29 lines
1.7 KiB
Protocol Buffer
29 lines
1.7 KiB
Protocol Buffer
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syntax = "proto3";
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package cmvr.api;
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import "cmvr/api/common.proto";
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import "cmvr/api/agv_command.proto";
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service AgvService {
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rpc getRuntimeState(AgvRuntimeStateCommand.Request) returns (AgvRuntimeStateCommand.Feedback);
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rpc getNavigationStatus(AgvNavigationStatusCommand.Request) returns (AgvNavigationStatusCommand.Feedback);
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rpc connect(AgvConnectCommand.Request) returns (AgvConnectCommand.Feedback);
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rpc disconnect(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc emergencyStop(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc navigateToPose(AgvNavigateToPoseCommand.Request) returns (AgvNavigateToPoseCommand.Feedback);
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rpc navigateToStation(AgvNavigateToStationCommand.Request) returns (AgvNavigateToStationCommand.Feedback);
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rpc followPath(AgvFollowPathCommand.Request) returns (AgvFollowPathCommand.Feedback);
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rpc pauseNavigation(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc resumeNavigation(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc cancelNavigation(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc setVelocity(AgvSetVelocityCommand.Request) returns (AgvSetVelocityCommand.Feedback);
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rpc stopVelocityControl(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc listMaps(AgvListMapsCommand.Request) returns (AgvListMapsCommand.Feedback);
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rpc listStations(AgvListStationsCommand.Request) returns (AgvListStationsCommand.Feedback);
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rpc switchMap(AgvMapCommand.Request) returns (AgvMapCommand.Feedback);
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rpc uploadMap(AgvMapCommand.Request) returns (AgvMapCommand.Feedback);
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rpc downloadMap(AgvMapCommand.Request) returns (AgvMapCommand.Feedback);
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}
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