22 lines
828 B
Protocol Buffer
22 lines
828 B
Protocol Buffer
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syntax = "proto3";
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package cmvr.api;
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import "cmvr/api/motor_command.proto";
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service MotorService {
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rpc setZero(SetMotorZeroRequest) returns (MotorCommandResponse);
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rpc moveToZero(MoveMotorToZeroRequest) returns (MotorCommandResponse);
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rpc profilePosition(ProfilePositionRequest) returns (MotorCommandResponse);
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rpc profileVelocity(ProfileVelocityRequest) returns (MotorCommandResponse);
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rpc streamCyclicPosition(stream CyclicPositionRequest)
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returns (stream CyclicControlResponse);
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rpc streamCyclicVelocity(stream CyclicVelocityRequest)
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returns (stream CyclicControlResponse);
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rpc emergencyStop(EmergencyStopRequest) returns (MotorCommandResponse);
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rpc getStatus(GetMotorStatusRequest) returns (GetMotorStatusResponse);
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rpc setEnabled(SetMotorEnabledRequest) returns (MotorCommandResponse);
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}
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