54 lines
1.2 KiB
Protocol Buffer
54 lines
1.2 KiB
Protocol Buffer
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syntax = "proto3";
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package cmvr.api;
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import "cmvr/api/common.proto";
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message JointCmd {
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string joint_name = 1; // 关节名称
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double rad = 2; // 弧度
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double vel = 3; // 角速度，rad/s
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}
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message MoveJ{
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message Request{
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CommandHeader.Request header = 1;
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repeated JointCmd cmds = 2;
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double vel = 3;
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double acc = 4;
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}
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message Response{
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CommandHeader.Feedback header= 1;
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}
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}
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// 关节状态消息
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message JointState {
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repeated string name = 1; // 关节名称
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repeated double position = 2; // 关节位置
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repeated double velocity = 3; // 可选：关节速度
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repeated double effort = 4; // 可选：关节力矩
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double timestamp = 5; // 可选：时间戳
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}
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// 返回消息
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message JointResponse {
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CommandHeader.Feedback header= 1;
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repeated JointState state = 2;
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}
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// 请求消息（可选）
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message JointRequest {
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CommandHeader.Request header = 1;
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}
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service HumanoidRobotService{
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rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
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rpc getJointState(JointRequest) returns (JointResponse);
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} |