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 MoveJ{
    message Request{
      CommandHeader.Request header = 1;
      repeated JointCmd cmds = 2;
      double vel = 3;
      double acc = 4;
    }

    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 getJointState(JointRequest) returns (JointResponse);
}