31 lines
864 B
Protocol Buffer
31 lines
864 B
Protocol Buffer
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syntax = "proto3";
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package cmvr.config;
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import "cmvr/api/arm_teleop_v1.proto";
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message UmeTeleopReconnectConfig {
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uint32 initial_delay_ms = 1;
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uint32 maximum_delay_ms = 2;
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double multiplier = 3;
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}
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// Transport/session configuration only. Robot kinematics, SEW, FK and IK stay
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// in UME and publish already-computed joint setpoints through the client API.
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message UmeTeleopConfig {
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string id = 1;
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string server_address = 2;
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// M6 deliberately supports only an explicitly opted-in insecure channel.
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// Keep the task disabled until the endpoint and deployment security policy
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// are configured. TLS credentials can be added without changing the v1 API.
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bool allow_insecure = 3;
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cmvr.api.armteleop.v1.OpenSession open_session = 4;
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UmeTeleopReconnectConfig reconnect = 5;
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}
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message UmeTeleopRootConfig {
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UmeTeleopConfig ume_teleop = 1;
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}
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