xtkuang
28f1dd1bf8
Add synchronous and streaming MotorService APIs backed by the PLC Modbus TCP runtime and protocol driver. Extend AUBO JSON commands and isolate vendor libstdc++ paths while keeping build-tree tests runnable.
22 lines
828 B
Protocol Buffer
22 lines
828 B
Protocol Buffer
syntax = "proto3";
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package cmvr.api;
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import "cmvr/api/motor_command.proto";
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service MotorService {
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rpc setZero(SetMotorZeroRequest) returns (MotorCommandResponse);
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rpc moveToZero(MoveMotorToZeroRequest) returns (MotorCommandResponse);
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rpc profilePosition(ProfilePositionRequest) returns (MotorCommandResponse);
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rpc profileVelocity(ProfileVelocityRequest) returns (MotorCommandResponse);
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rpc streamCyclicPosition(stream CyclicPositionRequest)
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returns (stream CyclicControlResponse);
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rpc streamCyclicVelocity(stream CyclicVelocityRequest)
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returns (stream CyclicControlResponse);
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rpc emergencyStop(EmergencyStopRequest) returns (MotorCommandResponse);
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rpc getStatus(GetMotorStatusRequest) returns (GetMotorStatusResponse);
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rpc setEnabled(SetMotorEnabledRequest) returns (MotorCommandResponse);
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}
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