23 lines
1010 B
Protocol Buffer
23 lines
1010 B
Protocol Buffer
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syntax = "proto3";
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package cmvr.api;
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import "cmvr/api/common.proto";
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import "cmvr/api/arm_command.proto";
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service ArmService {
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rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc moveJ(MoveJ.Request) returns (MoveJ.Response);
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rpc moveL(MoveL.Request) returns (MoveL.Response);
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rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response);
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rpc speedL(SpeedL.Request) returns (SpeedL.Response);
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rpc servoJ(ServoJ.Request) returns (ServoJ.Response);
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rpc stopMotion(CommandHeader.Request) returns (CommandHeader.Feedback);
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rpc getJointState(JointRequest) returns (JointResponse);
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rpc getPose(GetPose.Request) returns (GetPose.Response);
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rpc calibrateZeroQ(CalibrateZeroQ.Request) returns (CalibrateZeroQ.Response);
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rpc getPoseMatrix(GetPoseMatrix.Request) returns (GetPoseMatrix.Response);
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rpc computeForwardKinematics(ComputeForwardKinematics.Request) returns (ComputeForwardKinematics.Response);
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}
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