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.
135 lines
2.9 KiB
Protocol Buffer
135 lines
2.9 KiB
Protocol Buffer
syntax = "proto3";
|
|
package cmvr.config;
|
|
|
|
import "cmvr/config/joint_limits_config.proto";
|
|
|
|
message MotorConfigItem {
|
|
int32 id = 1;
|
|
string joint_name = 2;
|
|
double limit_q_lb = 3;
|
|
double limit_q_ub = 4;
|
|
double limit_qd = 5;
|
|
double limit_qdd = 6;
|
|
double encoder_counts_per_rev = 7;
|
|
double gear_ratio = 8;
|
|
}
|
|
|
|
message MotorList {
|
|
repeated MotorConfigItem motors = 1;
|
|
}
|
|
|
|
message EthercatSlaveConfig {
|
|
int32 motor_id = 1;
|
|
uint32 alias = 2;
|
|
uint32 position = 3;
|
|
}
|
|
|
|
message Cia402ProtocolConfig {
|
|
uint32 profile_position_trigger_delay_ms = 1;
|
|
uint32 state_transition_timeout_ms = 2;
|
|
uint32 velocity_stop_timeout_ms = 3;
|
|
uint32 status_poll_period_ms = 4;
|
|
double stopped_velocity_tolerance_rad_s = 5;
|
|
}
|
|
|
|
message EtherCATDcConfig {
|
|
optional bool enable = 1;
|
|
optional int32 reference_motor_id = 2;
|
|
optional uint32 sync0_cycle_us = 3;
|
|
optional int32 sync0_shift_us = 4;
|
|
optional uint32 sync_reference_clock_period = 5;
|
|
optional uint32 assign_activate = 6;
|
|
optional uint32 sync_monitor_period_ms = 7;
|
|
}
|
|
|
|
message SocketCanConfig {
|
|
string dev_id = 1;
|
|
int32 channel_id = 2;
|
|
}
|
|
|
|
message EtherCATConfig {
|
|
uint32 master_index = 1;
|
|
int32 cycle_us = 2;
|
|
Cia402ProtocolConfig cia402 = 3;
|
|
EtherCATDcConfig dc = 4;
|
|
optional uint32 slave_op_timeout_ms = 5;
|
|
optional uint32 slave_state_poll_period_ms = 6;
|
|
repeated EthercatSlaveConfig slaves = 10;
|
|
}
|
|
|
|
message MujocoMotorGroupConfig {
|
|
string world_id = 1;
|
|
}
|
|
|
|
message ModbusTcpAxisConfig {
|
|
int32 motor_id = 1;
|
|
uint32 axis_index = 2;
|
|
}
|
|
|
|
message ModbusTcpConfig {
|
|
string host = 1;
|
|
uint32 port = 2;
|
|
uint32 unit_id = 3;
|
|
uint32 connect_timeout_ms = 4;
|
|
uint32 io_timeout_ms = 5;
|
|
uint32 heartbeat_period_ms = 6;
|
|
uint32 communication_watchdog_ms = 7;
|
|
uint32 status_poll_period_ms = 8;
|
|
uint32 reconnect_min_ms = 9;
|
|
uint32 reconnect_max_ms = 10;
|
|
uint32 command_ack_timeout_ms = 11;
|
|
uint32 protocol_major = 12;
|
|
uint32 protocol_minor = 13;
|
|
uint32 cyclic_watchdog_ms = 14;
|
|
repeated ModbusTcpAxisConfig axes = 20;
|
|
}
|
|
|
|
enum MotorBusType {
|
|
MOTOR_BUS_UNKNOWN = 0;
|
|
MOTOR_BUS_CAN = 1;
|
|
MOTOR_BUS_ETHERCAT = 2;
|
|
MOTOR_BUS_MUJOCO = 3;
|
|
MOTOR_BUS_MODBUS_TCP = 4;
|
|
}
|
|
|
|
enum MotorVendor {
|
|
MOTOR_VENDOR_UNKNOWN = 0;
|
|
MOTOR_VENDOR_TI5 = 1;
|
|
MOTOR_VENDOR_MUJOCO = 2;
|
|
MOTOR_VENDOR_EYOU = 3;
|
|
MOTOR_VENDOR_PLC_GENERIC = 4;
|
|
}
|
|
|
|
enum MotorProtocol {
|
|
MOTOR_PROTOCOL_UNKNOWN = 0;
|
|
MOTOR_PROTOCOL_CANOPEN = 1;
|
|
MOTOR_PROTOCOL_ETHERCAT_CIA402 = 2;
|
|
MOTOR_PROTOCOL_MUJOCO = 3;
|
|
MOTOR_PROTOCOL_CMVR_PLC_V1 = 4;
|
|
}
|
|
|
|
message MotorGroupConfig {
|
|
string id = 1;
|
|
MotorBusType bus_type = 2;
|
|
MotorVendor vendor = 3;
|
|
MotorProtocol protocol = 4;
|
|
|
|
oneof bus_config {
|
|
SocketCanConfig can = 10;
|
|
EtherCATConfig ethercat = 11;
|
|
MujocoMotorGroupConfig mujoco = 12;
|
|
ModbusTcpConfig modbus_tcp = 13;
|
|
}
|
|
|
|
JointLimitsConfig joint_limits = 30;
|
|
MotorList motors = 40;
|
|
}
|
|
|
|
message MotorConfig {
|
|
string id = 1;
|
|
repeated MotorGroupConfig motor_groups = 2;
|
|
}
|
|
message MotorRootConfig {
|
|
MotorConfig motor = 1;
|
|
}
|