// servo_service.erpc
// Generator examples:
//   .\erpcgen.exe -o .\generated\ -g c .\servo_service.erpc
//   .\erpcgen.exe -g py .\servo_service.erpc
// 注意：interface 客户端和服务端erpc里面的函数顺序一定要一样

program servo_service

enum RpcMotionMode {
    RpcMotionModeImmediate = 0,
    RpcMotionModeSCurve = 1,
    RpcMotionModeFollow = 2
}
struct ServoCmd {
    string id
    float angle_rad
}
interface servo_service
{
    setConstraints(string id,
                   float max_velocity_rad,
                   float max_acceleration_rad,
                   float max_jerk_rad) -> bool
    setPositionGain(string id,
                    float position_gain) -> bool

    setMode(RpcMotionMode mode)->bool
    setUpdatePeriodMs(uint32 ms) -> bool
    move(list<ServoCmd> cmds) -> int32

    moveJ(list<float> angles_rad) -> int32


}