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.
150 lines
3.8 KiB
Protocol Buffer
150 lines
3.8 KiB
Protocol Buffer
syntax = "proto3";
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package cmvr.config;
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import "cmvr/config/joint_limits_config.proto";
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message MotorConfigItem {
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int32 id = 1;
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string joint_name = 2;
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double limit_q_lb = 3;
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double limit_q_ub = 4;
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double limit_qd = 5;
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double limit_qdd = 6;
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double encoder_counts_per_rev = 7;
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double gear_ratio = 8;
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}
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message MotorList {
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repeated MotorConfigItem motors = 1;
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}
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message EthercatSlaveConfig {
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int32 motor_id = 1;
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uint32 alias = 2;
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uint32 position = 3;
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}
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message Cia402ProtocolConfig {
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uint32 profile_position_trigger_delay_ms = 1;
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uint32 state_transition_timeout_ms = 2;
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uint32 velocity_stop_timeout_ms = 3;
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uint32 status_poll_period_ms = 4;
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double stopped_velocity_tolerance_rad_s = 5;
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}
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message EtherCATDcConfig {
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optional bool enable = 1;
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optional int32 reference_motor_id = 2;
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optional uint32 sync0_cycle_us = 3;
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optional int32 sync0_shift_us = 4;
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optional uint32 sync_reference_clock_period = 5;
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optional uint32 assign_activate = 6;
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optional uint32 sync_monitor_period_ms = 7;
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}
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message SocketCanConfig {
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string dev_id = 1;
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int32 channel_id = 2;
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// Explicit Linux interface name (for example can0 or vcan0). When empty,
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// the legacy channel_id based naming remains in use.
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optional string interface_name = 3;
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// Allows CAN-FD frames on the raw socket. This does not configure the
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// physical interface bitrate or bring the interface up.
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optional bool enable_fd = 4;
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// Default BRS flag for callers that explicitly construct an FD frame.
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optional bool bitrate_switch = 5;
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// Bounded receive wait. Zero selects the implementation safety default.
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optional uint32 receive_timeout_us = 6;
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optional bool receive_own_messages = 7;
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optional bool enable_error_frames = 8;
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// Total bounded wait for one send() batch. Zero selects the implementation
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// safety default. UME profiles set this below their control-cycle deadline.
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optional uint32 send_timeout_us = 9;
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}
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message EtherCATConfig {
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uint32 master_index = 1;
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int32 cycle_us = 2;
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Cia402ProtocolConfig cia402 = 3;
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EtherCATDcConfig dc = 4;
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optional uint32 slave_op_timeout_ms = 5;
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optional uint32 slave_state_poll_period_ms = 6;
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repeated EthercatSlaveConfig slaves = 10;
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}
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message MujocoMotorGroupConfig {
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string world_id = 1;
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}
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message ModbusTcpAxisConfig {
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int32 motor_id = 1;
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uint32 axis_index = 2;
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}
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message ModbusTcpConfig {
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string host = 1;
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uint32 port = 2;
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uint32 unit_id = 3;
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uint32 connect_timeout_ms = 4;
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uint32 io_timeout_ms = 5;
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uint32 heartbeat_period_ms = 6;
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uint32 communication_watchdog_ms = 7;
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uint32 status_poll_period_ms = 8;
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uint32 reconnect_min_ms = 9;
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uint32 reconnect_max_ms = 10;
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uint32 command_ack_timeout_ms = 11;
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uint32 protocol_major = 12;
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uint32 protocol_minor = 13;
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uint32 cyclic_watchdog_ms = 14;
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repeated ModbusTcpAxisConfig axes = 20;
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}
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enum MotorBusType {
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MOTOR_BUS_UNKNOWN = 0;
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MOTOR_BUS_CAN = 1;
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MOTOR_BUS_ETHERCAT = 2;
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MOTOR_BUS_MUJOCO = 3;
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MOTOR_BUS_MODBUS_TCP = 4;
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}
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enum MotorVendor {
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MOTOR_VENDOR_UNKNOWN = 0;
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MOTOR_VENDOR_TI5 = 1;
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MOTOR_VENDOR_MUJOCO = 2;
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MOTOR_VENDOR_EYOU = 3;
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MOTOR_VENDOR_PLC_GENERIC = 4;
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}
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enum MotorProtocol {
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MOTOR_PROTOCOL_UNKNOWN = 0;
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MOTOR_PROTOCOL_CANOPEN = 1;
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MOTOR_PROTOCOL_ETHERCAT_CIA402 = 2;
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MOTOR_PROTOCOL_MUJOCO = 3;
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MOTOR_PROTOCOL_CMVR_PLC_V1 = 4;
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}
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message MotorGroupConfig {
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string id = 1;
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MotorBusType bus_type = 2;
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MotorVendor vendor = 3;
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MotorProtocol protocol = 4;
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oneof bus_config {
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SocketCanConfig can = 10;
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EtherCATConfig ethercat = 11;
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MujocoMotorGroupConfig mujoco = 12;
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ModbusTcpConfig modbus_tcp = 13;
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}
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JointLimitsConfig joint_limits = 30;
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MotorList motors = 40;
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}
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message MotorConfig {
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string id = 1;
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repeated MotorGroupConfig motor_groups = 2;
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}
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message MotorRootConfig {
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MotorConfig motor = 1;
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}
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