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refactor: move robot gRPC commands and services to separate files

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lgv 2025-10-10 11:51:00 +08:00
parent a1d5a6efa0
commit 3aa3f86027
3 changed files with 138 additions and 132 deletions
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132
protos/cmvr/api/humanoid_robot.proto
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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;
}
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);
}

122
protos/cmvr/api/humanoid_robot_command.proto Normal file
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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;
}

16
protos/cmvr/api/humanoid_robot_service.proto Normal file
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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);
}