xtkuang
f4be2ffaaa
Add the DeviceManager-owned safety coordinator, shared sensor/control policies, command ledger, service guards, generalized StopAll, and RecoverSafetyState. Preserve device-side hardware checks and AUBO hardware E-stop release reconciliation while keeping software E-stop independently latched.
23 lines
915 B
Protocol Buffer
23 lines
915 B
Protocol Buffer
syntax = "proto3";
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import "cmvr/api/system_command.proto";
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import "cmvr/api/safety_command.proto";
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package cmvr.api;
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service SystemService {
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rpc GetSystemInfo(GetSystemInfoCommand.Request) returns (GetSystemInfoCommand.Feedback) {}
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rpc GetSystemStatus(GetSystemStatusCommand.Request) returns (GetSystemStatusCommand.Feedback) {}
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rpc GetDeviceList(GetDeviceListCommand.Request) returns (GetDeviceListCommand.Feedback) {}
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rpc UpdateParams(UpdateParamsCommand.Request) returns (UpdateParamsCommand.Feedback) {}
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rpc StopAll(StopAllCommand.Request) returns (StopAllCommand.Feedback) {}
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rpc ExecuteActionQueue(ActionQueueCommand.Request) returns (ActionQueueCommand.Feedback) {}
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rpc GetSafetyState(GetSafetyStateCommand.Request) returns (GetSafetyStateCommand.Feedback) {}
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rpc RecoverSafetyState(RecoverSafetyStateCommand.Request) returns (RecoverSafetyStateCommand.Feedback) {}
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}
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