115 lines
2.3 KiB
Protocol Buffer
115 lines
2.3 KiB
Protocol Buffer
syntax = "proto3";
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package cmvr.api;
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import "cmvr/api/common.proto";
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import "cmvr/msgs/agv.proto";
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message AgvRuntimeStateCommand {
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message Request {
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CommandHeader.Request header = 1;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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cmvr.msgs.AgvRuntimeState state = 2;
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}
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}
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message AgvNavigationStatusCommand {
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message Request {
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CommandHeader.Request header = 1;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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cmvr.msgs.AgvNavigationStatus status = 2;
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}
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}
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message AgvConnectCommand {
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message Request {
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CommandHeader.Request header = 1;
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string ip = 2;
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int32 port = 3;
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cmvr.msgs.AgvAdapterParams adapter_params = 4;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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}
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}
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message AgvNavigateToPoseCommand {
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message Request {
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CommandHeader.Request header = 1;
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cmvr.msgs.AgvPose2d pose = 2;
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cmvr.msgs.AgvMotionOptions options = 3;
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cmvr.msgs.AgvAdapterParams adapter_params = 4;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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}
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}
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message AgvNavigateToStationCommand {
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message Request {
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CommandHeader.Request header = 1;
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string station_id = 2;
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cmvr.msgs.AgvMotionOptions options = 3;
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cmvr.msgs.AgvAdapterParams adapter_params = 4;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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}
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}
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message AgvFollowPathCommand {
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message Request {
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CommandHeader.Request header = 1;
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repeated cmvr.msgs.AgvPathSegment path = 2;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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}
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}
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message AgvSetVelocityCommand {
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message Request {
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CommandHeader.Request header = 1;
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cmvr.msgs.AgvVelocity velocity = 2;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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}
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}
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message AgvListMapsCommand {
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message Request {
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CommandHeader.Request header = 1;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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repeated string maps = 2;
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}
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}
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message AgvListStationsCommand {
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message Request {
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CommandHeader.Request header = 1;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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repeated cmvr.msgs.AgvStation stations = 2;
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}
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}
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message AgvMapCommand {
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message Request {
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CommandHeader.Request header = 1;
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string map_name = 2;
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string content = 3;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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string content = 2;
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}
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}
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