xtkuang
af67751937
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
134 lines
3.2 KiB
Protocol Buffer
134 lines
3.2 KiB
Protocol Buffer
syntax = "proto3";
|
|
|
|
package cmvr.api.armteleop.v1;
|
|
|
|
// Versioned, session-oriented protocol for wired arm teleoperation. Existing
|
|
// unary ArmService RPCs intentionally remain unchanged.
|
|
service ArmTeleopService {
|
|
rpc Teleoperate(stream ClientFrame) returns (stream ServerFrame);
|
|
}
|
|
|
|
enum SessionPhase {
|
|
SESSION_PHASE_UNSPECIFIED = 0;
|
|
SESSION_PHASE_OPENED = 1;
|
|
SESSION_PHASE_READY = 2;
|
|
SESSION_PHASE_ACTIVE = 3;
|
|
SESSION_PHASE_HOLDING = 4;
|
|
SESSION_PHASE_STOPPED = 5;
|
|
SESSION_PHASE_WATCHDOG_EXPIRED = 6;
|
|
SESSION_PHASE_LEASE_LOST = 7;
|
|
SESSION_PHASE_REJECTED = 8;
|
|
SESSION_PHASE_FAILED = 9;
|
|
}
|
|
|
|
enum StopReason {
|
|
STOP_REASON_UNSPECIFIED = 0;
|
|
STOP_REASON_OPERATOR_REQUEST = 1;
|
|
STOP_REASON_CLIENT_SHUTDOWN = 2;
|
|
STOP_REASON_WATCHDOG = 3;
|
|
STOP_REASON_LEASE_REVOKED = 4;
|
|
STOP_REASON_ROBOT_FAULT = 5;
|
|
STOP_REASON_EMERGENCY_STOP = 6;
|
|
STOP_REASON_PROTOCOL_ERROR = 7;
|
|
}
|
|
|
|
enum EffortSource {
|
|
EFFORT_SOURCE_UNSPECIFIED = 0;
|
|
EFFORT_SOURCE_MOTOR_ESTIMATE = 1;
|
|
EFFORT_SOURCE_JOINT_SENSOR = 2;
|
|
EFFORT_SOURCE_FORCE_TORQUE_SENSOR = 3;
|
|
EFFORT_SOURCE_OBSERVER = 4;
|
|
}
|
|
|
|
message RobotManifest {
|
|
string robot_id = 1;
|
|
string model_sha256 = 2;
|
|
string calibration_sha256 = 3;
|
|
repeated string joint_names = 4;
|
|
string position_unit = 5;
|
|
string velocity_unit = 6;
|
|
string effort_unit = 7;
|
|
string base_frame = 8;
|
|
string tool_frame = 9;
|
|
}
|
|
|
|
message OpenSession {
|
|
uint32 protocol_major = 1;
|
|
uint32 protocol_minor = 2;
|
|
string client_instance_id = 3;
|
|
RobotManifest expected_robot = 4;
|
|
uint32 requested_command_rate_hz = 5;
|
|
uint32 requested_state_rate_hz = 6;
|
|
uint32 watchdog_timeout_ms = 7;
|
|
uint32 requested_lease_ms = 8;
|
|
bool request_force_feedback = 9;
|
|
}
|
|
|
|
message JointSetpoint {
|
|
// Strictly increasing and non-zero within a session.
|
|
uint64 sequence = 1;
|
|
repeated double position_rad = 2;
|
|
repeated double velocity_rad_s = 3;
|
|
// The receiver computes its deadline from local arrival time plus this
|
|
// duration. Zero is invalid for an active setpoint.
|
|
uint32 valid_for_us = 4;
|
|
}
|
|
|
|
message ClientHeartbeat {
|
|
uint64 sequence = 1;
|
|
}
|
|
|
|
message StopSession {
|
|
StopReason reason = 1;
|
|
string detail = 2;
|
|
}
|
|
|
|
message ClientFrame {
|
|
oneof payload {
|
|
OpenSession open = 1;
|
|
JointSetpoint setpoint = 2;
|
|
ClientHeartbeat heartbeat = 3;
|
|
StopSession stop = 4;
|
|
}
|
|
}
|
|
|
|
message JointState {
|
|
uint64 sample_sequence = 1;
|
|
repeated double position_rad = 2;
|
|
repeated double velocity_rad_s = 3;
|
|
repeated double effort_nm = 4;
|
|
bool position_valid = 5;
|
|
bool velocity_valid = 6;
|
|
bool effort_valid = 7;
|
|
EffortSource effort_source = 8;
|
|
uint64 sample_age_us = 9;
|
|
}
|
|
|
|
message SessionStatus {
|
|
string session_id = 1;
|
|
SessionPhase phase = 2;
|
|
uint64 received_sequence = 3;
|
|
uint64 applied_sequence = 4;
|
|
uint64 dropped_setpoints = 5;
|
|
uint64 rejected_setpoints = 6;
|
|
uint32 negotiated_watchdog_ms = 7;
|
|
uint32 lease_remaining_ms = 8;
|
|
StopReason stop_reason = 9;
|
|
string detail = 10;
|
|
}
|
|
|
|
message RobotSafetyState {
|
|
bool connected = 1;
|
|
bool powered_on = 2;
|
|
bool protective_stopped = 3;
|
|
bool emergency_stopped = 4;
|
|
bool fault = 5;
|
|
string fault_detail = 6;
|
|
}
|
|
|
|
message ServerFrame {
|
|
SessionStatus status = 1;
|
|
JointState joint_state = 2;
|
|
RobotSafetyState safety = 3;
|
|
}
|