.lang.Object value) {
- return super.setField(field, value);
- }
- @java.lang.Override
- public Builder clearField(
- com.google.protobuf.Descriptors.FieldDescriptor field) {
- return super.clearField(field);
- }
- @java.lang.Override
- public Builder clearOneof(
- com.google.protobuf.Descriptors.OneofDescriptor oneof) {
- return super.clearOneof(oneof);
- }
- @java.lang.Override
- public Builder setRepeatedField(
- com.google.protobuf.Descriptors.FieldDescriptor field,
- int index, java.lang.Object value) {
- return super.setRepeatedField(field, index, value);
- }
- @java.lang.Override
- public Builder addRepeatedField(
- com.google.protobuf.Descriptors.FieldDescriptor field,
- java.lang.Object value) {
- return super.addRepeatedField(field, value);
- }
- @java.lang.Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof cmvr.api.HumanoidRobotCommand.MoveJ.Request) {
- return mergeFrom((cmvr.api.HumanoidRobotCommand.MoveJ.Request)other);
- } else {
- super.mergeFrom(other);
- return this;
- }
- }
-
- public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.MoveJ.Request other) {
- if (other == cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance()) return this;
- if (other.hasHeader()) {
- mergeHeader(other.getHeader());
- }
- if (cmdsBuilder_ == null) {
- if (!other.cmds_.isEmpty()) {
- if (cmds_.isEmpty()) {
- cmds_ = other.cmds_;
- bitField0_ = (bitField0_ & ~0x00000001);
- } else {
- ensureCmdsIsMutable();
- cmds_.addAll(other.cmds_);
- }
- onChanged();
- }
- } else {
- if (!other.cmds_.isEmpty()) {
- if (cmdsBuilder_.isEmpty()) {
- cmdsBuilder_.dispose();
- cmdsBuilder_ = null;
- cmds_ = other.cmds_;
- bitField0_ = (bitField0_ & ~0x00000001);
- cmdsBuilder_ =
- com.google.protobuf.GeneratedMessageV3.alwaysUseFieldBuilders ?
- getCmdsFieldBuilder() : null;
- } else {
- cmdsBuilder_.addAllMessages(other.cmds_);
- }
- }
- }
- if (other.getVel() != 0D) {
- setVel(other.getVel());
- }
- if (other.getAcc() != 0D) {
- setAcc(other.getAcc());
- }
- this.mergeUnknownFields(other.getUnknownFields());
- onChanged();
- return this;
- }
-
- @java.lang.Override
- public final boolean isInitialized() {
- return true;
- }
-
- @java.lang.Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new java.lang.NullPointerException();
- }
- try {
- boolean done = false;
- while (!done) {
- int tag = input.readTag();
- switch (tag) {
- case 0:
- done = true;
- break;
- case 10: {
- input.readMessage(
- getHeaderFieldBuilder().getBuilder(),
- extensionRegistry);
-
- break;
- } // case 10
- case 18: {
- cmvr.api.HumanoidRobotCommand.JointCmd m =
- input.readMessage(
- cmvr.api.HumanoidRobotCommand.JointCmd.parser(),
- extensionRegistry);
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- cmds_.add(m);
- } else {
- cmdsBuilder_.addMessage(m);
- }
- break;
- } // case 18
- case 25: {
- vel_ = input.readDouble();
-
- break;
- } // case 25
- case 33: {
- acc_ = input.readDouble();
-
- break;
- } // case 33
- default: {
- if (!super.parseUnknownField(input, extensionRegistry, tag)) {
- done = true; // was an endgroup tag
- }
- break;
- } // default:
- } // switch (tag)
- } // while (!done)
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.unwrapIOException();
- } finally {
- onChanged();
- } // finally
- return this;
- }
- private int bitField0_;
-
- private cmvr.api.Common.CommandHeader.Request header_;
- private com.google.protobuf.SingleFieldBuilderV3<
- cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- * @return Whether the header field is set.
- */
- public boolean hasHeader() {
- return headerBuilder_ != null || header_ != null;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- * @return The header.
- */
- public cmvr.api.Common.CommandHeader.Request getHeader() {
- if (headerBuilder_ == null) {
- return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
- } else {
- return headerBuilder_.getMessage();
- }
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
- if (headerBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- header_ = value;
- onChanged();
- } else {
- headerBuilder_.setMessage(value);
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder setHeader(
- cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
- if (headerBuilder_ == null) {
- header_ = builderForValue.build();
- onChanged();
- } else {
- headerBuilder_.setMessage(builderForValue.build());
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
- if (headerBuilder_ == null) {
- if (header_ != null) {
- header_ =
- cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
- } else {
- header_ = value;
- }
- onChanged();
- } else {
- headerBuilder_.mergeFrom(value);
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder clearHeader() {
- if (headerBuilder_ == null) {
- header_ = null;
- onChanged();
- } else {
- header_ = null;
- headerBuilder_ = null;
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public cmvr.api.Common.CommandHeader.Request.Builder getHeaderBuilder() {
-
- onChanged();
- return getHeaderFieldBuilder().getBuilder();
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
- if (headerBuilder_ != null) {
- return headerBuilder_.getMessageOrBuilder();
- } else {
- return header_ == null ?
- cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
- }
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- private com.google.protobuf.SingleFieldBuilderV3<
- cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>
- getHeaderFieldBuilder() {
- if (headerBuilder_ == null) {
- headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
- cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
- getHeader(),
- getParentForChildren(),
- isClean());
- header_ = null;
- }
- return headerBuilder_;
- }
-
- private java.util.List cmds_ =
- java.util.Collections.emptyList();
- private void ensureCmdsIsMutable() {
- if (!((bitField0_ & 0x00000001) != 0)) {
- cmds_ = new java.util.ArrayList(cmds_);
- bitField0_ |= 0x00000001;
- }
- }
-
- private com.google.protobuf.RepeatedFieldBuilderV3<
- cmvr.api.HumanoidRobotCommand.JointCmd, cmvr.api.HumanoidRobotCommand.JointCmd.Builder, cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder> cmdsBuilder_;
-
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public java.util.List getCmdsList() {
- if (cmdsBuilder_ == null) {
- return java.util.Collections.unmodifiableList(cmds_);
- } else {
- return cmdsBuilder_.getMessageList();
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public int getCmdsCount() {
- if (cmdsBuilder_ == null) {
- return cmds_.size();
- } else {
- return cmdsBuilder_.getCount();
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointCmd getCmds(int index) {
- if (cmdsBuilder_ == null) {
- return cmds_.get(index);
- } else {
- return cmdsBuilder_.getMessage(index);
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder setCmds(
- int index, cmvr.api.HumanoidRobotCommand.JointCmd value) {
- if (cmdsBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureCmdsIsMutable();
- cmds_.set(index, value);
- onChanged();
- } else {
- cmdsBuilder_.setMessage(index, value);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder setCmds(
- int index, cmvr.api.HumanoidRobotCommand.JointCmd.Builder builderForValue) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- cmds_.set(index, builderForValue.build());
- onChanged();
- } else {
- cmdsBuilder_.setMessage(index, builderForValue.build());
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addCmds(cmvr.api.HumanoidRobotCommand.JointCmd value) {
- if (cmdsBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureCmdsIsMutable();
- cmds_.add(value);
- onChanged();
- } else {
- cmdsBuilder_.addMessage(value);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addCmds(
- int index, cmvr.api.HumanoidRobotCommand.JointCmd value) {
- if (cmdsBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureCmdsIsMutable();
- cmds_.add(index, value);
- onChanged();
- } else {
- cmdsBuilder_.addMessage(index, value);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addCmds(
- cmvr.api.HumanoidRobotCommand.JointCmd.Builder builderForValue) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- cmds_.add(builderForValue.build());
- onChanged();
- } else {
- cmdsBuilder_.addMessage(builderForValue.build());
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addCmds(
- int index, cmvr.api.HumanoidRobotCommand.JointCmd.Builder builderForValue) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- cmds_.add(index, builderForValue.build());
- onChanged();
- } else {
- cmdsBuilder_.addMessage(index, builderForValue.build());
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder addAllCmds(
- java.lang.Iterable values) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- com.google.protobuf.AbstractMessageLite.Builder.addAll(
- values, cmds_);
- onChanged();
- } else {
- cmdsBuilder_.addAllMessages(values);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder clearCmds() {
- if (cmdsBuilder_ == null) {
- cmds_ = java.util.Collections.emptyList();
- bitField0_ = (bitField0_ & ~0x00000001);
- onChanged();
- } else {
- cmdsBuilder_.clear();
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public Builder removeCmds(int index) {
- if (cmdsBuilder_ == null) {
- ensureCmdsIsMutable();
- cmds_.remove(index);
- onChanged();
- } else {
- cmdsBuilder_.remove(index);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointCmd.Builder getCmdsBuilder(
- int index) {
- return getCmdsFieldBuilder().getBuilder(index);
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder getCmdsOrBuilder(
- int index) {
- if (cmdsBuilder_ == null) {
- return cmds_.get(index); } else {
- return cmdsBuilder_.getMessageOrBuilder(index);
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public java.util.List
- getCmdsOrBuilderList() {
- if (cmdsBuilder_ != null) {
- return cmdsBuilder_.getMessageOrBuilderList();
- } else {
- return java.util.Collections.unmodifiableList(cmds_);
- }
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointCmd.Builder addCmdsBuilder() {
- return getCmdsFieldBuilder().addBuilder(
- cmvr.api.HumanoidRobotCommand.JointCmd.getDefaultInstance());
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointCmd.Builder addCmdsBuilder(
- int index) {
- return getCmdsFieldBuilder().addBuilder(
- index, cmvr.api.HumanoidRobotCommand.JointCmd.getDefaultInstance());
- }
- /**
- * repeated .cmvr.api.JointCmd cmds = 2;
- */
- public java.util.List
- getCmdsBuilderList() {
- return getCmdsFieldBuilder().getBuilderList();
- }
- private com.google.protobuf.RepeatedFieldBuilderV3<
- cmvr.api.HumanoidRobotCommand.JointCmd, cmvr.api.HumanoidRobotCommand.JointCmd.Builder, cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder>
- getCmdsFieldBuilder() {
- if (cmdsBuilder_ == null) {
- cmdsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
- cmvr.api.HumanoidRobotCommand.JointCmd, cmvr.api.HumanoidRobotCommand.JointCmd.Builder, cmvr.api.HumanoidRobotCommand.JointCmdOrBuilder>(
- cmds_,
- ((bitField0_ & 0x00000001) != 0),
- getParentForChildren(),
- isClean());
- cmds_ = null;
- }
- return cmdsBuilder_;
- }
-
- private double vel_ ;
- /**
- * double vel = 3;
- * @return The vel.
- */
- @java.lang.Override
- public double getVel() {
- return vel_;
- }
- /**
- * double vel = 3;
- * @param value The vel to set.
- * @return This builder for chaining.
- */
- public Builder setVel(double value) {
-
- vel_ = value;
- onChanged();
- return this;
- }
- /**
- * double vel = 3;
- * @return This builder for chaining.
- */
- public Builder clearVel() {
-
- vel_ = 0D;
- onChanged();
- return this;
- }
-
- private double acc_ ;
- /**
- * double acc = 4;
- * @return The acc.
- */
- @java.lang.Override
- public double getAcc() {
- return acc_;
- }
- /**
- * double acc = 4;
- * @param value The acc to set.
- * @return This builder for chaining.
- */
- public Builder setAcc(double value) {
-
- acc_ = value;
- onChanged();
- return this;
- }
- /**
- * double acc = 4;
- * @return This builder for chaining.
- */
- public Builder clearAcc() {
-
- acc_ = 0D;
- onChanged();
- return this;
- }
- @java.lang.Override
- public final Builder setUnknownFields(
- final com.google.protobuf.UnknownFieldSet unknownFields) {
- return super.setUnknownFields(unknownFields);
- }
-
- @java.lang.Override
- public final Builder mergeUnknownFields(
- final com.google.protobuf.UnknownFieldSet unknownFields) {
- return super.mergeUnknownFields(unknownFields);
- }
-
-
- // @@protoc_insertion_point(builder_scope:cmvr.api.MoveJ.Request)
- }
-
- // @@protoc_insertion_point(class_scope:cmvr.api.MoveJ.Request)
- private static final cmvr.api.HumanoidRobotCommand.MoveJ.Request DEFAULT_INSTANCE;
- static {
- DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.MoveJ.Request();
- }
-
- public static cmvr.api.HumanoidRobotCommand.MoveJ.Request getDefaultInstance() {
- return DEFAULT_INSTANCE;
- }
-
- private static final com.google.protobuf.Parser
- PARSER = new com.google.protobuf.AbstractParser() {
- @java.lang.Override
- public Request parsePartialFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- Builder builder = newBuilder();
- try {
- builder.mergeFrom(input, extensionRegistry);
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.setUnfinishedMessage(builder.buildPartial());
- } catch (com.google.protobuf.UninitializedMessageException e) {
- throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
- } catch (java.io.IOException e) {
- throw new com.google.protobuf.InvalidProtocolBufferException(e)
- .setUnfinishedMessage(builder.buildPartial());
- }
- return builder.buildPartial();
- }
- };
-
- public static com.google.protobuf.Parser parser() {
- return PARSER;
- }
-
- @java.lang.Override
- public com.google.protobuf.Parser getParserForType() {
- return PARSER;
- }
-
- @java.lang.Override
- public cmvr.api.HumanoidRobotCommand.MoveJ.Request getDefaultInstanceForType() {
- return DEFAULT_INSTANCE;
- }
-
- }
-
- public interface ResponseOrBuilder extends
- // @@protoc_insertion_point(interface_extends:cmvr.api.MoveJ.Response)
- com.google.protobuf.MessageOrBuilder {
-
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- * @return Whether the header field is set.
- */
- boolean hasHeader();
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- * @return The header.
- */
- cmvr.api.Common.CommandHeader.Feedback getHeader();
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- */
- cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
- }
- /**
- * Protobuf type {@code cmvr.api.MoveJ.Response}
- */
- public static final class Response extends
- com.google.protobuf.GeneratedMessageV3 implements
- // @@protoc_insertion_point(message_implements:cmvr.api.MoveJ.Response)
- ResponseOrBuilder {
- private static final long serialVersionUID = 0L;
- // Use Response.newBuilder() to construct.
- private Response(com.google.protobuf.GeneratedMessageV3.Builder builder) {
- super(builder);
- }
- private Response() {
- }
-
- @java.lang.Override
- @SuppressWarnings({"unused"})
- protected java.lang.Object newInstance(
- UnusedPrivateParameter unused) {
- return new Response();
- }
-
- @java.lang.Override
- public final com.google.protobuf.UnknownFieldSet
- getUnknownFields() {
- return this.unknownFields;
- }
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Response_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_MoveJ_Response_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- cmvr.api.HumanoidRobotCommand.MoveJ.Response.class, cmvr.api.HumanoidRobotCommand.MoveJ.Response.Builder.class);
- }
-
- public static final int HEADER_FIELD_NUMBER = 1;
- private cmvr.api.Common.CommandHeader.Feedback header_;
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- * @return Whether the header field is set.
- */
- @java.lang.Override
- public boolean hasHeader() {
- return header_ != null;
- }
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- * @return The header.
- */
- @java.lang.Override
- public cmvr.api.Common.CommandHeader.Feedback getHeader() {
- return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
- }
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- */
- @java.lang.Override
- public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
- return getHeader();
- }
-
- private byte memoizedIsInitialized = -1;
- @java.lang.Override
- public final boolean isInitialized() {
- byte isInitialized = memoizedIsInitialized;
- if (isInitialized == 1) return true;
- if (isInitialized == 0) return false;
-
- memoizedIsInitialized = 1;
- return true;
- }
-
- @java.lang.Override
- public void writeTo(com.google.protobuf.CodedOutputStream output)
- throws java.io.IOException {
- if (header_ != null) {
- output.writeMessage(1, getHeader());
- }
- getUnknownFields().writeTo(output);
- }
-
- @java.lang.Override
- public int getSerializedSize() {
- int size = memoizedSize;
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-
- size = 0;
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- .computeMessageSize(1, getHeader());
- }
- size += getUnknownFields().getSerializedSize();
- memoizedSize = size;
- return size;
- }
-
- @java.lang.Override
- public boolean equals(final java.lang.Object obj) {
- if (obj == this) {
- return true;
- }
- if (!(obj instanceof cmvr.api.HumanoidRobotCommand.MoveJ.Response)) {
- return super.equals(obj);
- }
- cmvr.api.HumanoidRobotCommand.MoveJ.Response other = (cmvr.api.HumanoidRobotCommand.MoveJ.Response) obj;
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- if (headerBuilder_ == null) {
- if (value == null) {
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- onChanged();
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- return this;
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- if (headerBuilder_ == null) {
- header_ = builderForValue.build();
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- if (value == null) {
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- if (value == null) {
- throw new NullPointerException();
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- onChanged();
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- /**
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- if (targetPoseBuilder_ == null) {
- targetPose_ = builderForValue.build();
- onChanged();
- } else {
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-
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- /**
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- if (targetPoseBuilder_ == null) {
- if (targetPose_ != null) {
- targetPose_ =
- cmvr.api.HumanoidRobotCommand.Pose3D.newBuilder(targetPose_).mergeFrom(value).buildPartial();
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- return this;
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- /**
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- if (targetPoseBuilder_ == null) {
- targetPose_ = null;
- onChanged();
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-
- return this;
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- /**
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- if (targetPoseBuilder_ != null) {
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- if (!getJointName()
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- if (java.lang.Double.doubleToLongBits(getVel())
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- other.getVel())) return false;
- if (java.lang.Double.doubleToLongBits(getAcc())
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- if (memoizedHashCode != 0) {
- return memoizedHashCode;
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- int hash = 41;
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- return com.google.protobuf.GeneratedMessageV3
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- return DEFAULT_INSTANCE.toBuilder();
- }
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- return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
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- return this == DEFAULT_INSTANCE
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- if (headerBuilder_ == null) {
- result.header_ = header_;
- } else {
- result.header_ = headerBuilder_.build();
- }
- result.jointName_ = jointName_;
- result.vel_ = vel_;
- result.acc_ = acc_;
- result.dir_ = dir_;
- onBuilt();
- return result;
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- return super.clearField(field);
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- public Builder clearOneof(
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- return super.clearOneof(oneof);
- }
- @java.lang.Override
- public Builder setRepeatedField(
- com.google.protobuf.Descriptors.FieldDescriptor field,
- int index, java.lang.Object value) {
- return super.setRepeatedField(field, index, value);
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- @java.lang.Override
- public Builder addRepeatedField(
- com.google.protobuf.Descriptors.FieldDescriptor field,
- java.lang.Object value) {
- return super.addRepeatedField(field, value);
- }
- @java.lang.Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof cmvr.api.HumanoidRobotCommand.SpeedJ.Request) {
- return mergeFrom((cmvr.api.HumanoidRobotCommand.SpeedJ.Request)other);
- } else {
- super.mergeFrom(other);
- return this;
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- }
-
- public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.SpeedJ.Request other) {
- if (other == cmvr.api.HumanoidRobotCommand.SpeedJ.Request.getDefaultInstance()) return this;
- if (other.hasHeader()) {
- mergeHeader(other.getHeader());
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- if (!other.getJointName().isEmpty()) {
- jointName_ = other.jointName_;
- onChanged();
- }
- if (other.getVel() != 0D) {
- setVel(other.getVel());
- }
- if (other.getAcc() != 0D) {
- setAcc(other.getAcc());
- }
- if (other.dir_ != 0) {
- setDirValue(other.getDirValue());
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- this.mergeUnknownFields(other.getUnknownFields());
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- return this;
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-
- @java.lang.Override
- public final boolean isInitialized() {
- return true;
- }
-
- @java.lang.Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new java.lang.NullPointerException();
- }
- try {
- boolean done = false;
- while (!done) {
- int tag = input.readTag();
- switch (tag) {
- case 0:
- done = true;
- break;
- case 10: {
- input.readMessage(
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- extensionRegistry);
-
- break;
- } // case 10
- case 18: {
- jointName_ = input.readStringRequireUtf8();
-
- break;
- } // case 18
- case 25: {
- vel_ = input.readDouble();
-
- break;
- } // case 25
- case 33: {
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-
- break;
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- break;
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- throw e.unwrapIOException();
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- return this;
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- cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- * @return Whether the header field is set.
- */
- public boolean hasHeader() {
- return headerBuilder_ != null || header_ != null;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- * @return The header.
- */
- public cmvr.api.Common.CommandHeader.Request getHeader() {
- if (headerBuilder_ == null) {
- return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
- } else {
- return headerBuilder_.getMessage();
- }
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
- if (headerBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- header_ = value;
- onChanged();
- } else {
- headerBuilder_.setMessage(value);
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder setHeader(
- cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
- if (headerBuilder_ == null) {
- header_ = builderForValue.build();
- onChanged();
- } else {
- headerBuilder_.setMessage(builderForValue.build());
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
- if (headerBuilder_ == null) {
- if (header_ != null) {
- header_ =
- cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
- } else {
- header_ = value;
- }
- onChanged();
- } else {
- headerBuilder_.mergeFrom(value);
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public Builder clearHeader() {
- if (headerBuilder_ == null) {
- header_ = null;
- onChanged();
- } else {
- header_ = null;
- headerBuilder_ = null;
- }
-
- return this;
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public cmvr.api.Common.CommandHeader.Request.Builder getHeaderBuilder() {
-
- onChanged();
- return getHeaderFieldBuilder().getBuilder();
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
- if (headerBuilder_ != null) {
- return headerBuilder_.getMessageOrBuilder();
- } else {
- return header_ == null ?
- cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
- }
- }
- /**
- * .cmvr.api.CommandHeader.Request header = 1;
- */
- private com.google.protobuf.SingleFieldBuilderV3<
- cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>
- getHeaderFieldBuilder() {
- if (headerBuilder_ == null) {
- headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
- cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
- getHeader(),
- getParentForChildren(),
- isClean());
- header_ = null;
- }
- return headerBuilder_;
- }
-
- private java.lang.Object jointName_ = "";
- /**
- * string joint_name = 2;
- * @return The jointName.
- */
- public java.lang.String getJointName() {
- java.lang.Object ref = jointName_;
- if (!(ref instanceof java.lang.String)) {
- com.google.protobuf.ByteString bs =
- (com.google.protobuf.ByteString) ref;
- java.lang.String s = bs.toStringUtf8();
- jointName_ = s;
- return s;
- } else {
- return (java.lang.String) ref;
- }
- }
- /**
- * string joint_name = 2;
- * @return The bytes for jointName.
- */
- public com.google.protobuf.ByteString
- getJointNameBytes() {
- java.lang.Object ref = jointName_;
- if (ref instanceof String) {
- com.google.protobuf.ByteString b =
- com.google.protobuf.ByteString.copyFromUtf8(
- (java.lang.String) ref);
- jointName_ = b;
- return b;
- } else {
- return (com.google.protobuf.ByteString) ref;
- }
- }
- /**
- * string joint_name = 2;
- * @param value The jointName to set.
- * @return This builder for chaining.
- */
- public Builder setJointName(
- java.lang.String value) {
- if (value == null) {
- throw new NullPointerException();
- }
-
- jointName_ = value;
- onChanged();
- return this;
- }
- /**
- * string joint_name = 2;
- * @return This builder for chaining.
- */
- public Builder clearJointName() {
-
- jointName_ = getDefaultInstance().getJointName();
- onChanged();
- return this;
- }
- /**
- * string joint_name = 2;
- * @param value The bytes for jointName to set.
- * @return This builder for chaining.
- */
- public Builder setJointNameBytes(
- com.google.protobuf.ByteString value) {
- if (value == null) {
- throw new NullPointerException();
- }
- checkByteStringIsUtf8(value);
-
- jointName_ = value;
- onChanged();
- return this;
- }
-
- private double vel_ ;
- /**
- * double vel = 3;
- * @return The vel.
- */
- @java.lang.Override
- public double getVel() {
- return vel_;
- }
- /**
- * double vel = 3;
- * @param value The vel to set.
- * @return This builder for chaining.
- */
- public Builder setVel(double value) {
-
- vel_ = value;
- onChanged();
- return this;
- }
- /**
- * double vel = 3;
- * @return This builder for chaining.
- */
- public Builder clearVel() {
-
- vel_ = 0D;
- onChanged();
- return this;
- }
-
- private double acc_ ;
- /**
- * double acc = 4;
- * @return The acc.
- */
- @java.lang.Override
- public double getAcc() {
- return acc_;
- }
- /**
- * double acc = 4;
- * @param value The acc to set.
- * @return This builder for chaining.
- */
- public Builder setAcc(double value) {
-
- acc_ = value;
- onChanged();
- return this;
- }
- /**
- * double acc = 4;
- * @return This builder for chaining.
- */
- public Builder clearAcc() {
-
- acc_ = 0D;
- onChanged();
- return this;
- }
-
- private int dir_ = 0;
- /**
- * .cmvr.api.RobotJointIndexDirection dir = 5;
- * @return The enum numeric value on the wire for dir.
- */
- @java.lang.Override public int getDirValue() {
- return dir_;
- }
- /**
- * .cmvr.api.RobotJointIndexDirection dir = 5;
- * @param value The enum numeric value on the wire for dir to set.
- * @return This builder for chaining.
- */
- public Builder setDirValue(int value) {
-
- dir_ = value;
- onChanged();
- return this;
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- return super.setRepeatedField(field, index, value);
- }
- @java.lang.Override
- public Builder addRepeatedField(
- com.google.protobuf.Descriptors.FieldDescriptor field,
- java.lang.Object value) {
- return super.addRepeatedField(field, value);
- }
- @java.lang.Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof cmvr.api.HumanoidRobotCommand.JointState) {
- return mergeFrom((cmvr.api.HumanoidRobotCommand.JointState)other);
- } else {
- super.mergeFrom(other);
- return this;
- }
- }
-
- public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.JointState other) {
- if (other == cmvr.api.HumanoidRobotCommand.JointState.getDefaultInstance()) return this;
- if (!other.name_.isEmpty()) {
- if (name_.isEmpty()) {
- name_ = other.name_;
- bitField0_ = (bitField0_ & ~0x00000001);
- } else {
- ensureNameIsMutable();
- name_.addAll(other.name_);
- }
- onChanged();
- }
- if (!other.position_.isEmpty()) {
- if (position_.isEmpty()) {
- position_ = other.position_;
- bitField0_ = (bitField0_ & ~0x00000002);
- } else {
- ensurePositionIsMutable();
- position_.addAll(other.position_);
- }
- onChanged();
- }
- if (!other.velocity_.isEmpty()) {
- if (velocity_.isEmpty()) {
- velocity_ = other.velocity_;
- bitField0_ = (bitField0_ & ~0x00000004);
- } else {
- ensureVelocityIsMutable();
- velocity_.addAll(other.velocity_);
- }
- onChanged();
- }
- if (!other.effort_.isEmpty()) {
- if (effort_.isEmpty()) {
- effort_ = other.effort_;
- bitField0_ = (bitField0_ & ~0x00000008);
- } else {
- ensureEffortIsMutable();
- effort_.addAll(other.effort_);
- }
- onChanged();
- }
- if (other.getTimestamp() != 0D) {
- setTimestamp(other.getTimestamp());
- }
- this.mergeUnknownFields(other.getUnknownFields());
- onChanged();
- return this;
- }
-
- @java.lang.Override
- public final boolean isInitialized() {
- return true;
- }
-
- @java.lang.Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new java.lang.NullPointerException();
- }
- try {
- boolean done = false;
- while (!done) {
- int tag = input.readTag();
- switch (tag) {
- case 0:
- done = true;
- break;
- case 10: {
- java.lang.String s = input.readStringRequireUtf8();
- ensureNameIsMutable();
- name_.add(s);
- break;
- } // case 10
- case 17: {
- double v = input.readDouble();
- ensurePositionIsMutable();
- position_.addDouble(v);
- break;
- } // case 17
- case 18: {
- int length = input.readRawVarint32();
- int limit = input.pushLimit(length);
- ensurePositionIsMutable();
- while (input.getBytesUntilLimit() > 0) {
- position_.addDouble(input.readDouble());
- }
- input.popLimit(limit);
- break;
- } // case 18
- case 25: {
- double v = input.readDouble();
- ensureVelocityIsMutable();
- velocity_.addDouble(v);
- break;
- } // case 25
- case 26: {
- int length = input.readRawVarint32();
- int limit = input.pushLimit(length);
- ensureVelocityIsMutable();
- while (input.getBytesUntilLimit() > 0) {
- velocity_.addDouble(input.readDouble());
- }
- input.popLimit(limit);
- break;
- } // case 26
- case 33: {
- double v = input.readDouble();
- ensureEffortIsMutable();
- effort_.addDouble(v);
- break;
- } // case 33
- case 34: {
- int length = input.readRawVarint32();
- int limit = input.pushLimit(length);
- ensureEffortIsMutable();
- while (input.getBytesUntilLimit() > 0) {
- effort_.addDouble(input.readDouble());
- }
- input.popLimit(limit);
- break;
- } // case 34
- case 41: {
- timestamp_ = input.readDouble();
-
- break;
- } // case 41
- default: {
- if (!super.parseUnknownField(input, extensionRegistry, tag)) {
- done = true; // was an endgroup tag
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- break;
- } // default:
- } // switch (tag)
- } // while (!done)
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.unwrapIOException();
- } finally {
- onChanged();
- } // finally
- return this;
- }
- private int bitField0_;
-
- private com.google.protobuf.LazyStringList name_ = com.google.protobuf.LazyStringArrayList.EMPTY;
- private void ensureNameIsMutable() {
- if (!((bitField0_ & 0x00000001) != 0)) {
- name_ = new com.google.protobuf.LazyStringArrayList(name_);
- bitField0_ |= 0x00000001;
- }
- }
- /**
- *
- * 关节名称
- *
- *
- * repeated string name = 1;
- * @return A list containing the name.
- */
- public com.google.protobuf.ProtocolStringList
- getNameList() {
- return name_.getUnmodifiableView();
- }
- /**
- *
- * 关节名称
- *
- *
- * repeated string name = 1;
- * @return The count of name.
- */
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- return name_.size();
- }
- /**
- *
- * 关节名称
- *
- *
- * repeated string name = 1;
- * @param index The index of the element to return.
- * @return The name at the given index.
- */
- public java.lang.String getName(int index) {
- return name_.get(index);
- }
- /**
- *
- * 关节名称
- *
- *
- * repeated string name = 1;
- * @param index The index of the value to return.
- * @return The bytes of the name at the given index.
- */
- public com.google.protobuf.ByteString
- getNameBytes(int index) {
- return name_.getByteString(index);
- }
- /**
- *
- * 关节名称
- *
- *
- * repeated string name = 1;
- * @param index The index to set the value at.
- * @param value The name to set.
- * @return This builder for chaining.
- */
- public Builder setName(
- int index, java.lang.String value) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureNameIsMutable();
- name_.set(index, value);
- onChanged();
- return this;
- }
- /**
- *
- * 关节名称
- *
- *
- * repeated string name = 1;
- * @param value The name to add.
- * @return This builder for chaining.
- */
- public Builder addName(
- java.lang.String value) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureNameIsMutable();
- name_.add(value);
- onChanged();
- return this;
- }
- /**
- *
- * 关节名称
- *
- *
- * repeated string name = 1;
- * @param values The name to add.
- * @return This builder for chaining.
- */
- public Builder addAllName(
- java.lang.Iterable values) {
- ensureNameIsMutable();
- com.google.protobuf.AbstractMessageLite.Builder.addAll(
- values, name_);
- onChanged();
- return this;
- }
- /**
- *
- * 关节名称
- *
- *
- * repeated string name = 1;
- * @return This builder for chaining.
- */
- public Builder clearName() {
- name_ = com.google.protobuf.LazyStringArrayList.EMPTY;
- bitField0_ = (bitField0_ & ~0x00000001);
- onChanged();
- return this;
- }
- /**
- *
- * 关节名称
- *
- *
- * repeated string name = 1;
- * @param value The bytes of the name to add.
- * @return This builder for chaining.
- */
- public Builder addNameBytes(
- com.google.protobuf.ByteString value) {
- if (value == null) {
- throw new NullPointerException();
- }
- checkByteStringIsUtf8(value);
- ensureNameIsMutable();
- name_.add(value);
- onChanged();
- return this;
- }
-
- private com.google.protobuf.Internal.DoubleList position_ = emptyDoubleList();
- private void ensurePositionIsMutable() {
- if (!((bitField0_ & 0x00000002) != 0)) {
- position_ = mutableCopy(position_);
- bitField0_ |= 0x00000002;
- }
- }
- /**
- *
- * 关节位置
- *
- *
- * repeated double position = 2;
- * @return A list containing the position.
- */
- public java.util.List
- getPositionList() {
- return ((bitField0_ & 0x00000002) != 0) ?
- java.util.Collections.unmodifiableList(position_) : position_;
- }
- /**
- *
- * 关节位置
- *
- *
- * repeated double position = 2;
- * @return The count of position.
- */
- public int getPositionCount() {
- return position_.size();
- }
- /**
- *
- * 关节位置
- *
- *
- * repeated double position = 2;
- * @param index The index of the element to return.
- * @return The position at the given index.
- */
- public double getPosition(int index) {
- return position_.getDouble(index);
- }
- /**
- *
- * 关节位置
- *
- *
- * repeated double position = 2;
- * @param index The index to set the value at.
- * @param value The position to set.
- * @return This builder for chaining.
- */
- public Builder setPosition(
- int index, double value) {
- ensurePositionIsMutable();
- position_.setDouble(index, value);
- onChanged();
- return this;
- }
- /**
- *
- * 关节位置
- *
- *
- * repeated double position = 2;
- * @param value The position to add.
- * @return This builder for chaining.
- */
- public Builder addPosition(double value) {
- ensurePositionIsMutable();
- position_.addDouble(value);
- onChanged();
- return this;
- }
- /**
- *
- * 关节位置
- *
- *
- * repeated double position = 2;
- * @param values The position to add.
- * @return This builder for chaining.
- */
- public Builder addAllPosition(
- java.lang.Iterable values) {
- ensurePositionIsMutable();
- com.google.protobuf.AbstractMessageLite.Builder.addAll(
- values, position_);
- onChanged();
- return this;
- }
- /**
- *
- * 关节位置
- *
- *
- * repeated double position = 2;
- * @return This builder for chaining.
- */
- public Builder clearPosition() {
- position_ = emptyDoubleList();
- bitField0_ = (bitField0_ & ~0x00000002);
- onChanged();
- return this;
- }
-
- private com.google.protobuf.Internal.DoubleList velocity_ = emptyDoubleList();
- private void ensureVelocityIsMutable() {
- if (!((bitField0_ & 0x00000004) != 0)) {
- velocity_ = mutableCopy(velocity_);
- bitField0_ |= 0x00000004;
- }
- }
- /**
- *
- * 可选：关节速度
- *
- *
- * repeated double velocity = 3;
- * @return A list containing the velocity.
- */
- public java.util.List
- getVelocityList() {
- return ((bitField0_ & 0x00000004) != 0) ?
- java.util.Collections.unmodifiableList(velocity_) : velocity_;
- }
- /**
- *
- * 可选：关节速度
- *
- *
- * repeated double velocity = 3;
- * @return The count of velocity.
- */
- public int getVelocityCount() {
- return velocity_.size();
- }
- /**
- *
- * 可选：关节速度
- *
- *
- * repeated double velocity = 3;
- * @param index The index of the element to return.
- * @return The velocity at the given index.
- */
- public double getVelocity(int index) {
- return velocity_.getDouble(index);
- }
- /**
- *
- * 可选：关节速度
- *
- *
- * repeated double velocity = 3;
- * @param index The index to set the value at.
- * @param value The velocity to set.
- * @return This builder for chaining.
- */
- public Builder setVelocity(
- int index, double value) {
- ensureVelocityIsMutable();
- velocity_.setDouble(index, value);
- onChanged();
- return this;
- }
- /**
- *
- * 可选：关节速度
- *
- *
- * repeated double velocity = 3;
- * @param value The velocity to add.
- * @return This builder for chaining.
- */
- public Builder addVelocity(double value) {
- ensureVelocityIsMutable();
- velocity_.addDouble(value);
- onChanged();
- return this;
- }
- /**
- *
- * 可选：关节速度
- *
- *
- * repeated double velocity = 3;
- * @param values The velocity to add.
- * @return This builder for chaining.
- */
- public Builder addAllVelocity(
- java.lang.Iterable values) {
- ensureVelocityIsMutable();
- com.google.protobuf.AbstractMessageLite.Builder.addAll(
- values, velocity_);
- onChanged();
- return this;
- }
- /**
- *
- * 可选：关节速度
- *
- *
- * repeated double velocity = 3;
- * @return This builder for chaining.
- */
- public Builder clearVelocity() {
- velocity_ = emptyDoubleList();
- bitField0_ = (bitField0_ & ~0x00000004);
- onChanged();
- return this;
- }
-
- private com.google.protobuf.Internal.DoubleList effort_ = emptyDoubleList();
- private void ensureEffortIsMutable() {
- if (!((bitField0_ & 0x00000008) != 0)) {
- effort_ = mutableCopy(effort_);
- bitField0_ |= 0x00000008;
- }
- }
- /**
- *
- * 可选：关节力矩
- *
- *
- * repeated double effort = 4;
- * @return A list containing the effort.
- */
- public java.util.List
- getEffortList() {
- return ((bitField0_ & 0x00000008) != 0) ?
- java.util.Collections.unmodifiableList(effort_) : effort_;
- }
- /**
- *
- * 可选：关节力矩
- *
- *
- * repeated double effort = 4;
- * @return The count of effort.
- */
- public int getEffortCount() {
- return effort_.size();
- }
- /**
- *
- * 可选：关节力矩
- *
- *
- * repeated double effort = 4;
- * @param index The index of the element to return.
- * @return The effort at the given index.
- */
- public double getEffort(int index) {
- return effort_.getDouble(index);
- }
- /**
- *
- * 可选：关节力矩
- *
- *
- * repeated double effort = 4;
- * @param index The index to set the value at.
- * @param value The effort to set.
- * @return This builder for chaining.
- */
- public Builder setEffort(
- int index, double value) {
- ensureEffortIsMutable();
- effort_.setDouble(index, value);
- onChanged();
- return this;
- }
- /**
- *
- * 可选：关节力矩
- *
- *
- * repeated double effort = 4;
- * @param value The effort to add.
- * @return This builder for chaining.
- */
- public Builder addEffort(double value) {
- ensureEffortIsMutable();
- effort_.addDouble(value);
- onChanged();
- return this;
- }
- /**
- *
- * 可选：关节力矩
- *
- *
- * repeated double effort = 4;
- * @param values The effort to add.
- * @return This builder for chaining.
- */
- public Builder addAllEffort(
- java.lang.Iterable values) {
- ensureEffortIsMutable();
- com.google.protobuf.AbstractMessageLite.Builder.addAll(
- values, effort_);
- onChanged();
- return this;
- }
- /**
- *
- * 可选：关节力矩
- *
- *
- * repeated double effort = 4;
- * @return This builder for chaining.
- */
- public Builder clearEffort() {
- effort_ = emptyDoubleList();
- bitField0_ = (bitField0_ & ~0x00000008);
- onChanged();
- return this;
- }
-
- private double timestamp_ ;
- /**
- *
- * 可选：时间戳
- *
- *
- * double timestamp = 5;
- * @return The timestamp.
- */
- @java.lang.Override
- public double getTimestamp() {
- return timestamp_;
- }
- /**
- *
- * 可选：时间戳
- *
- *
- * double timestamp = 5;
- * @param value The timestamp to set.
- * @return This builder for chaining.
- */
- public Builder setTimestamp(double value) {
-
- timestamp_ = value;
- onChanged();
- return this;
- }
- /**
- *
- * 可选：时间戳
- *
- *
- * double timestamp = 5;
- * @return This builder for chaining.
- */
- public Builder clearTimestamp() {
-
- timestamp_ = 0D;
- onChanged();
- return this;
- }
- @java.lang.Override
- public final Builder setUnknownFields(
- final com.google.protobuf.UnknownFieldSet unknownFields) {
- return super.setUnknownFields(unknownFields);
- }
-
- @java.lang.Override
- public final Builder mergeUnknownFields(
- final com.google.protobuf.UnknownFieldSet unknownFields) {
- return super.mergeUnknownFields(unknownFields);
- }
-
-
- // @@protoc_insertion_point(builder_scope:cmvr.api.JointState)
- }
-
- // @@protoc_insertion_point(class_scope:cmvr.api.JointState)
- private static final cmvr.api.HumanoidRobotCommand.JointState DEFAULT_INSTANCE;
- static {
- DEFAULT_INSTANCE = new cmvr.api.HumanoidRobotCommand.JointState();
- }
-
- public static cmvr.api.HumanoidRobotCommand.JointState getDefaultInstance() {
- return DEFAULT_INSTANCE;
- }
-
- private static final com.google.protobuf.Parser
- PARSER = new com.google.protobuf.AbstractParser() {
- @java.lang.Override
- public JointState parsePartialFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- Builder builder = newBuilder();
- try {
- builder.mergeFrom(input, extensionRegistry);
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.setUnfinishedMessage(builder.buildPartial());
- } catch (com.google.protobuf.UninitializedMessageException e) {
- throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
- } catch (java.io.IOException e) {
- throw new com.google.protobuf.InvalidProtocolBufferException(e)
- .setUnfinishedMessage(builder.buildPartial());
- }
- return builder.buildPartial();
- }
- };
-
- public static com.google.protobuf.Parser parser() {
- return PARSER;
- }
-
- @java.lang.Override
- public com.google.protobuf.Parser getParserForType() {
- return PARSER;
- }
-
- @java.lang.Override
- public cmvr.api.HumanoidRobotCommand.JointState getDefaultInstanceForType() {
- return DEFAULT_INSTANCE;
- }
-
- }
-
- public interface JointResponseOrBuilder extends
- // @@protoc_insertion_point(interface_extends:cmvr.api.JointResponse)
- com.google.protobuf.MessageOrBuilder {
-
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- * @return Whether the header field is set.
- */
- boolean hasHeader();
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- * @return The header.
- */
- cmvr.api.Common.CommandHeader.Feedback getHeader();
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- */
- cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
-
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- java.util.List
- getStateList();
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- cmvr.api.HumanoidRobotCommand.JointState getState(int index);
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- int getStateCount();
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- java.util.List
- getStateOrBuilderList();
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- cmvr.api.HumanoidRobotCommand.JointStateOrBuilder getStateOrBuilder(
- int index);
- }
- /**
- *
- * 返回消息
- *
- *
- * Protobuf type {@code cmvr.api.JointResponse}
- */
- public static final class JointResponse extends
- com.google.protobuf.GeneratedMessageV3 implements
- // @@protoc_insertion_point(message_implements:cmvr.api.JointResponse)
- JointResponseOrBuilder {
- private static final long serialVersionUID = 0L;
- // Use JointResponse.newBuilder() to construct.
- private JointResponse(com.google.protobuf.GeneratedMessageV3.Builder builder) {
- super(builder);
- }
- private JointResponse() {
- state_ = java.util.Collections.emptyList();
- }
-
- @java.lang.Override
- @SuppressWarnings({"unused"})
- protected java.lang.Object newInstance(
- UnusedPrivateParameter unused) {
- return new JointResponse();
- }
-
- @java.lang.Override
- public final com.google.protobuf.UnknownFieldSet
- getUnknownFields() {
- return this.unknownFields;
- }
- public static final com.google.protobuf.Descriptors.Descriptor
- getDescriptor() {
- return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_descriptor;
- }
-
- @java.lang.Override
- protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
- internalGetFieldAccessorTable() {
- return cmvr.api.HumanoidRobotCommand.internal_static_cmvr_api_JointResponse_fieldAccessorTable
- .ensureFieldAccessorsInitialized(
- cmvr.api.HumanoidRobotCommand.JointResponse.class, cmvr.api.HumanoidRobotCommand.JointResponse.Builder.class);
- }
-
- public static final int HEADER_FIELD_NUMBER = 1;
- private cmvr.api.Common.CommandHeader.Feedback header_;
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- * @return Whether the header field is set.
- */
- @java.lang.Override
- public boolean hasHeader() {
- return header_ != null;
- }
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- * @return The header.
- */
- @java.lang.Override
- public cmvr.api.Common.CommandHeader.Feedback getHeader() {
- return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
- }
- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- */
- @java.lang.Override
- public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
- return getHeader();
- }
-
- public static final int STATE_FIELD_NUMBER = 2;
- private java.util.List state_;
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- @java.lang.Override
- public java.util.List getStateList() {
- return state_;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- @java.lang.Override
- public java.util.List
- getStateOrBuilderList() {
- return state_;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- @java.lang.Override
- public int getStateCount() {
- return state_.size();
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- @java.lang.Override
- public cmvr.api.HumanoidRobotCommand.JointState getState(int index) {
- return state_.get(index);
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- @java.lang.Override
- public cmvr.api.HumanoidRobotCommand.JointStateOrBuilder getStateOrBuilder(
- int index) {
- return state_.get(index);
- }
-
- private byte memoizedIsInitialized = -1;
- @java.lang.Override
- public final boolean isInitialized() {
- byte isInitialized = memoizedIsInitialized;
- if (isInitialized == 1) return true;
- if (isInitialized == 0) return false;
-
- memoizedIsInitialized = 1;
- return true;
- }
-
- @java.lang.Override
- public void writeTo(com.google.protobuf.CodedOutputStream output)
- throws java.io.IOException {
- if (header_ != null) {
- output.writeMessage(1, getHeader());
- }
- for (int i = 0; i < state_.size(); i++) {
- output.writeMessage(2, state_.get(i));
- }
- getUnknownFields().writeTo(output);
- }
-
- @java.lang.Override
- public int getSerializedSize() {
- int size = memoizedSize;
- if (size != -1) return size;
-
- size = 0;
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- java.lang.Object value) {
- return super.addRepeatedField(field, value);
- }
- @java.lang.Override
- public Builder mergeFrom(com.google.protobuf.Message other) {
- if (other instanceof cmvr.api.HumanoidRobotCommand.JointResponse) {
- return mergeFrom((cmvr.api.HumanoidRobotCommand.JointResponse)other);
- } else {
- super.mergeFrom(other);
- return this;
- }
- }
-
- public Builder mergeFrom(cmvr.api.HumanoidRobotCommand.JointResponse other) {
- if (other == cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance()) return this;
- if (other.hasHeader()) {
- mergeHeader(other.getHeader());
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- state_ = other.state_;
- bitField0_ = (bitField0_ & ~0x00000001);
- stateBuilder_ =
- com.google.protobuf.GeneratedMessageV3.alwaysUseFieldBuilders ?
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- } else {
- stateBuilder_.addAllMessages(other.state_);
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- this.mergeUnknownFields(other.getUnknownFields());
- onChanged();
- return this;
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-
- @java.lang.Override
- public final boolean isInitialized() {
- return true;
- }
-
- @java.lang.Override
- public Builder mergeFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws java.io.IOException {
- if (extensionRegistry == null) {
- throw new java.lang.NullPointerException();
- }
- try {
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- case 0:
- done = true;
- break;
- case 10: {
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-
- break;
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- case 18: {
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- }
-
- return this;
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- /**
- * .cmvr.api.CommandHeader.Feedback header = 1;
- */
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- if (headerBuilder_ == null) {
- header_ = null;
- onChanged();
- } else {
- header_ = null;
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-
- return this;
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- getHeaderFieldBuilder() {
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- getParentForChildren(),
- isClean());
- header_ = null;
- }
- return headerBuilder_;
- }
-
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- if (!((bitField0_ & 0x00000001) != 0)) {
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-
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- cmvr.api.HumanoidRobotCommand.JointState, cmvr.api.HumanoidRobotCommand.JointState.Builder, cmvr.api.HumanoidRobotCommand.JointStateOrBuilder> stateBuilder_;
-
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public java.util.List getStateList() {
- if (stateBuilder_ == null) {
- return java.util.Collections.unmodifiableList(state_);
- } else {
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- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public int getStateCount() {
- if (stateBuilder_ == null) {
- return state_.size();
- } else {
- return stateBuilder_.getCount();
- }
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointState getState(int index) {
- if (stateBuilder_ == null) {
- return state_.get(index);
- } else {
- return stateBuilder_.getMessage(index);
- }
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public Builder setState(
- int index, cmvr.api.HumanoidRobotCommand.JointState value) {
- if (stateBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureStateIsMutable();
- state_.set(index, value);
- onChanged();
- } else {
- stateBuilder_.setMessage(index, value);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public Builder setState(
- int index, cmvr.api.HumanoidRobotCommand.JointState.Builder builderForValue) {
- if (stateBuilder_ == null) {
- ensureStateIsMutable();
- state_.set(index, builderForValue.build());
- onChanged();
- } else {
- stateBuilder_.setMessage(index, builderForValue.build());
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public Builder addState(cmvr.api.HumanoidRobotCommand.JointState value) {
- if (stateBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureStateIsMutable();
- state_.add(value);
- onChanged();
- } else {
- stateBuilder_.addMessage(value);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public Builder addState(
- int index, cmvr.api.HumanoidRobotCommand.JointState value) {
- if (stateBuilder_ == null) {
- if (value == null) {
- throw new NullPointerException();
- }
- ensureStateIsMutable();
- state_.add(index, value);
- onChanged();
- } else {
- stateBuilder_.addMessage(index, value);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public Builder addState(
- cmvr.api.HumanoidRobotCommand.JointState.Builder builderForValue) {
- if (stateBuilder_ == null) {
- ensureStateIsMutable();
- state_.add(builderForValue.build());
- onChanged();
- } else {
- stateBuilder_.addMessage(builderForValue.build());
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public Builder addState(
- int index, cmvr.api.HumanoidRobotCommand.JointState.Builder builderForValue) {
- if (stateBuilder_ == null) {
- ensureStateIsMutable();
- state_.add(index, builderForValue.build());
- onChanged();
- } else {
- stateBuilder_.addMessage(index, builderForValue.build());
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public Builder addAllState(
- java.lang.Iterable values) {
- if (stateBuilder_ == null) {
- ensureStateIsMutable();
- com.google.protobuf.AbstractMessageLite.Builder.addAll(
- values, state_);
- onChanged();
- } else {
- stateBuilder_.addAllMessages(values);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public Builder clearState() {
- if (stateBuilder_ == null) {
- state_ = java.util.Collections.emptyList();
- bitField0_ = (bitField0_ & ~0x00000001);
- onChanged();
- } else {
- stateBuilder_.clear();
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public Builder removeState(int index) {
- if (stateBuilder_ == null) {
- ensureStateIsMutable();
- state_.remove(index);
- onChanged();
- } else {
- stateBuilder_.remove(index);
- }
- return this;
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointState.Builder getStateBuilder(
- int index) {
- return getStateFieldBuilder().getBuilder(index);
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointStateOrBuilder getStateOrBuilder(
- int index) {
- if (stateBuilder_ == null) {
- return state_.get(index); } else {
- return stateBuilder_.getMessageOrBuilder(index);
- }
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public java.util.List
- getStateOrBuilderList() {
- if (stateBuilder_ != null) {
- return stateBuilder_.getMessageOrBuilderList();
- } else {
- return java.util.Collections.unmodifiableList(state_);
- }
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointState.Builder addStateBuilder() {
- return getStateFieldBuilder().addBuilder(
- cmvr.api.HumanoidRobotCommand.JointState.getDefaultInstance());
- }
- /**
- * repeated .cmvr.api.JointState state = 2;
- */
- public cmvr.api.HumanoidRobotCommand.JointState.Builder addStateBuilder(
- int index) {
- return getStateFieldBuilder().addBuilder(
- index, cmvr.api.HumanoidRobotCommand.JointState.getDefaultInstance());
- }
- /**
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- */
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- if (stateBuilder_ == null) {
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- state_ = null;
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- return stateBuilder_;
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- public final Builder setUnknownFields(
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- return super.setUnknownFields(unknownFields);
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-
- @java.lang.Override
- public final Builder mergeUnknownFields(
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- return super.mergeUnknownFields(unknownFields);
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-
-
- // @@protoc_insertion_point(builder_scope:cmvr.api.JointResponse)
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- public JointResponse parsePartialFrom(
- com.google.protobuf.CodedInputStream input,
- com.google.protobuf.ExtensionRegistryLite extensionRegistry)
- throws com.google.protobuf.InvalidProtocolBufferException {
- Builder builder = newBuilder();
- try {
- builder.mergeFrom(input, extensionRegistry);
- } catch (com.google.protobuf.InvalidProtocolBufferException e) {
- throw e.setUnfinishedMessage(builder.buildPartial());
- } catch (com.google.protobuf.UninitializedMessageException e) {
- throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
- } catch (java.io.IOException e) {
- throw new com.google.protobuf.InvalidProtocolBufferException(e)
- .setUnfinishedMessage(builder.buildPartial());
- }
- return builder.buildPartial();
- }
- };
-
- public static com.google.protobuf.Parser parser() {
- return PARSER;
- }
-
- @java.lang.Override
- public com.google.protobuf.Parser getParserForType() {
- return PARSER;
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- "\030\003 \001(\001\022\013\n\003acc\030\004 \001(\001\032<\n\010Response\0220\n\006heade" +
- "r\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedbac" +
- "k\"\323\001\n\005MoveL\032\213\001\n\007Request\022/\n\006header\030\001 \001(\0132" +
- "\037.cmvr.api.CommandHeader.Request\022\017\n\007ee_l" +
- "ink\030\002 \001(\t\022$\n\ntargetPose\030\003 \001(\0132\020.cmvr.api" +
- ".Pose3D\022\013\n\003vel\030\004 \001(\001\022\013\n\003acc\030\005 \001(\001\032<\n\010Res" +
- "ponse\0220\n\006header\030\001 \001(\0132 .cmvr.api.Command" +
- "Header.Feedback\"\342\001\n\006SpeedJ\032\231\001\n\007Request\022/" +
- "\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader." +
- "Request\022\022\n\njoint_name\030\002 \001(\t\022\013\n\003vel\030\003 \001(\001" +
- "\022\013\n\003acc\030\004 \001(\001\022/\n\003dir\030\005 \001(\0162\".cmvr.api.Ro" +
- "botJointIndexDirection\032<\n\010Response\0220\n\006he" +
- "ader\030\001 \001(\0132 .cmvr.api.CommandHeader.Feed" +
- "back\"\207\002\n\006SpeedL\032\276\001\n\007Request\022/\n\006header\030\001 " +
- "\001(\0132\037.cmvr.api.CommandHeader.Request\022\017\n\007" +
- "ee_link\030\002 \001(\t\022\013\n\003vel\030\003 \001(\001\022\013\n\003acc\030\004 \001(\001\022" +
- "/\n\003dir\030\005 \001(\0162\".cmvr.api.RobotJointIndexD" +
- "irection\022&\n\004cart\030\006 \001(\0162\030.cmvr.api.RobotC" +
- "artesian\032<\n\010Response\0220\n\006header\030\001 \001(\0132 .c" +
- "mvr.api.CommandHeader.Feedback\"a\n\nJointS" +
- "tate\022\014\n\004name\030\001 \003(\t\022\020\n\010position\030\002 \003(\001\022\020\n\010" +
- "velocity\030\003 \003(\001\022\016\n\006effort\030\004 \003(\001\022\021\n\ttimest" +
- "amp\030\005 \001(\001\"f\n\rJointResponse\0220\n\006header\030\001 \001" +
- "(\0132 .cmvr.api.CommandHeader.Feedback\022#\n\005" +
- "state\030\002 \003(\0132\024.cmvr.api.JointState\"?\n\014Joi" +
- "ntRequest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Com" +
- "mandHeader.Request*=\n\016RobotCartesian\022\005\n\001" +
- "X\020\000\022\005\n\001Y\020\001\022\005\n\001Z\020\002\022\006\n\002RX\020\003\022\006\n\002RY\020\004\022\006\n\002RZ\020" +
- "\005*\277\001\n\030RobotJointIndexDirection\022\013\n\007FORWAR" +
- "D\020\000\022\014\n\010BACKWARD\020\001\022\016\n\nX_POSITIVE\020\002\022\016\n\nX_N" +
- "EGATIVE\020\003\022\016\n\nY_POSITIVE\020\004\022\016\n\nY_NEGATIVE\020" +
- "\005\022\016\n\nZ_POSITIVE\020\006\022\016\n\nZ_NEGATIVE\020\007\022\014\n\010ROT" +
- "ATE_X\020\010\022\014\n\010ROTATE_Y\020\t\022\014\n\010ROTATE_Z\020\nb\006pro" +
- "to3"
- };
- descriptor = com.google.protobuf.Descriptors.FileDescriptor
- .internalBuildGeneratedFileFrom(descriptorData,
- new com.google.protobuf.Descriptors.FileDescriptor[] {
- cmvr.api.Common.getDescriptor(),
- });
- internal_static_cmvr_api_JointCmd_descriptor =
- getDescriptor().getMessageTypes().get(0);
- internal_static_cmvr_api_JointCmd_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_JointCmd_descriptor,
- new java.lang.String[] { "JointName", "Rad", "Vel", });
- internal_static_cmvr_api_Pose3D_descriptor =
- getDescriptor().getMessageTypes().get(1);
- internal_static_cmvr_api_Pose3D_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_Pose3D_descriptor,
- new java.lang.String[] { "X", "Y", "Z", "Rx", "Ry", "Rz", });
- internal_static_cmvr_api_MoveJ_descriptor =
- getDescriptor().getMessageTypes().get(2);
- internal_static_cmvr_api_MoveJ_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_MoveJ_descriptor,
- new java.lang.String[] { });
- internal_static_cmvr_api_MoveJ_Request_descriptor =
- internal_static_cmvr_api_MoveJ_descriptor.getNestedTypes().get(0);
- internal_static_cmvr_api_MoveJ_Request_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_MoveJ_Request_descriptor,
- new java.lang.String[] { "Header", "Cmds", "Vel", "Acc", });
- internal_static_cmvr_api_MoveJ_Response_descriptor =
- internal_static_cmvr_api_MoveJ_descriptor.getNestedTypes().get(1);
- internal_static_cmvr_api_MoveJ_Response_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_MoveJ_Response_descriptor,
- new java.lang.String[] { "Header", });
- internal_static_cmvr_api_MoveL_descriptor =
- getDescriptor().getMessageTypes().get(3);
- internal_static_cmvr_api_MoveL_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_MoveL_descriptor,
- new java.lang.String[] { });
- internal_static_cmvr_api_MoveL_Request_descriptor =
- internal_static_cmvr_api_MoveL_descriptor.getNestedTypes().get(0);
- internal_static_cmvr_api_MoveL_Request_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_MoveL_Request_descriptor,
- new java.lang.String[] { "Header", "EeLink", "TargetPose", "Vel", "Acc", });
- internal_static_cmvr_api_MoveL_Response_descriptor =
- internal_static_cmvr_api_MoveL_descriptor.getNestedTypes().get(1);
- internal_static_cmvr_api_MoveL_Response_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_MoveL_Response_descriptor,
- new java.lang.String[] { "Header", });
- internal_static_cmvr_api_SpeedJ_descriptor =
- getDescriptor().getMessageTypes().get(4);
- internal_static_cmvr_api_SpeedJ_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_SpeedJ_descriptor,
- new java.lang.String[] { });
- internal_static_cmvr_api_SpeedJ_Request_descriptor =
- internal_static_cmvr_api_SpeedJ_descriptor.getNestedTypes().get(0);
- internal_static_cmvr_api_SpeedJ_Request_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_SpeedJ_Request_descriptor,
- new java.lang.String[] { "Header", "JointName", "Vel", "Acc", "Dir", });
- internal_static_cmvr_api_SpeedJ_Response_descriptor =
- internal_static_cmvr_api_SpeedJ_descriptor.getNestedTypes().get(1);
- internal_static_cmvr_api_SpeedJ_Response_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_SpeedJ_Response_descriptor,
- new java.lang.String[] { "Header", });
- internal_static_cmvr_api_SpeedL_descriptor =
- getDescriptor().getMessageTypes().get(5);
- internal_static_cmvr_api_SpeedL_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_SpeedL_descriptor,
- new java.lang.String[] { });
- internal_static_cmvr_api_SpeedL_Request_descriptor =
- internal_static_cmvr_api_SpeedL_descriptor.getNestedTypes().get(0);
- internal_static_cmvr_api_SpeedL_Request_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_SpeedL_Request_descriptor,
- new java.lang.String[] { "Header", "EeLink", "Vel", "Acc", "Dir", "Cart", });
- internal_static_cmvr_api_SpeedL_Response_descriptor =
- internal_static_cmvr_api_SpeedL_descriptor.getNestedTypes().get(1);
- internal_static_cmvr_api_SpeedL_Response_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_SpeedL_Response_descriptor,
- new java.lang.String[] { "Header", });
- internal_static_cmvr_api_JointState_descriptor =
- getDescriptor().getMessageTypes().get(6);
- internal_static_cmvr_api_JointState_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_JointState_descriptor,
- new java.lang.String[] { "Name", "Position", "Velocity", "Effort", "Timestamp", });
- internal_static_cmvr_api_JointResponse_descriptor =
- getDescriptor().getMessageTypes().get(7);
- internal_static_cmvr_api_JointResponse_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_JointResponse_descriptor,
- new java.lang.String[] { "Header", "State", });
- internal_static_cmvr_api_JointRequest_descriptor =
- getDescriptor().getMessageTypes().get(8);
- internal_static_cmvr_api_JointRequest_fieldAccessorTable = new
- com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
- internal_static_cmvr_api_JointRequest_descriptor,
- new java.lang.String[] { "Header", });
- cmvr.api.Common.getDescriptor();
- }
-
- // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java
deleted file mode 100644
index bb8fa80..0000000
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceGrpc.java
+++ /dev/null
@@ -1,720 +0,0 @@
-package cmvr.api;
-
-import static io.grpc.MethodDescriptor.generateFullMethodName;
-
-/**
- */
-@javax.annotation.Generated(
- value = "by gRPC proto compiler (version 1.52.0)",
- comments = "Source: cmvr/api/humanoid_robot_service.proto")
-@io.grpc.stub.annotations.GrpcGenerated
-public final class HumanoidRobotServiceGrpc {
-
- private HumanoidRobotServiceGrpc() {}
-
- public static final String SERVICE_NAME = "cmvr.api.HumanoidRobotService";
-
- // Static method descriptors that strictly reflect the proto.
- private static volatile io.grpc.MethodDescriptor getTorqueOffMethod;
-
- @io.grpc.stub.annotations.RpcMethod(
- fullMethodName = SERVICE_NAME + '/' + "torqueOff",
- requestType = cmvr.api.Common.CommandHeader.Request.class,
- responseType = cmvr.api.Common.CommandHeader.Feedback.class,
- methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
- public static io.grpc.MethodDescriptor getTorqueOffMethod() {
- io.grpc.MethodDescriptor getTorqueOffMethod;
- if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
- synchronized (HumanoidRobotServiceGrpc.class) {
- if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
- HumanoidRobotServiceGrpc.getTorqueOffMethod = getTorqueOffMethod =
- io.grpc.MethodDescriptor.newBuilder()
- .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
- .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOff"))
- .setSampledToLocalTracing(true)
- .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
- .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
- .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOff"))
- .build();
- }
- }
- }
- return getTorqueOffMethod;
- }
-
- private static volatile io.grpc.MethodDescriptor getTorqueOnMethod;
-
- @io.grpc.stub.annotations.RpcMethod(
- fullMethodName = SERVICE_NAME + '/' + "torqueOn",
- requestType = cmvr.api.Common.CommandHeader.Request.class,
- responseType = cmvr.api.Common.CommandHeader.Feedback.class,
- methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
- public static io.grpc.MethodDescriptor getTorqueOnMethod() {
- io.grpc.MethodDescriptor getTorqueOnMethod;
- if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
- synchronized (HumanoidRobotServiceGrpc.class) {
- if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
- HumanoidRobotServiceGrpc.getTorqueOnMethod = getTorqueOnMethod =
- io.grpc.MethodDescriptor.newBuilder()
- .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
- .setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOn"))
- .setSampledToLocalTracing(true)
- .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
- .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
- .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOn"))
- .build();
- }
- }
- }
- return getTorqueOnMethod;
- }
-
- private static volatile io.grpc.MethodDescriptor getMoveJMethod;
-
- @io.grpc.stub.annotations.RpcMethod(
- fullMethodName = SERVICE_NAME + '/' + "moveJ",
- requestType = cmvr.api.HumanoidRobotCommand.MoveJ.Request.class,
- responseType = cmvr.api.HumanoidRobotCommand.MoveJ.Response.class,
- methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
- public static io.grpc.MethodDescriptor getMoveJMethod() {
- io.grpc.MethodDescriptor getMoveJMethod;
- if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
- synchronized (HumanoidRobotServiceGrpc.class) {
- if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
- HumanoidRobotServiceGrpc.getMoveJMethod = getMoveJMethod =
- io.grpc.MethodDescriptor.newBuilder()
- .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
- .setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveJ"))
- .setSampledToLocalTracing(true)
- .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance()))
- .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.MoveJ.Response.getDefaultInstance()))
- .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveJ"))
- .build();
- }
- }
- }
- return getMoveJMethod;
- }
-
- private static volatile io.grpc.MethodDescriptor getMoveLMethod;
-
- @io.grpc.stub.annotations.RpcMethod(
- fullMethodName = SERVICE_NAME + '/' + "moveL",
- requestType = cmvr.api.HumanoidRobotCommand.MoveL.Request.class,
- responseType = cmvr.api.HumanoidRobotCommand.MoveL.Response.class,
- methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
- public static io.grpc.MethodDescriptor getMoveLMethod() {
- io.grpc.MethodDescriptor getMoveLMethod;
- if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
- synchronized (HumanoidRobotServiceGrpc.class) {
- if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
- HumanoidRobotServiceGrpc.getMoveLMethod = getMoveLMethod =
- io.grpc.MethodDescriptor.newBuilder()
- .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
- .setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveL"))
- .setSampledToLocalTracing(true)
- .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.MoveL.Request.getDefaultInstance()))
- .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.MoveL.Response.getDefaultInstance()))
- .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveL"))
- .build();
- }
- }
- }
- return getMoveLMethod;
- }
-
- private static volatile io.grpc.MethodDescriptor getSpeedJMethod;
-
- @io.grpc.stub.annotations.RpcMethod(
- fullMethodName = SERVICE_NAME + '/' + "speedJ",
- requestType = cmvr.api.HumanoidRobotCommand.SpeedJ.Request.class,
- responseType = cmvr.api.HumanoidRobotCommand.SpeedJ.Response.class,
- methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
- public static io.grpc.MethodDescriptor getSpeedJMethod() {
- io.grpc.MethodDescriptor getSpeedJMethod;
- if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
- synchronized (HumanoidRobotServiceGrpc.class) {
- if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
- HumanoidRobotServiceGrpc.getSpeedJMethod = getSpeedJMethod =
- io.grpc.MethodDescriptor.newBuilder()
- .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
- .setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedJ"))
- .setSampledToLocalTracing(true)
- .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.SpeedJ.Request.getDefaultInstance()))
- .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.SpeedJ.Response.getDefaultInstance()))
- .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedJ"))
- .build();
- }
- }
- }
- return getSpeedJMethod;
- }
-
- private static volatile io.grpc.MethodDescriptor getSpeedLMethod;
-
- @io.grpc.stub.annotations.RpcMethod(
- fullMethodName = SERVICE_NAME + '/' + "speedL",
- requestType = cmvr.api.HumanoidRobotCommand.SpeedL.Request.class,
- responseType = cmvr.api.HumanoidRobotCommand.SpeedL.Response.class,
- methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
- public static io.grpc.MethodDescriptor getSpeedLMethod() {
- io.grpc.MethodDescriptor getSpeedLMethod;
- if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
- synchronized (HumanoidRobotServiceGrpc.class) {
- if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
- HumanoidRobotServiceGrpc.getSpeedLMethod = getSpeedLMethod =
- io.grpc.MethodDescriptor.newBuilder()
- .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
- .setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedL"))
- .setSampledToLocalTracing(true)
- .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.SpeedL.Request.getDefaultInstance()))
- .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.SpeedL.Response.getDefaultInstance()))
- .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedL"))
- .build();
- }
- }
- }
- return getSpeedLMethod;
- }
-
- private static volatile io.grpc.MethodDescriptor getGetJointStateMethod;
-
- @io.grpc.stub.annotations.RpcMethod(
- fullMethodName = SERVICE_NAME + '/' + "getJointState",
- requestType = cmvr.api.HumanoidRobotCommand.JointRequest.class,
- responseType = cmvr.api.HumanoidRobotCommand.JointResponse.class,
- methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
- public static io.grpc.MethodDescriptor getGetJointStateMethod() {
- io.grpc.MethodDescriptor getGetJointStateMethod;
- if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
- synchronized (HumanoidRobotServiceGrpc.class) {
- if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
- HumanoidRobotServiceGrpc.getGetJointStateMethod = getGetJointStateMethod =
- io.grpc.MethodDescriptor.newBuilder()
- .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
- .setFullMethodName(generateFullMethodName(SERVICE_NAME, "getJointState"))
- .setSampledToLocalTracing(true)
- .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.JointRequest.getDefaultInstance()))
- .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
- cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance()))
- .setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("getJointState"))
- .build();
- }
- }
- }
- return getGetJointStateMethod;
- }
-
- /**
- * Creates a new async stub that supports all call types for the service
- */
- public static HumanoidRobotServiceStub newStub(io.grpc.Channel channel) {
- io.grpc.stub.AbstractStub.StubFactory factory =
- new io.grpc.stub.AbstractStub.StubFactory() {
- @java.lang.Override
- public HumanoidRobotServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
- return new HumanoidRobotServiceStub(channel, callOptions);
- }
- };
- return HumanoidRobotServiceStub.newStub(factory, channel);
- }
-
- /**
- * Creates a new blocking-style stub that supports unary and streaming output calls on the service
- */
- public static HumanoidRobotServiceBlockingStub newBlockingStub(
- io.grpc.Channel channel) {
- io.grpc.stub.AbstractStub.StubFactory factory =
- new io.grpc.stub.AbstractStub.StubFactory() {
- @java.lang.Override
- public HumanoidRobotServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
- return new HumanoidRobotServiceBlockingStub(channel, callOptions);
- }
- };
- return HumanoidRobotServiceBlockingStub.newStub(factory, channel);
- }
-
- /**
- * Creates a new ListenableFuture-style stub that supports unary calls on the service
- */
- public static HumanoidRobotServiceFutureStub newFutureStub(
- io.grpc.Channel channel) {
- io.grpc.stub.AbstractStub.StubFactory factory =
- new io.grpc.stub.AbstractStub.StubFactory() {
- @java.lang.Override
- public HumanoidRobotServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
- return new HumanoidRobotServiceFutureStub(channel, callOptions);
- }
- };
- return HumanoidRobotServiceFutureStub.newStub(factory, channel);
- }
-
- /**
- */
- public static abstract class HumanoidRobotServiceImplBase implements io.grpc.BindableService {
-
- /**
- */
- public void torqueOff(cmvr.api.Common.CommandHeader.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOffMethod(), responseObserver);
- }
-
- /**
- */
- public void torqueOn(cmvr.api.Common.CommandHeader.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOnMethod(), responseObserver);
- }
-
- /**
- */
- public void moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveJMethod(), responseObserver);
- }
-
- /**
- */
- public void moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveLMethod(), responseObserver);
- }
-
- /**
- */
- public void speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedJMethod(), responseObserver);
- }
-
- /**
- */
- public void speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedLMethod(), responseObserver);
- }
-
- /**
- */
- public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetJointStateMethod(), responseObserver);
- }
-
- @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
- return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
- .addMethod(
- getTorqueOffMethod(),
- io.grpc.stub.ServerCalls.asyncUnaryCall(
- new MethodHandlers<
- cmvr.api.Common.CommandHeader.Request,
- cmvr.api.Common.CommandHeader.Feedback>(
- this, METHODID_TORQUE_OFF)))
- .addMethod(
- getTorqueOnMethod(),
- io.grpc.stub.ServerCalls.asyncUnaryCall(
- new MethodHandlers<
- cmvr.api.Common.CommandHeader.Request,
- cmvr.api.Common.CommandHeader.Feedback>(
- this, METHODID_TORQUE_ON)))
- .addMethod(
- getMoveJMethod(),
- io.grpc.stub.ServerCalls.asyncUnaryCall(
- new MethodHandlers<
- cmvr.api.HumanoidRobotCommand.MoveJ.Request,
- cmvr.api.HumanoidRobotCommand.MoveJ.Response>(
- this, METHODID_MOVE_J)))
- .addMethod(
- getMoveLMethod(),
- io.grpc.stub.ServerCalls.asyncUnaryCall(
- new MethodHandlers<
- cmvr.api.HumanoidRobotCommand.MoveL.Request,
- cmvr.api.HumanoidRobotCommand.MoveL.Response>(
- this, METHODID_MOVE_L)))
- .addMethod(
- getSpeedJMethod(),
- io.grpc.stub.ServerCalls.asyncUnaryCall(
- new MethodHandlers<
- cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
- cmvr.api.HumanoidRobotCommand.SpeedJ.Response>(
- this, METHODID_SPEED_J)))
- .addMethod(
- getSpeedLMethod(),
- io.grpc.stub.ServerCalls.asyncUnaryCall(
- new MethodHandlers<
- cmvr.api.HumanoidRobotCommand.SpeedL.Request,
- cmvr.api.HumanoidRobotCommand.SpeedL.Response>(
- this, METHODID_SPEED_L)))
- .addMethod(
- getGetJointStateMethod(),
- io.grpc.stub.ServerCalls.asyncUnaryCall(
- new MethodHandlers<
- cmvr.api.HumanoidRobotCommand.JointRequest,
- cmvr.api.HumanoidRobotCommand.JointResponse>(
- this, METHODID_GET_JOINT_STATE)))
- .build();
- }
- }
-
- /**
- */
- public static final class HumanoidRobotServiceStub extends io.grpc.stub.AbstractAsyncStub {
- private HumanoidRobotServiceStub(
- io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
- super(channel, callOptions);
- }
-
- @java.lang.Override
- protected HumanoidRobotServiceStub build(
- io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
- return new HumanoidRobotServiceStub(channel, callOptions);
- }
-
- /**
- */
- public void torqueOff(cmvr.api.Common.CommandHeader.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ClientCalls.asyncUnaryCall(
- getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request, responseObserver);
- }
-
- /**
- */
- public void torqueOn(cmvr.api.Common.CommandHeader.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ClientCalls.asyncUnaryCall(
- getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request, responseObserver);
- }
-
- /**
- */
- public void moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ClientCalls.asyncUnaryCall(
- getChannel().newCall(getMoveJMethod(), getCallOptions()), request, responseObserver);
- }
-
- /**
- */
- public void moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ClientCalls.asyncUnaryCall(
- getChannel().newCall(getMoveLMethod(), getCallOptions()), request, responseObserver);
- }
-
- /**
- */
- public void speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ClientCalls.asyncUnaryCall(
- getChannel().newCall(getSpeedJMethod(), getCallOptions()), request, responseObserver);
- }
-
- /**
- */
- public void speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ClientCalls.asyncUnaryCall(
- getChannel().newCall(getSpeedLMethod(), getCallOptions()), request, responseObserver);
- }
-
- /**
- */
- public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
- io.grpc.stub.StreamObserver responseObserver) {
- io.grpc.stub.ClientCalls.asyncUnaryCall(
- getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request, responseObserver);
- }
- }
-
- /**
- */
- public static final class HumanoidRobotServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub {
- private HumanoidRobotServiceBlockingStub(
- io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
- super(channel, callOptions);
- }
-
- @java.lang.Override
- protected HumanoidRobotServiceBlockingStub build(
- io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
- return new HumanoidRobotServiceBlockingStub(channel, callOptions);
- }
-
- /**
- */
- public cmvr.api.Common.CommandHeader.Feedback torqueOff(cmvr.api.Common.CommandHeader.Request request) {
- return io.grpc.stub.ClientCalls.blockingUnaryCall(
- getChannel(), getTorqueOffMethod(), getCallOptions(), request);
- }
-
- /**
- */
- public cmvr.api.Common.CommandHeader.Feedback torqueOn(cmvr.api.Common.CommandHeader.Request request) {
- return io.grpc.stub.ClientCalls.blockingUnaryCall(
- getChannel(), getTorqueOnMethod(), getCallOptions(), request);
- }
-
- /**
- */
- public cmvr.api.HumanoidRobotCommand.MoveJ.Response moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request) {
- return io.grpc.stub.ClientCalls.blockingUnaryCall(
- getChannel(), getMoveJMethod(), getCallOptions(), request);
- }
-
- /**
- */
- public cmvr.api.HumanoidRobotCommand.MoveL.Response moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request) {
- return io.grpc.stub.ClientCalls.blockingUnaryCall(
- getChannel(), getMoveLMethod(), getCallOptions(), request);
- }
-
- /**
- */
- public cmvr.api.HumanoidRobotCommand.SpeedJ.Response speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request) {
- return io.grpc.stub.ClientCalls.blockingUnaryCall(
- getChannel(), getSpeedJMethod(), getCallOptions(), request);
- }
-
- /**
- */
- public cmvr.api.HumanoidRobotCommand.SpeedL.Response speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request) {
- return io.grpc.stub.ClientCalls.blockingUnaryCall(
- getChannel(), getSpeedLMethod(), getCallOptions(), request);
- }
-
- /**
- */
- public cmvr.api.HumanoidRobotCommand.JointResponse getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request) {
- return io.grpc.stub.ClientCalls.blockingUnaryCall(
- getChannel(), getGetJointStateMethod(), getCallOptions(), request);
- }
- }
-
- /**
- */
- public static final class HumanoidRobotServiceFutureStub extends io.grpc.stub.AbstractFutureStub {
- private HumanoidRobotServiceFutureStub(
- io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
- super(channel, callOptions);
- }
-
- @java.lang.Override
- protected HumanoidRobotServiceFutureStub build(
- io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
- return new HumanoidRobotServiceFutureStub(channel, callOptions);
- }
-
- /**
- */
- public com.google.common.util.concurrent.ListenableFuture torqueOff(
- cmvr.api.Common.CommandHeader.Request request) {
- return io.grpc.stub.ClientCalls.futureUnaryCall(
- getChannel().newCall(getTorqueOffMethod(), getCallOptions()), request);
- }
-
- /**
- */
- public com.google.common.util.concurrent.ListenableFuture torqueOn(
- cmvr.api.Common.CommandHeader.Request request) {
- return io.grpc.stub.ClientCalls.futureUnaryCall(
- getChannel().newCall(getTorqueOnMethod(), getCallOptions()), request);
- }
-
- /**
- */
- public com.google.common.util.concurrent.ListenableFuture moveJ(
- cmvr.api.HumanoidRobotCommand.MoveJ.Request request) {
- return io.grpc.stub.ClientCalls.futureUnaryCall(
- getChannel().newCall(getMoveJMethod(), getCallOptions()), request);
- }
-
- /**
- */
- public com.google.common.util.concurrent.ListenableFuture moveL(
- cmvr.api.HumanoidRobotCommand.MoveL.Request request) {
- return io.grpc.stub.ClientCalls.futureUnaryCall(
- getChannel().newCall(getMoveLMethod(), getCallOptions()), request);
- }
-
- /**
- */
- public com.google.common.util.concurrent.ListenableFuture speedJ(
- cmvr.api.HumanoidRobotCommand.SpeedJ.Request request) {
- return io.grpc.stub.ClientCalls.futureUnaryCall(
- getChannel().newCall(getSpeedJMethod(), getCallOptions()), request);
- }
-
- /**
- */
- public com.google.common.util.concurrent.ListenableFuture speedL(
- cmvr.api.HumanoidRobotCommand.SpeedL.Request request) {
- return io.grpc.stub.ClientCalls.futureUnaryCall(
- getChannel().newCall(getSpeedLMethod(), getCallOptions()), request);
- }
-
- /**
- */
- public com.google.common.util.concurrent.ListenableFuture getJointState(
- cmvr.api.HumanoidRobotCommand.JointRequest request) {
- return io.grpc.stub.ClientCalls.futureUnaryCall(
- getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request);
- }
- }
-
- private static final int METHODID_TORQUE_OFF = 0;
- private static final int METHODID_TORQUE_ON = 1;
- private static final int METHODID_MOVE_J = 2;
- private static final int METHODID_MOVE_L = 3;
- private static final int METHODID_SPEED_J = 4;
- private static final int METHODID_SPEED_L = 5;
- private static final int METHODID_GET_JOINT_STATE = 6;
-
- private static final class MethodHandlers implements
- io.grpc.stub.ServerCalls.UnaryMethod,
- io.grpc.stub.ServerCalls.ServerStreamingMethod,
- io.grpc.stub.ServerCalls.ClientStreamingMethod,
- io.grpc.stub.ServerCalls.BidiStreamingMethod {
- private final HumanoidRobotServiceImplBase serviceImpl;
- private final int methodId;
-
- MethodHandlers(HumanoidRobotServiceImplBase serviceImpl, int methodId) {
- this.serviceImpl = serviceImpl;
- this.methodId = methodId;
- }
-
- @java.lang.Override
- @java.lang.SuppressWarnings("unchecked")
- public void invoke(Req request, io.grpc.stub.StreamObserver responseObserver) {
- switch (methodId) {
- case METHODID_TORQUE_OFF:
- serviceImpl.torqueOff((cmvr.api.Common.CommandHeader.Request) request,
- (io.grpc.stub.StreamObserver) responseObserver);
- break;
- case METHODID_TORQUE_ON:
- serviceImpl.torqueOn((cmvr.api.Common.CommandHeader.Request) request,
- (io.grpc.stub.StreamObserver) responseObserver);
- break;
- case METHODID_MOVE_J:
- serviceImpl.moveJ((cmvr.api.HumanoidRobotCommand.MoveJ.Request) request,
- (io.grpc.stub.StreamObserver) responseObserver);
- break;
- case METHODID_MOVE_L:
- serviceImpl.moveL((cmvr.api.HumanoidRobotCommand.MoveL.Request) request,
- (io.grpc.stub.StreamObserver) responseObserver);
- break;
- case METHODID_SPEED_J:
- serviceImpl.speedJ((cmvr.api.HumanoidRobotCommand.SpeedJ.Request) request,
- (io.grpc.stub.StreamObserver) responseObserver);
- break;
- case METHODID_SPEED_L:
- serviceImpl.speedL((cmvr.api.HumanoidRobotCommand.SpeedL.Request) request,
- (io.grpc.stub.StreamObserver) responseObserver);
- break;
- case METHODID_GET_JOINT_STATE:
- serviceImpl.getJointState((cmvr.api.HumanoidRobotCommand.JointRequest) request,
- (io.grpc.stub.StreamObserver) responseObserver);
- break;
- default:
- throw new AssertionError();
- }
- }
-
- @java.lang.Override
- @java.lang.SuppressWarnings("unchecked")
- public io.grpc.stub.StreamObserver invoke(
- io.grpc.stub.StreamObserver responseObserver) {
- switch (methodId) {
- default:
- throw new AssertionError();
- }
- }
- }
-
- private static abstract class HumanoidRobotServiceBaseDescriptorSupplier
- implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
- HumanoidRobotServiceBaseDescriptorSupplier() {}
-
- @java.lang.Override
- public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
- return cmvr.api.HumanoidRobotServiceOuterClass.getDescriptor();
- }
-
- @java.lang.Override
- public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
- return getFileDescriptor().findServiceByName("HumanoidRobotService");
- }
- }
-
- private static final class HumanoidRobotServiceFileDescriptorSupplier
- extends HumanoidRobotServiceBaseDescriptorSupplier {
- HumanoidRobotServiceFileDescriptorSupplier() {}
- }
-
- private static final class HumanoidRobotServiceMethodDescriptorSupplier
- extends HumanoidRobotServiceBaseDescriptorSupplier
- implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
- private final String methodName;
-
- HumanoidRobotServiceMethodDescriptorSupplier(String methodName) {
- this.methodName = methodName;
- }
-
- @java.lang.Override
- public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
- return getServiceDescriptor().findMethodByName(methodName);
- }
- }
-
- private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
-
- public static io.grpc.ServiceDescriptor getServiceDescriptor() {
- io.grpc.ServiceDescriptor result = serviceDescriptor;
- if (result == null) {
- synchronized (HumanoidRobotServiceGrpc.class) {
- result = serviceDescriptor;
- if (result == null) {
- serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
- .setSchemaDescriptor(new HumanoidRobotServiceFileDescriptorSupplier())
- .addMethod(getTorqueOffMethod())
- .addMethod(getTorqueOnMethod())
- .addMethod(getMoveJMethod())
- .addMethod(getMoveLMethod())
- .addMethod(getSpeedJMethod())
- .addMethod(getSpeedLMethod())
- .addMethod(getGetJointStateMethod())
- .build();
- }
- }
- }
- return result;
- }
-}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceOuterClass.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceOuterClass.java
deleted file mode 100644
index 6624a21..0000000
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/HumanoidRobotServiceOuterClass.java
+++ /dev/null
@@ -1,54 +0,0 @@
-// Generated by the protocol buffer compiler. DO NOT EDIT!
-// source: cmvr/api/humanoid_robot_service.proto
-
-package cmvr.api;
-
-public final class HumanoidRobotServiceOuterClass {
- private HumanoidRobotServiceOuterClass() {}
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistryLite registry) {
- }
-
- public static void registerAllExtensions(
- com.google.protobuf.ExtensionRegistry registry) {
- registerAllExtensions(
- (com.google.protobuf.ExtensionRegistryLite) registry);
- }
-
- public static com.google.protobuf.Descriptors.FileDescriptor
- getDescriptor() {
- return descriptor;
- }
- private static com.google.protobuf.Descriptors.FileDescriptor
- descriptor;
- static {
- java.lang.String[] descriptorData = {
- "\n%cmvr/api/humanoid_robot_service.proto\022" +
- "\010cmvr.api\032\025cmvr/api/common.proto\032%cmvr/a" +
- "pi/humanoid_robot_command.proto2\355\003\n\024Huma" +
- "noidRobotService\022N\n\ttorqueOff\022\037.cmvr.api" +
- ".CommandHeader.Request\032 .cmvr.api.Comman" +
- "dHeader.Feedback\022M\n\010torqueOn\022\037.cmvr.api." +
- "CommandHeader.Request\032 .cmvr.api.Command" +
- "Header.Feedback\022:\n\005moveJ\022\027.cmvr.api.Move" +
- "J.Request\032\030.cmvr.api.MoveJ.Response\022:\n\005m" +
- "oveL\022\027.cmvr.api.MoveL.Request\032\030.cmvr.api" +
- ".MoveL.Response\022=\n\006speedJ\022\030.cmvr.api.Spe" +
- "edJ.Request\032\031.cmvr.api.SpeedJ.Response\022=" +
- "\n\006speedL\022\030.cmvr.api.SpeedL.Request\032\031.cmv" +
- "r.api.SpeedL.Response\022@\n\rgetJointState\022\026" +
- ".cmvr.api.JointRequest\032\027.cmvr.api.JointR" +
- "esponseb\006proto3"
- };
- descriptor = com.google.protobuf.Descriptors.FileDescriptor
- .internalBuildGeneratedFileFrom(descriptorData,
- new com.google.protobuf.Descriptors.FileDescriptor[] {
- cmvr.api.Common.getDescriptor(),
- cmvr.api.HumanoidRobotCommand.getDescriptor(),
- });
- cmvr.api.Common.getDescriptor();
- cmvr.api.HumanoidRobotCommand.getDescriptor();
- }
-
- // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_command.proto
new file mode 100644
index 0000000..3c0d7b9
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_command.proto
@@ -0,0 +1,185 @@
+syntax = "proto3";
+
+package cmvr.api;
+
+import "cmvr/api/common.proto";
+
+enum ArmFrameType {
+ ARM_FRAME_BASE = 0;
+ ARM_FRAME_TOOL = 1;
+ ARM_FRAME_WORLD = 2;
+ ARM_FRAME_USER = 3;
+}
+
+message JointPositionCommand {
+ repeated double position = 1;
+}
+
+message JointVelocityCommand {
+ repeated double velocity = 1;
+}
+
+message MotionOptions {
+ double velocity = 1;
+ double acceleration = 2;
+ double blend_radius = 3;
+ double jerk = 4;
+ repeated double joint_velocity_limits = 5;
+ bool asynchronous = 6;
+}
+
+message CartesianPose {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ double rx = 4;
+ double ry = 5;
+ double rz = 6;
+}
+
+message CartesianVelocity {
+ double vx = 1;
+ double vy = 2;
+ double vz = 3;
+ double wx = 4;
+ double wy = 5;
+ double wz = 6;
+}
+
+message TransformMatrix4x4 {
+ double m00 = 1; double m01 = 2; double m02 = 3; double m03 = 4;
+ double m10 = 5; double m11 = 6; double m12 = 7; double m13 = 8;
+ double m20 = 9; double m21 = 10; double m22 = 11; double m23 = 12;
+ double m30 = 13; double m31 = 14; double m32 = 15; double m33 = 16;
+}
+
+message MoveJ {
+ message Request {
+ CommandHeader.Request header = 1;
+ JointPositionCommand target = 2;
+ MotionOptions options = 3;
+ }
+
+ message Response {
+ CommandHeader.Feedback header = 1;
+ }
+}
+
+message MoveL {
+ message Request {
+ CommandHeader.Request header = 1;
+ CartesianPose target = 2;
+ MotionOptions options = 3;
+ ArmFrameType frame = 4;
+ }
+
+ message Response {
+ CommandHeader.Feedback header = 1;
+ }
+}
+
+message SpeedJ {
+ message Request {
+ CommandHeader.Request header = 1;
+ JointVelocityCommand velocity = 2;
+ double acceleration = 3;
+ double duration = 4;
+ }
+
+ message Response {
+ CommandHeader.Feedback header = 1;
+ }
+}
+
+message SpeedL {
+ message Request {
+ CommandHeader.Request header = 1;
+ CartesianVelocity velocity = 2;
+ double acceleration = 3;
+ double duration = 4;
+ ArmFrameType frame = 5;
+ }
+
+ message Response {
+ CommandHeader.Feedback header = 1;
+ }
+}
+
+message ServoJ {
+ message Request {
+ CommandHeader.Request header = 1;
+ JointPositionCommand target = 2;
+ }
+
+ message Response {
+ CommandHeader.Feedback header = 1;
+ }
+}
+
+message JointState {
+ repeated string name = 1;
+ repeated double position = 2;
+ repeated double velocity = 3;
+ repeated double effort = 4;
+ double timestamp = 5;
+}
+
+message JointRequest {
+ CommandHeader.Request header = 1;
+}
+
+message JointResponse {
+ CommandHeader.Feedback header = 1;
+ JointState state = 2;
+}
+
+message GetPose {
+ message Request {
+ CommandHeader.Request header = 1;
+ string base_link = 2;
+ string ee_link = 3;
+ }
+
+ message Response {
+ CommandHeader.Feedback header = 1;
+ CartesianPose pose = 2;
+ }
+}
+
+message CalibrateZeroQ {
+ message Request {
+ CommandHeader.Request header = 1;
+ string joint_name = 2;
+ }
+
+ message Response {
+ CommandHeader.Feedback header = 1;
+ }
+}
+
+message GetPoseMatrix {
+ message Request {
+ CommandHeader.Request header = 1;
+ string base_link = 2;
+ string ee_link = 3;
+ }
+
+ message Response {
+ CommandHeader.Feedback header = 1;
+ TransformMatrix4x4 matrix = 2;
+ }
+}
+
+message ComputeForwardKinematics {
+ message Request {
+ CommandHeader.Request header = 1;
+ string base_link = 2;
+ string ee_link = 3;
+ JointPositionCommand joints = 4;
+ }
+
+ message Response {
+ CommandHeader.Feedback header = 1;
+ TransformMatrix4x4 matrix = 2;
+ }
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_service.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_service.proto
new file mode 100644
index 0000000..565b493
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_service.proto
@@ -0,0 +1,22 @@
+syntax = "proto3";
+
+package cmvr.api;
+
+import "cmvr/api/common.proto";
+import "cmvr/api/arm_command.proto";
+
+service ArmService {
+ rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
+ rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
+ rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
+ rpc moveL(MoveL.Request) returns (MoveL.Response);
+ rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);
+ rpc speedL(SpeedL.Request) returns (SpeedL.Response);
+ rpc servoJ(ServoJ.Request) returns (ServoJ.Response);
+ rpc stopMotion(CommandHeader.Request) returns (CommandHeader.Feedback);
+ rpc getJointState(JointRequest) returns (JointResponse);
+ rpc getPose(GetPose.Request) returns (GetPose.Response);
+ rpc calibrateZeroQ(CalibrateZeroQ.Request) returns (CalibrateZeroQ.Response);
+ rpc getPoseMatrix(GetPoseMatrix.Request) returns (GetPoseMatrix.Response);
+ rpc computeForwardKinematics(ComputeForwardKinematics.Request) returns (ComputeForwardKinematics.Response);
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_command.proto
deleted file mode 100644
index a9c909a..0000000
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_command.proto
+++ /dev/null
@@ -1,122 +0,0 @@
-
-
-syntax = "proto3";
-package cmvr.api;
-import "cmvr/api/common.proto";
-
-message JointCmd {
- string joint_name = 1; // 关节名称
- double rad = 2; // 弧度
- double vel = 3; // 角速度，rad/s
-}
-
-message Pose3D{
- double x = 1;
- double y = 2;
- double z = 3;
- double rx = 4;
- double ry = 5;
- double rz = 6;
-}
-
-enum RobotCartesian{
- X = 0;
- Y = 1;
- Z = 2;
- RX = 3;
- RY = 4;
- RZ = 5;
-} ;
-enum RobotJointIndexDirection{
- FORWARD = 0;
- BACKWARD = 1;
- X_POSITIVE = 2; // X轴正向
- X_NEGATIVE = 3; // X轴负向
- Y_POSITIVE = 4; // Y轴正向
- Y_NEGATIVE = 5; // Y轴负向
- Z_POSITIVE = 6; // Z轴正向
- Z_NEGATIVE = 7; // Z轴负向
- ROTATE_X = 8; // 绕X轴旋转
- ROTATE_Y = 9; // 绕Y轴旋转
- ROTATE_Z = 10; // 绕Z轴旋转
-}
-message MoveJ{
- message Request{
- CommandHeader.Request header = 1;
- repeated JointCmd cmds = 2;
- double vel = 3;
- double acc = 4;
- }
-
- message Response{
- CommandHeader.Feedback header= 1;
- }
-
-}
-
-message MoveL{
-
- message Request{
- CommandHeader.Request header = 1;
- string ee_link = 2; //连杆名称
- Pose3D targetPose = 3;
- double vel = 4;
- double acc = 5;
- }
-
- message Response{
- CommandHeader.Feedback header= 1;
- }
-
-}
-
-message SpeedJ{
-
- message Request{
- CommandHeader.Request header = 1;
- string joint_name = 2;
- double vel = 3;
- double acc = 4;
- RobotJointIndexDirection dir = 5;
- }
-
- message Response{
- CommandHeader.Feedback header= 1;
- }
-}
-
-message SpeedL{
- message Request{
- CommandHeader.Request header = 1;
- string ee_link = 2;
- double vel = 3;
- double acc = 4;
- RobotJointIndexDirection dir = 5;
- RobotCartesian cart = 6;
- }
-
- message Response{
- CommandHeader.Feedback header= 1;
- }
-}
-
-// 关节状态消息
-message JointState {
- repeated string name = 1; // 关节名称
- repeated double position = 2; // 关节位置
- repeated double velocity = 3; // 可选：关节速度
- repeated double effort = 4; // 可选：关节力矩
- double timestamp = 5; // 可选：时间戳
-}
-
-// 返回消息
-message JointResponse {
- CommandHeader.Feedback header= 1;
- repeated JointState state = 2;
-}
-
-// 请求消息（可选）
-message JointRequest {
- CommandHeader.Request header = 1;
-}
-
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_service.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_service.proto
deleted file mode 100644
index fafb672..0000000
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/humanoid_robot_service.proto
+++ /dev/null
@@ -1,16 +0,0 @@
-
-
-syntax = "proto3";
-package cmvr.api;
-import "cmvr/api/common.proto";
-import "cmvr/api/humanoid_robot_command.proto";
-
-service HumanoidRobotService{
- rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
- rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
- rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
- rpc moveL(MoveL.Request) returns (MoveL.Response);
- rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);
- rpc speedL(SpeedL.Request) returns (SpeedL.Response);
- rpc getJointState(JointRequest) returns (JointResponse);
-}