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
This commit is contained in:
parent
707baaefb0
commit
2d338d259b
File diff suppressed because it is too large
Load Diff
@ -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<cmvr.api.Common.CommandHeader.Request,
|
||||
cmvr.api.Common.CommandHeader.Feedback> 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<cmvr.api.Common.CommandHeader.Request,
|
||||
cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod() {
|
||||
io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOffMethod;
|
||||
if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
|
||||
synchronized (HumanoidRobotServiceGrpc.class) {
|
||||
if ((getTorqueOffMethod = HumanoidRobotServiceGrpc.getTorqueOffMethod) == null) {
|
||||
HumanoidRobotServiceGrpc.getTorqueOffMethod = getTorqueOffMethod =
|
||||
io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>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<cmvr.api.Common.CommandHeader.Request,
|
||||
cmvr.api.Common.CommandHeader.Feedback> 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<cmvr.api.Common.CommandHeader.Request,
|
||||
cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod() {
|
||||
io.grpc.MethodDescriptor<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback> getTorqueOnMethod;
|
||||
if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
|
||||
synchronized (HumanoidRobotServiceGrpc.class) {
|
||||
if ((getTorqueOnMethod = HumanoidRobotServiceGrpc.getTorqueOnMethod) == null) {
|
||||
HumanoidRobotServiceGrpc.getTorqueOnMethod = getTorqueOnMethod =
|
||||
io.grpc.MethodDescriptor.<cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Feedback>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<cmvr.api.HumanoidRobotCommand.MoveJ.Request,
|
||||
cmvr.api.HumanoidRobotCommand.MoveJ.Response> 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<cmvr.api.HumanoidRobotCommand.MoveJ.Request,
|
||||
cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod() {
|
||||
io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveJ.Request, cmvr.api.HumanoidRobotCommand.MoveJ.Response> getMoveJMethod;
|
||||
if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
|
||||
synchronized (HumanoidRobotServiceGrpc.class) {
|
||||
if ((getMoveJMethod = HumanoidRobotServiceGrpc.getMoveJMethod) == null) {
|
||||
HumanoidRobotServiceGrpc.getMoveJMethod = getMoveJMethod =
|
||||
io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.MoveJ.Request, cmvr.api.HumanoidRobotCommand.MoveJ.Response>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<cmvr.api.HumanoidRobotCommand.MoveL.Request,
|
||||
cmvr.api.HumanoidRobotCommand.MoveL.Response> 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<cmvr.api.HumanoidRobotCommand.MoveL.Request,
|
||||
cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod() {
|
||||
io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.MoveL.Request, cmvr.api.HumanoidRobotCommand.MoveL.Response> getMoveLMethod;
|
||||
if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
|
||||
synchronized (HumanoidRobotServiceGrpc.class) {
|
||||
if ((getMoveLMethod = HumanoidRobotServiceGrpc.getMoveLMethod) == null) {
|
||||
HumanoidRobotServiceGrpc.getMoveLMethod = getMoveLMethod =
|
||||
io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.MoveL.Request, cmvr.api.HumanoidRobotCommand.MoveL.Response>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<cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
|
||||
cmvr.api.HumanoidRobotCommand.SpeedJ.Response> 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<cmvr.api.HumanoidRobotCommand.SpeedJ.Request,
|
||||
cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod() {
|
||||
io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedJ.Request, cmvr.api.HumanoidRobotCommand.SpeedJ.Response> getSpeedJMethod;
|
||||
if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
|
||||
synchronized (HumanoidRobotServiceGrpc.class) {
|
||||
if ((getSpeedJMethod = HumanoidRobotServiceGrpc.getSpeedJMethod) == null) {
|
||||
HumanoidRobotServiceGrpc.getSpeedJMethod = getSpeedJMethod =
|
||||
io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.SpeedJ.Request, cmvr.api.HumanoidRobotCommand.SpeedJ.Response>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<cmvr.api.HumanoidRobotCommand.SpeedL.Request,
|
||||
cmvr.api.HumanoidRobotCommand.SpeedL.Response> 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<cmvr.api.HumanoidRobotCommand.SpeedL.Request,
|
||||
cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod() {
|
||||
io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.SpeedL.Request, cmvr.api.HumanoidRobotCommand.SpeedL.Response> getSpeedLMethod;
|
||||
if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
|
||||
synchronized (HumanoidRobotServiceGrpc.class) {
|
||||
if ((getSpeedLMethod = HumanoidRobotServiceGrpc.getSpeedLMethod) == null) {
|
||||
HumanoidRobotServiceGrpc.getSpeedLMethod = getSpeedLMethod =
|
||||
io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.SpeedL.Request, cmvr.api.HumanoidRobotCommand.SpeedL.Response>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<cmvr.api.HumanoidRobotCommand.JointRequest,
|
||||
cmvr.api.HumanoidRobotCommand.JointResponse> 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<cmvr.api.HumanoidRobotCommand.JointRequest,
|
||||
cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod() {
|
||||
io.grpc.MethodDescriptor<cmvr.api.HumanoidRobotCommand.JointRequest, cmvr.api.HumanoidRobotCommand.JointResponse> getGetJointStateMethod;
|
||||
if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
|
||||
synchronized (HumanoidRobotServiceGrpc.class) {
|
||||
if ((getGetJointStateMethod = HumanoidRobotServiceGrpc.getGetJointStateMethod) == null) {
|
||||
HumanoidRobotServiceGrpc.getGetJointStateMethod = getGetJointStateMethod =
|
||||
io.grpc.MethodDescriptor.<cmvr.api.HumanoidRobotCommand.JointRequest, cmvr.api.HumanoidRobotCommand.JointResponse>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<HumanoidRobotServiceStub> factory =
|
||||
new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceStub>() {
|
||||
@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<HumanoidRobotServiceBlockingStub> factory =
|
||||
new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceBlockingStub>() {
|
||||
@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<HumanoidRobotServiceFutureStub> factory =
|
||||
new io.grpc.stub.AbstractStub.StubFactory<HumanoidRobotServiceFutureStub>() {
|
||||
@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<cmvr.api.Common.CommandHeader.Feedback> responseObserver) {
|
||||
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