149 lines
3.2 KiB
Protocol Buffer
149 lines
3.2 KiB
Protocol Buffer
syntax = "proto3";
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import "cmvr/api/arm_command.proto";
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import "cmvr/api/common.proto";
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package cmvr.api;
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enum DeviceType {
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AGV = 0;
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Battery = 1;
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Camera = 2;
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DexHand = 3;
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Gripper = 4;
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Microphone = 5;
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Robot = 6;
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Speaker = 7;
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BioHead = 8;
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Motor = 9;
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MotorSystem = 10;
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MujocoWorld = 11;
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MujocoViewer = 12;
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CanBus = 13;
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Unknown = 20;
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}
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// 设备在 cmvr-es 运行时中的稳定大类，与具体厂商驱动无关。
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enum DeviceKind {
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DEVICE_KIND_UNKNOWN = 0;
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DEVICE_KIND_AGV = 1;
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DEVICE_KIND_ARM = 2;
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DEVICE_KIND_BATTERY = 3;
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DEVICE_KIND_BIO_HEAD = 4;
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DEVICE_KIND_CAMERA = 5;
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DEVICE_KIND_CAN_BUS = 6;
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DEVICE_KIND_DEX_HAND = 7;
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DEVICE_KIND_GRIPPER = 8;
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DEVICE_KIND_MICROPHONE = 9;
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DEVICE_KIND_MOTOR = 10;
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DEVICE_KIND_MOTOR_SYSTEM = 11;
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DEVICE_KIND_MUJOCO_VIEWER = 12;
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DEVICE_KIND_MUJOCO_WORLD = 13;
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DEVICE_KIND_ROBOT = 14;
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DEVICE_KIND_SPEAKER = 15;
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}
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message DeviceList {
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string device_id = 1;
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DeviceType device_type = 2;
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DeviceKind device_kind = 3;
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// 具体运行时驱动类型，例如 AuboARM、HuayanRobot、SeerRobokitAgv。
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string driver_type = 4;
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// 厂商或驱动生态，例如 AUBO、HUAYAN、SEER。
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string vendor = 5;
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}
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message GetSystemInfoCommand {
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message Request {}
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message Feedback {
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CommandHeader.Feedback header = 1;
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string system_name = 2;
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string version = 3;
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string description = 4;
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string os = 5;
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string kernel_version = 6;
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string architecture = 7;
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}
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}
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message GetSystemStatusCommand {
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message Request {}
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message Feedback {
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CommandHeader.Feedback header = 1;
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float cpu_usage = 2;
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float mem_total_mb = 3;
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float mem_used_mb = 4;
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float disk_total_gb = 5;
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float disk_used_gb = 6;
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repeated DeviceList device_list = 7;
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}
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}
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message UpdateParamsCommand {
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message Request {
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CommandHeader.Request header = 1;
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repeated ConfigParam params = 2;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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}
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}
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message StopAllCommand {
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message Request {
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CommandHeader.Request header = 1;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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}
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}
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enum ActionResultCode {
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ACTION_RESULT_CODE_UNSPECIFIED = 0;
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ACTION_RESULT_CODE_COMPLETED = 1;
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ACTION_RESULT_CODE_FAILED = 2;
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ACTION_RESULT_CODE_CANCELED = 3;
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ACTION_RESULT_CODE_TIMED_OUT = 4;
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ACTION_RESULT_CODE_REJECTED = 5;
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}
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message ActionStep {
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reserved 1;
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reserved "step_id";
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// Zero inherits the remaining ActionQueue timeout.
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uint32 timeout_ms = 2;
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oneof command {
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MoveJ.Request arm_move_j = 10;
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MoveL.Request arm_move_l = 11;
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}
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}
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message ActionQueueCommand {
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message Request {
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reserved 1;
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reserved "action_id";
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repeated ActionStep steps = 2;
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// Zero uses the server default.
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uint32 total_timeout_ms = 3;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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reserved 2;
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reserved "action_id";
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uint32 completed_steps = 3;
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optional uint32 failed_step_index = 4;
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ActionResultCode result = 5;
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}
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}
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