74 lines
3.0 KiB
Protocol Buffer
74 lines
3.0 KiB
Protocol Buffer
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/**
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* @file agv_service.proto
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* @brief 定义AGV服务的gRPC接口，聚合所有AGV相关命令。
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* 服务端实现类为 gRPCAGVServiceImpl。
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*/
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syntax = "proto3";
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import "cmvr/api/agv_command.proto";
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package cmvr.api;
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service AgvService {
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// 基本控制
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rpc GetStatusInfo(GetAgvStatusInfoCommand.Request) returns (GetAgvStatusInfoCommand.Feedback);
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rpc GetBatteryStatus(RobotStatusBatteryCommand.Request) returns (RobotStatusBatteryCommand.Feedback);
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rpc GetRobotLocation(RobotStatusLocCommand.Request) returns (RobotStatusLocCommand.Feedback);
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rpc RobotConfigDownloadMap(RobotConfigDownloadMapCommand.Request) returns (RobotConfigDownloadMapCommand.Feedback);
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rpc GetMapStatus(RobotStatusMapCommand.Request) returns (RobotStatusMapCommand.Feedback);
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rpc RobotConfigUploadMap(RobotConfigUploadMapCommand.Request) returns (RobotConfigUploadMapCommand.Feedback);
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// 抢占机器人控制权
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rpc RobotConfigLock(RobotConfigLockCommand.Request) returns (RobotConfigLockCommand.Feedback);
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// 查询当前控制权所有者
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rpc GetCurrentLockStatus(RobotStatusCurrentLockCommand.Request) returns (RobotStatusCurrentLockCommand.Feedback);
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// 开环速度运动控制
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rpc RobotMotionControl(RobotMotionControlCommand.Request) returns (RobotMotionControlCommand.Feedback);
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// 切换载入地图 命令码2022
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rpc RobotLoadMap(RobotLoadMapCommand.Request) returns (RobotLoadMapCommand.Feedback);
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// 查询地图载入状态 命令码1022
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rpc QueryLoadMapStatus(RobotQueryLoadMapStatusCommand.Request) returns (RobotQueryLoadMapStatusCommand.Feedback);
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// 查询当前地图站点列表 命令码1301
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rpc QueryStationList(QueryStationListCommand.Request) returns (QueryStationListCommand.Feedback);
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// 指定路径导航 命令码3066
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rpc RobotGoTargetList(RobotGoTargetListCommand.Request) returns (RobotGoTargetListCommand.Feedback);
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// 查询当前导航状态 1020 robot_status_task_req
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// 1020 查询当前实时导航 robot_status_task_req
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rpc RobotStatusTaskCurrent(RobotStatusTaskCurrentCommand.Request) returns (RobotStatusTaskCurrentCommand.Feedback);
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// 批量查询任务状态 1110 robot_status_task_status_package_req
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rpc RobotStatusTaskPackage(RobotStatusTaskPackageCommand.Request) returns (RobotStatusTaskPackageCommand.Feedback);
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// 3051 单点站点自动规划导航 robot_task_gotarget_req 0x0BEB
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rpc RobotGoTarget(RobotGoTargetCommand.Request) returns (RobotGoTargetCommand.Feedback);
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// 0x07D0 停止开环运动
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rpc RobotControlStop(RobotControlStopCommand.Request) returns (RobotControlStopCommand.Feedback);
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// 暂停当前导航任务 命令码 3001 (0x0BB9)
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rpc RobotTaskPause(RobotTaskPauseCommand.Request) returns (RobotTaskPauseCommand.Feedback);
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// 继续当前导航任务 命令码 3002 (0x0BBA)
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rpc RobotTaskResume(RobotTaskResumeCommand.Request) returns (RobotTaskResumeCommand.Feedback);
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// 取消当前导航任务 命令码 3003 (0x0BBB)
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rpc RobotTaskCancel(RobotTaskCancelCommand.Request) returns (RobotTaskCancelCommand.Feedback);
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}
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