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.
83 lines
2.6 KiB
Protocol Buffer
83 lines
2.6 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 GRPCSecurityConfig {
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enum TransportMode {
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TRANSPORT_MODE_UNSPECIFIED = 0;
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INSECURE = 1;
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SERVER_TLS = 2;
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MUTUAL_TLS = 3;
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}
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enum AuthenticationMode {
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AUTHENTICATION_MODE_UNSPECIFIED = 0;
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DISABLED = 1;
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STATIC_TOKEN = 2;
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JWT = 3;
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TLS_CLIENT_CERTIFICATE = 4;
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}
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enum RecoveryExposure {
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RECOVERY_EXPOSURE_UNSPECIFIED = 0;
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RECOVERY_DISABLED = 1;
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RECOVERY_LOCAL_ONLY = 2;
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RECOVERY_AUTHORIZED = 3;
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}
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TransportMode transport_mode = 1;
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AuthenticationMode authentication_mode = 2;
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RecoveryExposure recovery_exposure = 3;
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bool allow_insecure_non_loopback = 4;
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// Reserved for optional providers. Selecting an unsupported provider causes
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// startup to fail; it never falls back to DISABLED.
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string server_certificate_file = 5;
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string server_private_key_file = 6;
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string client_ca_file = 7;
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string static_token_file = 8;
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string jwt_issuer = 9;
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string jwt_audience = 10;
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string audit_file = 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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GRPCSecurityConfig security = 8;
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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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