remove(humanoid_robot): 删除人形机器人相关proto和服务代码
- 移除 humanoid_robot_command.proto 文件及其所有消息定义 - 移除 humanoid_robot_service.proto 文件及其服务定义 - 删除 HumanoidRobotServiceGrpc.java 服务桩代码文件 - 移除 HumanoidRobotServiceOuterClass.java 外部类定义文件 - 清理相关的关节控制、运动控制及状态获取功能接口
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package cmvr.api;
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import static io.grpc.MethodDescriptor.generateFullMethodName;
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/**
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*/
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@javax.annotation.Generated(
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value = "by gRPC proto compiler (version 1.52.0)",
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comments = "Source: cmvr/api/humanoid_robot_service.proto")
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@io.grpc.stub.annotations.GrpcGenerated
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public final class HumanoidRobotServiceGrpc {
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private HumanoidRobotServiceGrpc() {}
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public static final String SERVICE_NAME = "cmvr.api.HumanoidRobotService";
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// Static method descriptors that strictly reflect the proto.
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private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
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cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod;
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@io.grpc.stub.annotations.RpcMethod(
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fullMethodName = SERVICE_NAME + '/' + "torqueOff",
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requestType = cmvr.api.Common.CommandHeader.Request.class,
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responseType = cmvr.api.Common.CommandHeader.Feedback.class,
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methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
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public static io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
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cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod() {
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io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod;
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if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
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synchronized (HumanoidRobotServiceGrpc.class) {
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if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
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HumanoidRobotServiceGrpc.getTorqueOffMethod = getTorqueOffMethod =
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io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>newBuilder()
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.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
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.setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOff"))
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.setSampledToLocalTracing(true)
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.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
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.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
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.setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOff"))
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.build();
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}
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}
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}
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return getTorqueOffMethod;
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}
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private static volatile io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
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cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod;
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@io.grpc.stub.annotations.RpcMethod(
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fullMethodName = SERVICE_NAME + '/' + "torqueOn",
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requestType = cmvr.api.Common.CommandHeader.Request.class,
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responseType = cmvr.api.Common.CommandHeader.Feedback.class,
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methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
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public static io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request,
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cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod() {
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io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod;
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if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
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synchronized (HumanoidRobotServiceGrpc.class) {
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if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
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HumanoidRobotServiceGrpc.getTorqueOnMethod = getTorqueOnMethod =
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io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>newBuilder()
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.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
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.setFullMethodName(generateFullMethodName(SERVICE_NAME, "torqueOn"))
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.setSampledToLocalTracing(true)
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.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.Common.CommandHeader.Request.getDefaultInstance()))
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.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance()))
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.setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("torqueOn"))
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.build();
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}
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}
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}
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return getTorqueOnMethod;
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}
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private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request,
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cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod;
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@io.grpc.stub.annotations.RpcMethod(
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fullMethodName = SERVICE_NAME + '/' + "moveJ",
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requestType = cmvr.api.HumanoidRobotCommand.MoveJ.Request.class,
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responseType = cmvr.api.HumanoidRobotCommand.MoveJ.Response.class,
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methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
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public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request,
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cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod() {
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io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request, cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod;
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if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
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synchronized (HumanoidRobotServiceGrpc.class) {
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if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
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HumanoidRobotServiceGrpc.getMoveJMethod = getMoveJMethod =
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io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.MoveJ.Request, cmvr.api.HumanoidRobotCommand.MoveJ.Response>newBuilder()
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.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
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.setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveJ"))
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.setSampledToLocalTracing(true)
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.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.MoveJ.Request.getDefaultInstance()))
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.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.MoveJ.Response.getDefaultInstance()))
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.setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveJ"))
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.build();
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}
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}
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}
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return getMoveJMethod;
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}
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private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request,
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cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod;
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@io.grpc.stub.annotations.RpcMethod(
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fullMethodName = SERVICE_NAME + '/' + "moveL",
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requestType = cmvr.api.HumanoidRobotCommand.MoveL.Request.class,
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responseType = cmvr.api.HumanoidRobotCommand.MoveL.Response.class,
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methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
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public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request,
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cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod() {
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io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request, cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod;
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if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
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synchronized (HumanoidRobotServiceGrpc.class) {
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if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
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HumanoidRobotServiceGrpc.getMoveLMethod = getMoveLMethod =
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io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.MoveL.Request, cmvr.api.HumanoidRobotCommand.MoveL.Response>newBuilder()
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.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
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.setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveL"))
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.setSampledToLocalTracing(true)
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.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.MoveL.Request.getDefaultInstance()))
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.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.MoveL.Response.getDefaultInstance()))
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.setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("moveL"))
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.build();
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}
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}
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}
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return getMoveLMethod;
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}
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private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
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cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod;
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@io.grpc.stub.annotations.RpcMethod(
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fullMethodName = SERVICE_NAME + '/' + "speedJ",
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requestType = cmvr.api.HumanoidRobotCommand.SpeedJ.Request.class,
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responseType = cmvr.api.HumanoidRobotCommand.SpeedJ.Response.class,
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methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
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public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
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cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod() {
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io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request, cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod;
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if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
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synchronized (HumanoidRobotServiceGrpc.class) {
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if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
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HumanoidRobotServiceGrpc.getSpeedJMethod = getSpeedJMethod =
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io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.SpeedJ.Request, cmvr.api.HumanoidRobotCommand.SpeedJ.Response>newBuilder()
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.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
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.setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedJ"))
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.setSampledToLocalTracing(true)
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.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.SpeedJ.Request.getDefaultInstance()))
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.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.SpeedJ.Response.getDefaultInstance()))
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.setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedJ"))
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.build();
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}
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}
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}
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return getSpeedJMethod;
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}
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private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request,
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cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod;
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@io.grpc.stub.annotations.RpcMethod(
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fullMethodName = SERVICE_NAME + '/' + "speedL",
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requestType = cmvr.api.HumanoidRobotCommand.SpeedL.Request.class,
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responseType = cmvr.api.HumanoidRobotCommand.SpeedL.Response.class,
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methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
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public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request,
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cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod() {
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io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request, cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod;
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if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
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synchronized (HumanoidRobotServiceGrpc.class) {
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if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
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HumanoidRobotServiceGrpc.getSpeedLMethod = getSpeedLMethod =
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io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.SpeedL.Request, cmvr.api.HumanoidRobotCommand.SpeedL.Response>newBuilder()
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.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
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.setFullMethodName(generateFullMethodName(SERVICE_NAME, "speedL"))
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.setSampledToLocalTracing(true)
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.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.SpeedL.Request.getDefaultInstance()))
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.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.SpeedL.Response.getDefaultInstance()))
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.setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("speedL"))
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.build();
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}
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}
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}
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return getSpeedLMethod;
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}
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private static volatile io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest,
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cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod;
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@io.grpc.stub.annotations.RpcMethod(
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fullMethodName = SERVICE_NAME + '/' + "getJointState",
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requestType = cmvr.api.HumanoidRobotCommand.JointRequest.class,
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responseType = cmvr.api.HumanoidRobotCommand.JointResponse.class,
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methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
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public static io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest,
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cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod() {
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io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest, cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod;
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if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
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synchronized (HumanoidRobotServiceGrpc.class) {
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if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
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HumanoidRobotServiceGrpc.getGetJointStateMethod = getGetJointStateMethod =
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io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.JointRequest, cmvr.api.HumanoidRobotCommand.JointResponse>newBuilder()
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.setType(io.grpc.MethodDescriptor.MethodType.UNARY)
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.setFullMethodName(generateFullMethodName(SERVICE_NAME, "getJointState"))
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.setSampledToLocalTracing(true)
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.setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.JointRequest.getDefaultInstance()))
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.setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
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cmvr.api.HumanoidRobotCommand.JointResponse.getDefaultInstance()))
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.setSchemaDescriptor(new HumanoidRobotServiceMethodDescriptorSupplier("getJointState"))
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.build();
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}
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}
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}
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return getGetJointStateMethod;
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}
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/**
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* Creates a new async stub that supports all call types for the service
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*/
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public static HumanoidRobotServiceStub newStub(io.grpc.Channel channel) {
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io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceStub> factory =
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new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceStub>() {
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@java.lang.Override
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public HumanoidRobotServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
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return new HumanoidRobotServiceStub(channel, callOptions);
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}
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};
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return HumanoidRobotServiceStub.newStub(factory, channel);
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}
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/**
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* Creates a new blocking-style stub that supports unary and streaming output calls on the service
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*/
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public static HumanoidRobotServiceBlockingStub newBlockingStub(
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io.grpc.Channel channel) {
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io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceBlockingStub> factory =
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new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceBlockingStub>() {
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@java.lang.Override
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public HumanoidRobotServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
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return new HumanoidRobotServiceBlockingStub(channel, callOptions);
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}
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};
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return HumanoidRobotServiceBlockingStub.newStub(factory, channel);
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}
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/**
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* Creates a new ListenableFuture-style stub that supports unary calls on the service
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*/
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public static HumanoidRobotServiceFutureStub newFutureStub(
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io.grpc.Channel channel) {
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io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceFutureStub> factory =
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new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceFutureStub>() {
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@java.lang.Override
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public HumanoidRobotServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
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return new HumanoidRobotServiceFutureStub(channel, callOptions);
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}
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};
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return HumanoidRobotServiceFutureStub.newStub(factory, channel);
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}
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/**
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*/
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public static abstract class HumanoidRobotServiceImplBase implements io.grpc.BindableService {
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/**
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*/
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public void torqueOff(cmvr.api.Common.CommandHeader.Request request,
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io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
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|
||||||
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOffMethod(), responseObserver);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
*/
|
|
||||||
public void torqueOn(cmvr.api.Common.CommandHeader.Request request,
|
|
||||||
io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
|
|
||||||
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTorqueOnMethod(), responseObserver);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
*/
|
|
||||||
public void moveJ(cmvr.api.HumanoidRobotCommand.MoveJ.Request request,
|
|
||||||
io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveJ.Response> responseObserver) {
|
|
||||||
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveJMethod(), responseObserver);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
*/
|
|
||||||
public void moveL(cmvr.api.HumanoidRobotCommand.MoveL.Request request,
|
|
||||||
io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveL.Response> responseObserver) {
|
|
||||||
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveLMethod(), responseObserver);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
*/
|
|
||||||
public void speedJ(cmvr.api.HumanoidRobotCommand.SpeedJ.Request request,
|
|
||||||
io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedJ.Response> responseObserver) {
|
|
||||||
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedJMethod(), responseObserver);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
*/
|
|
||||||
public void speedL(cmvr.api.HumanoidRobotCommand.SpeedL.Request request,
|
|
||||||
io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedL.Response> responseObserver) {
|
|
||||||
io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeedLMethod(), responseObserver);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
*/
|
|
||||||
public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
|
|
||||||
io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.JointResponse> 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<HumanoidRobotServiceStub> {
|
|
||||||
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<cmvr.api.Common.CommandHeader.Feedback> 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<cmvr.api.Common.CommandHeader.Feedback> 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<cmvr.api.HumanoidRobotCommand.MoveJ.Response> 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<cmvr.api.HumanoidRobotCommand.MoveL.Response> 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<cmvr.api.HumanoidRobotCommand.SpeedJ.Response> 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<cmvr.api.HumanoidRobotCommand.SpeedL.Response> responseObserver) {
|
|
||||||
io.grpc.stub.ClientCalls.asyncUnaryCall(
|
|
||||||
getChannel().newCall(getSpeedLMethod(), getCallOptions()), request, responseObserver);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
*/
|
|
||||||
public void getJointState(cmvr.api.HumanoidRobotCommand.JointRequest request,
|
|
||||||
io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.JointResponse> responseObserver) {
|
|
||||||
io.grpc.stub.ClientCalls.asyncUnaryCall(
|
|
||||||
getChannel().newCall(getGetJointStateMethod(), getCallOptions()), request, responseObserver);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
*/
|
|
||||||
public static final class HumanoidRobotServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub<HumanoidRobotServiceBlockingStub> {
|
|
||||||
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<HumanoidRobotServiceFutureStub> {
|
|
||||||
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<cmvr.api.Common.CommandHeader.Feedback> 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<cmvr.api.Common.CommandHeader.Feedback> 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<cmvr.api.HumanoidRobotCommand.MoveJ.Response> 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<cmvr.api.HumanoidRobotCommand.MoveL.Response> 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<cmvr.api.HumanoidRobotCommand.SpeedJ.Response> 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<cmvr.api.HumanoidRobotCommand.SpeedL.Response> 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<cmvr.api.HumanoidRobotCommand.JointResponse> 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<Req, Resp> implements
|
|
||||||
io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
|
|
||||||
io.grpc.stub.ServerCalls.ServerStreamingMethod<Req, Resp>,
|
|
||||||
io.grpc.stub.ServerCalls.ClientStreamingMethod<Req, Resp>,
|
|
||||||
io.grpc.stub.ServerCalls.BidiStreamingMethod<Req, Resp> {
|
|
||||||
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<Resp> responseObserver) {
|
|
||||||
switch (methodId) {
|
|
||||||
case METHODID_TORQUE_OFF:
|
|
||||||
serviceImpl.torqueOff((cmvr.api.Common.CommandHeader.Request) request,
|
|
||||||
(io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
|
|
||||||
break;
|
|
||||||
case METHODID_TORQUE_ON:
|
|
||||||
serviceImpl.torqueOn((cmvr.api.Common.CommandHeader.Request) request,
|
|
||||||
(io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
|
|
||||||
break;
|
|
||||||
case METHODID_MOVE_J:
|
|
||||||
serviceImpl.moveJ((cmvr.api.HumanoidRobotCommand.MoveJ.Request) request,
|
|
||||||
(io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveJ.Response>) responseObserver);
|
|
||||||
break;
|
|
||||||
case METHODID_MOVE_L:
|
|
||||||
serviceImpl.moveL((cmvr.api.HumanoidRobotCommand.MoveL.Request) request,
|
|
||||||
(io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.MoveL.Response>) responseObserver);
|
|
||||||
break;
|
|
||||||
case METHODID_SPEED_J:
|
|
||||||
serviceImpl.speedJ((cmvr.api.HumanoidRobotCommand.SpeedJ.Request) request,
|
|
||||||
(io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedJ.Response>) responseObserver);
|
|
||||||
break;
|
|
||||||
case METHODID_SPEED_L:
|
|
||||||
serviceImpl.speedL((cmvr.api.HumanoidRobotCommand.SpeedL.Request) request,
|
|
||||||
(io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.SpeedL.Response>) responseObserver);
|
|
||||||
break;
|
|
||||||
case METHODID_GET_JOINT_STATE:
|
|
||||||
serviceImpl.getJointState((cmvr.api.HumanoidRobotCommand.JointRequest) request,
|
|
||||||
(io.grpc.stub.StreamObserver<cmvr.api.HumanoidRobotCommand.JointResponse>) responseObserver);
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
throw new AssertionError();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
@java.lang.Override
|
|
||||||
@java.lang.SuppressWarnings("unchecked")
|
|
||||||
public io.grpc.stub.StreamObserver<Req> invoke(
|
|
||||||
io.grpc.stub.StreamObserver<Resp> 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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -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)
|
|
||||||
}
|
|
||||||
@ -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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -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);
|
||||||
|
}
|
||||||
@ -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;
|
|
||||||
}
|
|
||||||
|
|
||||||
@ -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);
|
|
||||||
}
|
|
||||||
Loading…
Reference in New Issue
Block a user