66 lines
1.8 KiB
Protocol Buffer
66 lines
1.8 KiB
Protocol Buffer
syntax = "proto3";
|
|
package cmvr.config;
|
|
|
|
message SafetyManagerConfig {
|
|
enum EnforcementMode {
|
|
ENFORCEMENT_MODE_UNSPECIFIED = 0;
|
|
LEGACY = 1;
|
|
SHADOW = 2;
|
|
ENFORCE_SELECTED = 3;
|
|
ENFORCE_ALL = 4;
|
|
}
|
|
|
|
EnforcementMode mode = 1;
|
|
repeated string enforced_device_ids = 2;
|
|
uint32 stop_all_timeout_ms = 3;
|
|
uint32 recovery_timeout_ms = 4;
|
|
uint32 command_ledger_result_capacity = 5;
|
|
uint32 command_ledger_total_id_capacity = 6;
|
|
uint32 event_history_capacity = 7;
|
|
bool fail_startup_on_missing_control_capability = 8;
|
|
}
|
|
|
|
message DeviceConfigEntry {
|
|
enum DeviceType {
|
|
reserved 1, 2, 3, 4, 5, 6, 7, 10, 11;
|
|
reserved "DEVICE_TYPE_UVC_CAMERA", "DEVICE_TYPE_REALSENSE_CAMERA",
|
|
"DEVICE_TYPE_RH56DFTP_DEXHAND", "DEVICE_TYPE_PX6AX_GEN3",
|
|
"DEVICE_TYPE_FFMPEG_MICROPHONE", "DEVICE_TYPE_FFMPEG_SPEAKER",
|
|
"DEVICE_TYPE_HUMANOID_ROBOT", "DEVICE_TYPE_MOTOR_ARM",
|
|
"DEVICE_TYPE_CARTESIAN_ARM";
|
|
|
|
DEVICE_TYPE_UNKNOWN = 0;
|
|
DEVICE_TYPE_BIO_HEAD_ROBOT = 8;
|
|
DEVICE_TYPE_MOTOR_SYSTEM = 9;
|
|
DEVICE_TYPE_ROBOT_ARM = 12;
|
|
DEVICE_TYPE_CAMERA = 13;
|
|
DEVICE_TYPE_DEXHAND = 14;
|
|
DEVICE_TYPE_MICROPHONE = 15;
|
|
DEVICE_TYPE_SPEAKER = 16;
|
|
DEVICE_TYPE_AGV = 17;
|
|
DEVICE_TYPE_MUJOCO_WORLD = 18;
|
|
DEVICE_TYPE_MUJOCO_VIEWER = 19;
|
|
}
|
|
|
|
string id = 1;
|
|
DeviceType type = 2;
|
|
string config_file = 3;
|
|
bool enable = 4;
|
|
bool safety_enforce = 5;
|
|
uint32 maximum_safety_snapshot_age_ms = 6;
|
|
uint32 safety_stop_timeout_ms = 7;
|
|
bool required_control_device = 8;
|
|
}
|
|
|
|
message DeviceManagerConfig {
|
|
string name = 1;
|
|
string version = 2;
|
|
string description = 3;
|
|
repeated DeviceConfigEntry devices = 4;
|
|
bool init_all_motors_when_no_active_joints = 20;
|
|
SafetyManagerConfig safety = 21;
|
|
}
|
|
message DeviceManagerRootConfig {
|
|
DeviceManagerConfig device_manager = 1;
|
|
}
|