cmvr-es/protos/cmvr/api/system_command.proto

syntax = "proto3";

import "cmvr/api/common.proto";

package cmvr.api;

enum DeviceType {
    AGV = 0;
    Battery = 1;
    Camera = 2;
    DexHand = 3;
    Gripper = 4;
    Microphone = 5;
    Robot = 6;
    Speaker = 7;
    Unknown = 20;
}

message DeviceList {
    string device_id = 1;
    DeviceType device_type = 2;
}

// Stable device categories used by GetDeviceList. This intentionally does not
// reuse the legacy DeviceType enum above: its zero value is AGV and it does not
// cover all DeviceManager categories.
enum SystemDeviceType {
    SYSTEM_DEVICE_TYPE_UNSPECIFIED = 0;
    SYSTEM_DEVICE_TYPE_AGV = 1;
    SYSTEM_DEVICE_TYPE_ARM = 2;
    SYSTEM_DEVICE_TYPE_BATTERY = 3;
    SYSTEM_DEVICE_TYPE_BIO_HEAD = 4;
    SYSTEM_DEVICE_TYPE_CAMERA = 5;
    SYSTEM_DEVICE_TYPE_CAN_BUS = 6;
    SYSTEM_DEVICE_TYPE_DEX_HAND = 7;
    SYSTEM_DEVICE_TYPE_GRIPPER = 8;
    SYSTEM_DEVICE_TYPE_MICROPHONE = 9;
    SYSTEM_DEVICE_TYPE_MOTOR = 10;
    SYSTEM_DEVICE_TYPE_MOTOR_SYSTEM = 11;
    SYSTEM_DEVICE_TYPE_MUJOCO_VIEWER = 12;
    SYSTEM_DEVICE_TYPE_MUJOCO_WORLD = 13;
    SYSTEM_DEVICE_TYPE_ROBOT = 14;
    SYSTEM_DEVICE_TYPE_SPEAKER = 15;
}

enum SystemDeviceState {
    SYSTEM_DEVICE_STATE_UNSPECIFIED = 0;
    SYSTEM_DEVICE_STATE_DISABLED = 1;
    SYSTEM_DEVICE_STATE_INITIALIZING = 2;
    SYSTEM_DEVICE_STATE_REGISTERED = 3;
    SYSTEM_DEVICE_STATE_READY = 4;
    SYSTEM_DEVICE_STATE_RUNNING = 5;
    SYSTEM_DEVICE_STATE_STOPPED = 6;
    SYSTEM_DEVICE_STATE_ERROR = 7;
}

enum SystemDeviceHealth {
    SYSTEM_DEVICE_HEALTH_UNSPECIFIED = 0;
    SYSTEM_DEVICE_HEALTH_HEALTHY = 1;
    SYSTEM_DEVICE_HEALTH_DEGRADED = 2;
    SYSTEM_DEVICE_HEALTH_FAULT = 3;
}

message SystemDeviceInfo {
    string device_id = 1;
    SystemDeviceType device_type = 2;

    // Concrete backend name for display and diagnostics only. Consumers must
    // use device_type, rather than this free-form string, for decisions.
    string type_name = 3;

    // GetDeviceList currently publishes only enabled entries. Keep this field
    // explicit so each row remains self-describing and future-compatible.
    bool enabled = 4;
    SystemDeviceState manager_state = 5;
    SystemDeviceHealth health = 6;
    bool has_error = 7;
    string error_message = 8;
    uint64 status_updated_at_unix_ms = 9;
}

message GetDeviceListCommand {
    message Request {}

    message Feedback {
        CommandHeader.Feedback header = 1;
        string manager_name = 2;
        string manager_version = 3;
        string manager_description = 4;
        repeated SystemDeviceInfo device_list = 5;
        uint64 sampled_at_unix_ms = 6;
    }
}

message GetSystemInfoCommand {
    message Request {}

    message Feedback {
        CommandHeader.Feedback header = 1;
        string system_name = 2;
        string version = 3;
        string description = 4;
        string os = 5;
        string kernel_version = 6;
        string architecture = 7;
    }
}

message GetSystemStatusCommand {
    message Request {}

    message Feedback {
        CommandHeader.Feedback header = 1;
        float cpu_usage = 2;
        float mem_total_mb = 3;
        float mem_used_mb = 4;
        float disk_total_gb = 5;
        float disk_used_gb = 6;
        repeated DeviceList device_list = 7;
    }
}

message UpdateParamsCommand {
    message Request {
        CommandHeader.Request header = 1;
        repeated ConfigParam params = 2;
    }

    message Feedback {
        CommandHeader.Feedback header = 1;
    }
}


message StopAllCommand {
    message Request {
        CommandHeader.Request header = 1;
    }

    message Feedback {
        CommandHeader.Feedback header = 1;
    }
}