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.
43 lines
1.6 KiB
Protocol Buffer
43 lines
1.6 KiB
Protocol Buffer
syntax = "proto3";
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package cmvr.config;
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message ArmTeleopBackendConfig {
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// Two independent gates are required: this service-level switch and the
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// RobotArm implementation's teleop group-servo capability.
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bool enable = 1;
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// Also becomes RobotManifest.robot_id and the process-wide control lease
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// resource. It must exactly match RobotArm.id().
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string device_id = 2;
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string model_sha256 = 3;
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string calibration_sha256 = 4;
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string base_frame = 5;
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string tool_frame = 6;
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double servo_period_s = 7;
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// Maximum wall time allowed for one RobotArm::servoJ call.
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uint32 max_apply_duration_us = 8;
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// Omission is interpreted as true by the backend. Explicit false is intended
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// only for simulation and independently supervised commissioning.
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optional bool require_powered = 9;
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// Bounds the first target relative to the cached measured position.
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double max_initial_position_step_rad = 10;
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// Bounds every later target relative to the last accepted target.
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double max_position_step_rad = 11;
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}
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message GRPCServerConfig {
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string host = 1;
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string port = 2;
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bool enable_reflection = 3;
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string id = 4;
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// Bounds the continuity-oriented media queue before the gRPC stream skips
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// ahead and waits for a new key frame. Zero uses the service default.
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uint32 camera_stream_max_pending_frames = 5;
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// Frames older than this monotonic age are not sent. Zero uses the service
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// default so configurations written before these fields remain low-latency.
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uint32 camera_stream_max_frame_age_ms = 6;
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ArmTeleopBackendConfig arm_teleop_backend = 7;
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}
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message GRPCServerRootConfig {
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GRPCServerConfig grpc_server = 1;
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}
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