commit 05d98f7417e2cfc2829bd7599d138ac498862abc Author: lgv Date: Thu Nov 13 03:01:00 2025 +0800 Initial commit diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 0000000..26d3352 --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,3 @@ +# Default ignored files +/shelf/ +/workspace.xml diff --git a/.idea/grpc_client.iml b/.idea/grpc_client.iml new file mode 100644 index 0000000..7584dbd --- /dev/null +++ b/.idea/grpc_client.iml @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 0000000..105ce2d --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 0000000..a031d5d --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 0000000..5573708 --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 0000000..94a25f7 --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/clients/__pycache__/base_client.cpython-310.pyc b/clients/__pycache__/base_client.cpython-310.pyc new file mode 100644 index 0000000..df0d766 Binary files /dev/null and b/clients/__pycache__/base_client.cpython-310.pyc differ diff --git a/clients/base_client.py b/clients/base_client.py new file mode 100644 index 0000000..dc6c854 --- /dev/null +++ b/clients/base_client.py @@ -0,0 +1,43 @@ +import grpc +import time +import sys +sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated") # 指向 generated +sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated/cmvr") # 指向 cmvr 顶层 +from cmvr.api import humanoid_robot_service_pb2_grpc +from cmvr.api import dexhand_service_pb2_grpc + +class RobotClientBase: + def __init__(self, address="192.168.0.222:50052", timeout=2, retries=1): + self.address = address + self.timeout = timeout + self.retries = retries + self.channel = None + self.stub = None + print(f"Attempting to connect to gRPC server: {self.address}") + self._connect_with_retry() + + def _connect_with_retry(self): + attempt = 0 + while attempt <= self.retries: + print(f"Connecting... (Attempt {attempt + 1})") + try: + self.channel = grpc.insecure_channel(self.address) + grpc.channel_ready_future(self.channel).result(timeout=self.timeout) + self.stub = humanoid_robot_service_pb2_grpc.HumanoidRobotServiceStub(self.channel) + self.stub_hand = dexhand_service_pb2_grpc.DexHandServiceStub(self.channel) + print(f"Successfully connected to gRPC server: {self.address}") + return + except grpc.FutureTimeoutError: + attempt += 1 + print(f"Connection timed out, attempt {attempt} failed") + if attempt > self.retries: + raise ConnectionError( + f"Failed to connect to gRPC server {self.address} after {self.retries} retries." + ) + print(f"Waiting {self.timeout}s before retrying...") + time.sleep(self.timeout) + + def close(self): + if self.channel: + self.channel.close() + print(f"Closed connection to gRPC server {self.address}") diff --git a/clients/cal.py b/clients/cal.py new file mode 100644 index 0000000..efb6443 --- /dev/null +++ b/clients/cal.py @@ -0,0 +1,165 @@ + +import csv + +import math +import sys +from google.protobuf import timestamp_pb2 + +sys.path.append("../generated") +import math +from typing import List, Dict, Literal +from generated.cmvr.api import humanoid_robot_command_pb2 as pb +from generated.cmvr.api import common_pb2 +from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from clients.base_client import RobotClientBase + + +class MoveJClient(RobotClientBase): + """Client to send MoveJ commands to the robot""" + + def send(self, joint_list, vel=1.0, acc=0.5, device_id="hc01"): + """ + joint_list: list of dicts, e.g., + [ + {"joint_name": "L_SHOULDER_P", "rad": 0.0}, + {"joint_name": "L_SHOULDER_R", "rad": -1.31873}, + ... + ] + vel: velocity + acc: acceleration + device_id: device ID + """ + # Construct JointCmd list + cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) for j in joint_list] + + # Construct request header + header = common_pb2.CommandHeader.Request() + header.device_id = device_id + ts = timestamp_pb2.Timestamp() + ts.GetCurrentTime() + header.timestamp.CopyFrom(ts) + + # Construct MoveJ request + req = pb.MoveJ.Request( + header=header, + vel=vel, + acc=acc, + cmds=cmds + ) + + # Call RPC + try: + resp = self.stub.moveJ(req, timeout=10) + success = getattr(resp.header, "success", None) + error_msg = getattr(resp.header, "error_message", "") + timestamp_sec = getattr(resp.header.timestamp, "seconds", 0) + print("MoveJ RPC call succeeded") + print(f"Success: {success}") + print(f"Error message: {error_msg}") + print(f"Timestamp: {timestamp_sec}") + except Exception as e: + print("MoveJ RPC call failed:", e) + + def read_joint_from_csv(self, file_name, row_num): + """Read joint data from a CSV file and return joint list for the specified row.""" + joint_order = [ + 'R_SHOULDER_P', 'R_SHOULDER_R', 'R_SHOULDER_Y', + 'R_ELBOW_R', 'R_WRIST_P', 'R_WRIST_Y', 'R_WRIST_R' + ] + + try: + with open(file_name, newline='') as csvfile: + reader = csv.reader(csvfile) + # Skip header row + next(reader) + # Read specific row + for i, row in enumerate(reader, start=1): + if i == row_num: + # Assign joint values to the list + joint_list = [ + {'joint_name': joint_order[j], 'rad': round(float(row[j]) * math.pi / 180, 10)} + for j in range(len(joint_order)) + ] + return joint_list + print(f"Row {row_num} not found.") + return [] + except Exception as e: + print(f"Error reading CSV: {e}") + return [] + + def apply_joint_offsets(self, + joint_list: List[Dict[str, float]], + on_missing: Literal["ignore", "error", "warn"] = "ignore", + ) -> List[Dict[str, float]]: + """ + 将零偏置 joint_zero_offset 叠加到 joint_list 上，按 joint_name 对齐。 + + 参数： + joint_list: [{'joint_name': str, 'rad': float}, ...] 原始指令 + joint_zero_offset: [{'joint_name': str, 'rad': float}, ...] 零偏置 + on_missing: 当 joint_list 中出现 zero_offset 里没有的关节名时的处理： + - "ignore": 当作偏置为 0（默认） + - "warn": 打印警告，再当作 0 + - "error": 抛出 KeyError + + 返回： + 与 joint_list 顺序一致、已叠加偏置的新列表 + """ + # 构造偏置表，并检查是否有重复关节名 + + deg_to_rad = math.pi / 180.0 + + joint_zero_offset = [ + {'joint_name': 'R_SHOULDER_P', 'rad': 0}, + {'joint_name': 'R_SHOULDER_R', 'rad': 0 * deg_to_rad}, + {'joint_name': 'R_SHOULDER_Y', 'rad': 0.2 * deg_to_rad}, + {'joint_name': 'R_ELBOW_R', 'rad': 0.2 * deg_to_rad}, + {'joint_name': 'R_WRIST_P', 'rad': 0.6 * deg_to_rad}, + {'joint_name': 'R_WRIST_Y', 'rad': 2.5 * deg_to_rad}, + {'joint_name': 'R_WRIST_R', 'rad': 0}, + ] + + offset_map: Dict[str, float] = {} + for j in joint_zero_offset: + name = j["joint_name"] + if name in offset_map: + raise ValueError(f"Duplicated joint in zero_offset: {name}") + offset_map[name] = float(j["rad"]) + + joint_cmd: List[Dict[str, float]] = [] + for j in joint_list: + name = j["joint_name"] + base = float(j["rad"]) + if name not in offset_map: + if on_missing == "error": + raise KeyError(f"Missing zero offset for joint: {name}") + elif on_missing == "warn": + print(f"[apply_joint_offsets] WARN: Missing zero offset for {name}, using 0.0") + off = 0.0 + else: + off = offset_map[name] + + joint_cmd.append({"joint_name": name, "rad": base + off}) + return joint_cmd + + +if __name__ == "__main__": + # Initialize client + client = MoveJClient() + + # Specify CSV file and row number to read from + file_name = 'joint_states.csv' + row_num = 2 # Row number you want to read (e.g., 2 for the second row) + + # Read joint data from CSV + joint_list = client.read_joint_from_csv(file_name, 8) + joint_list = client.apply_joint_offsets(joint_list) + print(joint_list) + + if joint_list: + + # Send MoveJ command with the read joint data + client.send(joint_list, vel=0.8, acc=0.8) + + # Close client + client.close() \ No newline at end of file diff --git a/clients/get_joint_state_client.py b/clients/get_joint_state_client.py new file mode 100644 index 0000000..4c18037 --- /dev/null +++ b/clients/get_joint_state_client.py @@ -0,0 +1,80 @@ +import sys +import time +from google.protobuf import timestamp_pb2 + +sys.path.append("../generated") + +from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from generated.cmvr.api import humanoid_robot_command_pb2 as pb +from clients.base_client import RobotClientBase + + +class GetJointStateClient(RobotClientBase): + """Continuous client to fetch robot joint states""" + + def send(self, interval=0.5, device_id="hc01"): + """Continuously fetch joint states and print in fixed order""" + try: + while True: + # Construct request + req = pb.JointRequest() + req.header.device_id = device_id + timestamp = timestamp_pb2.Timestamp() + timestamp.GetCurrentTime() + req.header.timestamp.CopyFrom(timestamp) + + # Call RPC with timeout + try: + resp = self.stub.getJointState(req, timeout=10) + except Exception as e: + print(f"RPC call failed: {e}") + time.sleep(interval) + continue + + # Fixed order for printing + joint_order = [ + "L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y", + "L_ELBOW_R", "L_WRIST_P", "L_WRIST_Y", "L_WRIST_R", + "R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y", + "R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R", + "HEAD_P", "HEAD_Y","HEAD_R" + ] + + joint_order = [ + "L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y", + "L_ELBOW_R", "L_WRIST_P", "L_WRIST_Y", "L_WRIST_R", + + "R_WRIST_R","R_WRIST_Y", "R_WRIST_P", "R_ELBOW_R", "R_SHOULDER_Y","R_SHOULDER_R", "R_SHOULDER_P", + "HEAD_P", "HEAD_Y","HEAD_R" + ] + + # Map response to dictionary + joint_dict = {} + for state in resp.state: + for name, pos in zip(state.name, state.position): + joint_dict[name] = round(pos, 12) + + joint_list = [{"joint_name": name, "rad": joint_dict.get(name, 0.0)} + for name in joint_order] + + # Print timestamp + print(f"[{time.strftime('%H:%M:%S')}]") + # Print each joint, last one without comma + for i, j in enumerate(joint_list): + if i < len(joint_list) - 1: + print(f"{j},") + else: + print(f"{j}") + + time.sleep(interval) + + except KeyboardInterrupt: + print("\nStopped fetching joint states.") + + +if __name__ == "__main__": + client = GetJointStateClient() + try: + client.send(interval=0.5) + finally: + client.close() diff --git a/clients/get_pose_client.py b/clients/get_pose_client.py new file mode 100644 index 0000000..aebc3d4 --- /dev/null +++ b/clients/get_pose_client.py @@ -0,0 +1,62 @@ +import sys +import time +from google.protobuf import timestamp_pb2 + +sys.path.append("../generated") + +from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from generated.cmvr.api import humanoid_robot_command_pb2 as pb +from clients.base_client import RobotClientBase + + +class GetPoseClient(RobotClientBase): + """Continuous client to fetch robot pose""" + + def send(self, interval=0.5, device_id="hc01", base_link="PELVIS_S", ee_link="R_FINGER_TIP"): + """Continuously fetch pose and print in a fixed order""" + try: + while True: + # Construct request + req = pb.GetPose.Request() + req.header.device_id = device_id + req.base_link = base_link + req.ee_link = ee_link + timestamp = timestamp_pb2.Timestamp() + timestamp.GetCurrentTime() + req.header.timestamp.CopyFrom(timestamp) + + # Call RPC with timeout + try: + resp = self.stub.getPose(req, timeout=10) + except Exception as e: + print(f"RPC call failed: {e}") + time.sleep(interval) + continue + + # Extract the pose information from the response + pose = resp.pose + pose_data = { + "x": round(pose.x, 6), + "y": round(pose.y, 6), + "z": round(pose.z, 6), + "rx": round(pose.rx, 6), + "ry": round(pose.ry, 6), + "rz": round(pose.rz, 6), + } + + # Print timestamp + print(f"[{time.strftime('%H:%M:%S')}]") + # Print pose information + print(f"Pose: {pose_data}") + + time.sleep(interval) + + except KeyboardInterrupt: + print("\nStopped fetching pose.") + +if __name__ == "__main__": + client = GetPoseClient() + try: + client.send(interval=0.5) + finally: + client.close() diff --git a/clients/hand_client.py b/clients/hand_client.py new file mode 100644 index 0000000..9c74bb2 --- /dev/null +++ b/clients/hand_client.py @@ -0,0 +1,111 @@ +import sys +from google.protobuf import timestamp_pb2 + +sys.path.append("../generated") + + +from generated.cmvr.api import dexhand_command_pb2 as pb +from generated.cmvr.api import common_pb2 +from clients.base_client import RobotClientBase + + +handshake = [ + {"id": 0, "value": 0.0}, + {"id": 1, "value": 0.0}, + {"id": 2, "value": 0.0}, + {"id": 3, "value": 0.0}, + {"id": 4, "value": 0.1}, + {"id": 5, "value": 0.0}, + ] + +hand_open = [ + {"id": 0, "value": 0.8}, + {"id": 1, "value": 0.8}, + {"id": 2, "value": 0.8}, + {"id": 3, "value": 0.8}, + {"id": 4, "value": 0.8}, + {"id": 5, "value": 1.0}, + ] + +handshake_1 = [ + {"id": 0, "value": 0.0}, + {"id": 1, "value": 0.0}, + {"id": 2, "value": 0.0}, + {"id": 3, "value": 0.0}, + ] + +hand_touch = [ + {"id": 0, "value": 0}, + {"id": 1, "value": 0}, + {"id": 2, "value": 0}, + {"id": 3, "value": 1.0}, + {"id": 4, "value": 0.3}, + {"id": 5, "value": 0.3}, +] + +class DexHandClient(RobotClientBase): + """DexHand control client""" + + def set_angles(self, angles: list, device_id="hc01"): + """ + angles: list of dicts, e.g., + [ + {"id": 0, "value": 0.5}, + {"id": 1, "value": 0.8}, + ... + ] + device_id: device ID + """ + # Construct request header + header = common_pb2.CommandHeader.Request() + header.device_id = device_id + ts = timestamp_pb2.Timestamp() + ts.GetCurrentTime() + header.timestamp.CopyFrom(ts) + + # Construct FreedomValue list + values = [pb.FreedomValue(id=a["id"], value=a["value"]) for a in angles] + + # Construct request + req = pb.SetDexHandAnglesCommand.Request( + header=header, + values=values + ) + + # Call RPC + try: + resp = self.stub_hand.SetDexHandAngle(req, timeout=10) + print("SetDexHandAngle RPC call succeeded") + print(f"Success: {resp.header.success}") + print(f"Error message: {resp.header.error_message}") + print(f"Timestamp: {resp.header.timestamp.seconds}") + except Exception as e: + print("SetDexHandAngle RPC call failed:", e) + + +if __name__ == "__main__": + # Initialize client + client = DexHandClient() + + # Example: set finger angles + angles = [ + {"id": 0, "value": 0.0}, + {"id": 1, "value": 0.0}, + {"id": 2, "value": 0.0}, + {"id": 3, "value": 1.0}, + + ] + + # angles = [ + # + # {"id": 4, "value": 0.0}, + # {"id": 5, "value": 1.0}, + # + # ] + + # client.set_angles(hand_open, device_id="hand2") + client.set_angles(angles, device_id="hand2") + # client.set_angles(handshake, device_id="hand1") + + # Close client + client.close() diff --git a/clients/joint_states.csv b/clients/joint_states.csv new file mode 100644 index 0000000..600a5be --- /dev/null +++ b/clients/joint_states.csv @@ -0,0 +1,51 @@ +R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R +42.3871312049,94.4262521308,-69.8990748368,-35.2088867644,-16.7676098745,-5.0042133827,1.9505775177 +38.4358423623,74.7161029078,-69.9082421615,-35.1792075506,-16.7656045222,16.3947289414,-3.6198327581 +74.883406584,73.4828685496,-69.8867562442,-5.0052447067,-15.4131949426,15.065925223,14.4940560476 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import timestamp_pb2 + +sys.path.append("../generated") + +from generated.cmvr.api import humanoid_robot_command_pb2 as pb +from generated.cmvr.api import common_pb2 +from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from clients.base_client import RobotClientBase +import math +from typing import List, Dict, Literal + + + +class MoveJClient(RobotClientBase): + """Client to send MoveJ commands to the robot""" + + def send(self, joint_list, vel=1.0, acc=0.5, device_id="hc01"): + """ + joint_list: list of dicts, e.g., + [ + {"joint_name": "L_SHOULDER_P", "rad": 0.0}, + {"joint_name": "L_SHOULDER_R", "rad": -1.31873}, + ... + ] + vel: velocity + acc: acceleration + device_id: device ID + """ + # Construct JointCmd list + cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) for j in joint_list] + + # Construct request header + header = common_pb2.CommandHeader.Request() + header.device_id = device_id + ts = timestamp_pb2.Timestamp() + ts.GetCurrentTime() + header.timestamp.CopyFrom(ts) + + # Construct MoveJ request + req = pb.MoveJ.Request( + header=header, + vel=vel, + acc=acc, + cmds=cmds + ) + + # Call RPC + try: + resp = self.stub.moveJ(req, timeout=10) + success = getattr(resp.header, "success", None) + error_msg = getattr(resp.header, "error_message", "") + timestamp_sec = getattr(resp.header.timestamp, "seconds", 0) + print("MoveJ RPC call succeeded") + print(f"Success: {success}") + print(f"Error message: {error_msg}") + print(f"Timestamp: {timestamp_sec}") + except Exception as e: + print("MoveJ RPC call failed:", e) + + + + + +if __name__ == "__main__": + # Initialize client + client = MoveJClient() + + end_joint_list = [ + + {'joint_name': 'R_WRIST_R', 'rad': 0.32396421236}, + {'joint_name': 'R_WRIST_Y', 'rad': 0.098841140792}, + {'joint_name': 'R_WRIST_P', 'rad': -17.626296421526}, + {'joint_name': 'R_ELBOW_R', 'rad': 1.502654735917}, + {'joint_name': 'R_SHOULDER_Y', 'rad': -4.76186081004}, + {'joint_name': 'R_SHOULDER_R', 'rad': -0.484371520195}, + {'joint_name': 'R_SHOULDER_P', 'rad': 0.154464081527}, + ] + + + start_joint_list = [ + {'joint_name': 'R_WRIST_R', 'rad': 0.315772223376}, + {'joint_name': 'R_WRIST_Y', 'rad': 0.08855986238}, + {'joint_name': 'R_WRIST_P', 'rad': -17.291334250373}, + {'joint_name': 'R_ELBOW_R', 'rad': 1.66502982975}, + {'joint_name': 'R_SHOULDER_Y', 'rad': -4.758606796339}, + {'joint_name': 'R_SHOULDER_R', 'rad': -0.830841394993}, + {'joint_name': 'R_SHOULDER_P', 'rad': -0.007418353872}, + ] + + # client.send(start_joint_list, vel=2.0, acc=1.0) + while True: + client.send(start_joint_list, vel=2.0, acc=1.0) + client.send(end_joint_list, vel=1.5, acc=1.5) + # client.send(end_joint_list, vel=1.5, acc=1.5) + + # Send MoveJ command + # client.send(start, vel=0.8, acc=0.8) + # client.send(end, vel=0.8, acc=0.8) + # client.send(left_arm, vel=head_speed, acc=0.8) + # while True: + # client.send(action_hello_start, vel=5.0, acc=0.8) + # client.send(action_hello_end, vel=5.0, acc=0.8) + # client.send(action_touch_start, vel=1.5, acc=0.8) + # client.send(action_touch_set, vel=1.5, acc=0.8) + # client.send(action_touch_start, vel=1.5, acc=0.8) + # client.send(head_dd, vel=1.5, acc=0.8) + # client.send(joint_list, vel=1.0, acc=0.8) + # while True: + # client.send(action_hello_start,vel=5.0, acc=0.8) + # client.send(action_hello_end,vel=5.0, acc=0.8) + # client.send(action_hello_start, vel=5.0, acc=0.8) + + + # Close client + client.close() diff --git a/clients/press_client.py b/clients/press_client.py new file mode 100644 index 0000000..40bcef9 --- /dev/null +++ b/clients/press_client.py @@ -0,0 +1,53 @@ +import sys +from google.protobuf import timestamp_pb2 + +sys.path.append("../generated") + +from generated.cmvr.api import hlc_command_pb2 as pb +from clients.base_client import RobotClientBase + + +class TouchClient(RobotClientBase): + """Client to send Touch commands""" + + def send(self, u: int, v: int, max_force: int, device_id="hc01"): + """ + u, v: target coordinates + max_force: maximum touch force + device_id: device ID + """ + # Construct request + req = pb.Touch.Request() + req.header.device_id = device_id + ts = timestamp_pb2.Timestamp() + ts.GetCurrentTime() + req.header.timestamp.CopyFrom(ts) + + req.u = u + req.v = v + req.max_force = max_force + + # Call RPC + try: + resp = self.stub.touch(req, timeout=self.timeout) + success = getattr(resp.header, "success", None) + error_msg = getattr(resp.header, "error_message", "") + timestamp_sec = getattr(resp.header.timestamp, "seconds", 0) + + print("Touch RPC call succeeded") + print(f"Success: {success}") + print(f"Error message: {error_msg}") + print(f"Timestamp: {timestamp_sec}") + except Exception as e: + print("Touch RPC call failed:", e) + + +if __name__ == "__main__": + # Initialize client + client = TouchClient() + + # Send Touch command + client.send(u=12, v=13, max_force=1300, device_id="hc01") + + # Close client + client.close() diff --git a/clients/save_joint_to_csv.py b/clients/save_joint_to_csv.py new file mode 100644 index 0000000..04611c4 --- /dev/null +++ b/clients/save_joint_to_csv.py @@ -0,0 +1,71 @@ +import sys +import csv +import math +from google.protobuf import timestamp_pb2 + +sys.path.append("../generated") + +from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from generated.cmvr.api import humanoid_robot_command_pb2 as pb +from clients.base_client import RobotClientBase + + +class GetJointStateClient(RobotClientBase): + """客户端：获取机械臂关节数据并保存到CSV""" + + def fetch_and_save_joint_states(self, device_id="hc01"): + """获取关节数据一次并保存到CSV文件""" + try: + # 构建请求 + req = pb.JointRequest() + req.header.device_id = device_id + timestamp = timestamp_pb2.Timestamp() + timestamp.GetCurrentTime() + req.header.timestamp.CopyFrom(timestamp) + + # 调用RPC获取数据 + try: + resp = self.stub.getJointState(req, timeout=10) + except Exception as e: + print(f"RPC调用失败: {e}") + return + + # 定义需要保存的关节名称 + joint_order = [ + "R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y", + "R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R" + ] + + # 将响应数据映射到字典 + joint_dict = {} + for state in resp.state: + for name, pos in zip(state.name, state.position): + joint_dict[name] = round(pos, 6) + + # 将角度从弧度转换为度 + joint_list = [{"joint_name": name, "deg": round(joint_dict.get(name, 0.0) * 180 / math.pi, 10)} + for name in joint_order] + + # 准备保存到CSV的数据行 + data_row = [joint['deg'] for joint in joint_list] + + # 以追加模式打开CSV文件并写入数据 + with open("joint_states_10_23.csv", mode="a", newline="") as file: + writer = csv.writer(file) + # 如果文件为空，写入表头 + if file.tell() == 0: + writer.writerow(joint_order) # 表头 + writer.writerow(data_row) # 写入数据行 + + print(f"数据已保存: {data_row}") + + except KeyboardInterrupt: + print("\n停止获取关节数据。") + + +if __name__ == "__main__": + client = GetJointStateClient() + try: + client.fetch_and_save_joint_states() + finally: + client.close() diff --git a/clients/test.py b/clients/test.py new file mode 100644 index 0000000..f424beb --- /dev/null +++ b/clients/test.py @@ -0,0 +1,5 @@ +from google.protobuf import timestamp_pb2 + +timestamp = timestamp_pb2.Timestamp() +timestamp.GetCurrentTime() +print(timestamp) \ No newline at end of file diff --git a/clients/torque_key_client.py b/clients/torque_key_client.py new file mode 100644 index 0000000..21ddf48 --- /dev/null +++ b/clients/torque_key_client.py @@ -0,0 +1,80 @@ + +import sys +import tty +import termios +from google.protobuf import timestamp_pb2 + +# sys.path.append("../generated") +sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated") # 指向 generated +sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated/cmvr") # 指向 cmvr 顶层 + +from cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from cmvr.api import humanoid_robot_command_pb2 as pb +from cmvr.api import common_pb2 + + +from base_client import RobotClientBase + + +class TorqueClient(RobotClientBase): + """Client to control torque: on/off""" + + def torque_on(self, device_id="hc01"): + req = common_pb2.CommandHeader.Request() + req.device_id = device_id + ts = timestamp_pb2.Timestamp() + ts.GetCurrentTime() + req.timestamp.CopyFrom(ts) + try: + resp = self.stub.torqueOn(req, timeout=self.timeout) + print("TorqueOn RPC call succeeded") + print(f"Success: {resp.success}") + print(f"Error message: {resp.error_message}") + print(f"Timestamp: {resp.timestamp.seconds}") + except Exception as e: + print("TorqueOn RPC call failed:", e) + + def torque_off(self, device_id="hc01"): + req = common_pb2.CommandHeader.Request() + req.device_id = device_id + ts = timestamp_pb2.Timestamp() + ts.GetCurrentTime() + req.timestamp.CopyFrom(ts) + try: + resp = self.stub.torqueOff(req, timeout=self.timeout) + print("TorqueOff RPC call succeeded") + print(f"Success: {resp.success}") + print(f"Error message: {resp.error_message}") + print(f"Timestamp: {resp.timestamp.seconds}") + except Exception as e: + print("TorqueOff RPC call failed:", e) + + +def get_single_key(): + """Read a single key from stdin without Enter""" + fd = sys.stdin.fileno() + old_settings = termios.tcgetattr(fd) + try: + tty.setraw(fd) + ch = sys.stdin.read(1) + finally: + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + return ch + + +if __name__ == "__main__": + client = TorqueClient() + print("Press 'o' for TorqueOn, 'p' for TorqueOff, 'q' to quit.") + + try: + while True: + key = get_single_key() + if key.lower() == 'o': + client.torque_on() + elif key.lower() == 'p': + client.torque_off() + elif key.lower() == 'q': + print("Exiting.") + break + finally: + client.close() diff --git a/clients/torque_off_client.py b/clients/torque_off_client.py new file mode 100644 index 0000000..c8cd09b --- /dev/null +++ b/clients/torque_off_client.py @@ -0,0 +1,42 @@ +import sys +from google.protobuf import timestamp_pb2 + +sys.path.append("../generated") + +from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from generated.cmvr.api import humanoid_robot_command_pb2 as pb +from generated.cmvr.api import common_pb2 +from clients.base_client import RobotClientBase + + +class TorqueOffClient(RobotClientBase): + """Client to send TorqueOff command""" + + def send(self, device_id="hc01"): + # Construct request header + req = common_pb2.CommandHeader.Request() + req.device_id = device_id + ts = timestamp_pb2.Timestamp() + ts.GetCurrentTime() + req.timestamp.CopyFrom(ts) + + # Call RPC + try: + resp = self.stub.torqueOff(req, timeout=10) + print("TorqueOff RPC call succeeded") + print(f"Success: {resp.success}") + print(f"Error message: {resp.error_message}") + print(f"Timestamp: {resp.timestamp.seconds}") + except Exception as e: + print("TorqueOff RPC call failed:", e) + + +if __name__ == "__main__": + # Initialize client + client = TorqueOffClient() + + # Send TorqueOff command + client.send(device_id="hc01") + + # Close client + client.close() diff --git a/clients/torque_on_client.py b/clients/torque_on_client.py new file mode 100644 index 0000000..a39e47d --- /dev/null +++ b/clients/torque_on_client.py @@ -0,0 +1,42 @@ +import sys +from google.protobuf import timestamp_pb2 + +sys.path.append("../generated") + +from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc +from generated.cmvr.api import humanoid_robot_command_pb2 as pb +from generated.cmvr.api import common_pb2 +from clients.base_client import RobotClientBase + + +class TorqueOnClient(RobotClientBase): + """发送 TorqueOn 指令客户端""" + + def send(self, device_id="hc01"): + # 构造请求头 + req = common_pb2.CommandHeader.Request() + req.device_id = device_id + ts = timestamp_pb2.Timestamp() + ts.GetCurrentTime() + req.timestamp.CopyFrom(ts) + + # 调用 RPC + try: + resp = self.stub.torqueOn(req, timeout=10) + print("✅ TorqueOn RPC 调用成功") + print(f"Success: {resp.success}") + print(f"Error message: {resp.error_message}") + print(f"Timestamp: {resp.timestamp.seconds}") + except Exception as e: + print("❌ TorqueOn RPC 调用失败:", e) + + +if __name__ == "__main__": + # 初始化客户端 + client = TorqueOnClient() + + # 发送 TorqueOn 指令 + client.send(device_id="hc01") + + # 关闭客户端 + client.close() diff --git a/generated/__init__.py b/generated/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/__pycache__/__init__.cpython-310.pyc b/generated/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000..b2163ba Binary files /dev/null and b/generated/__pycache__/__init__.cpython-310.pyc differ diff --git a/generated/__pycache__/__init__.py b/generated/__pycache__/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/__init__.py b/generated/cmvr/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/__pycache__/__init__.cpython-310.pyc b/generated/cmvr/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000..57c037e Binary files /dev/null and b/generated/cmvr/__pycache__/__init__.cpython-310.pyc differ diff --git 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DO NOT EDIT! +# source: cmvr/api/biohead_command.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/biohead_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"\xdd\x08\n\x10\x46\x61\x63ialExpression\x12\x33\n\x07\x65yebrow\x18\x03 \x01(\x0b\x32\".cmvr.api.FacialExpression.Eyebrow\x12\x31\n\x06\x65yelid\x18\x04 \x01(\x0b\x32!.cmvr.api.FacialExpression.Eyelid\x12\x33\n\x07\x65yeball\x18\x05 \x01(\x0b\x32\".cmvr.api.FacialExpression.Eyeball\x12-\n\x04nose\x18\x06 \x01(\x0b\x32\x1f.cmvr.api.FacialExpression.Nose\x12/\n\x05mouth\x18\x07 \x01(\x0b\x32 .cmvr.api.FacialExpression.Mouth\x12+\n\x03jaw\x18\x08 \x01(\x0b\x32\x1e.cmvr.api.FacialExpression.Jaw\x1ai\n\x07\x45yebrow\x12\x16\n\x0eleft_outside_y\x18\x01 \x01(\x02\x12\x15\n\rleft_inside_y\x18\x02 \x01(\x02\x12\x17\n\x0fright_outside_y\x18\x03 \x01(\x02\x12\x16\n\x0eright_inside_y\x18\x04 \x01(\x02\x1a\x62\n\x06\x45yelid\x12\x14\n\x0cleft_upper_y\x18\x01 \x01(\x02\x12\x14\n\x0cleft_lower_y\x18\x02 \x01(\x02\x12\x15\n\rright_upper_y\x18\x03 \x01(\x02\x12\x15\n\rright_lower_y\x18\x04 \x01(\x02\x1aK\n\x07\x45yeball\x12\x0e\n\x06left_x\x18\x01 \x01(\x02\x12\x0e\n\x06left_y\x18\x02 \x01(\x02\x12\x0f\n\x07right_x\x18\x03 \x01(\x02\x12\x0f\n\x07right_y\x18\x04 \x01(\x02\x1a\'\n\x04Nose\x12\x0e\n\x06left_y\x18\x01 \x01(\x02\x12\x0f\n\x07right_y\x18\x02 \x01(\x02\x1a\xbc\x03\n\x05Mouth\x12\x13\n\x0bupper_lip_y\x18\x01 \x01(\x02\x12\x13\n\x0bupper_lip_z\x18\x02 \x01(\x02\x12\x13\n\x0blower_lip_y\x18\x03 \x01(\x02\x12\x13\n\x0blower_lip_z\x18\x04 \x01(\x02\x12:\n\x08left_lip\x18\x05 \x01(\x0b\x32(.cmvr.api.FacialExpression.Mouth.LeftLip\x12<\n\tright_lip\x18\x06 \x01(\x0b\x32).cmvr.api.FacialExpression.Mouth.RightLip\x1aq\n\x07LeftLip\x12\x0f\n\x07upper_x\x18\x01 \x01(\x02\x12\x0f\n\x07upper_y\x18\x02 \x01(\x02\x12\x10\n\x08\x63orner_x\x18\x03 \x01(\x02\x12\x10\n\x08\x63orner_y\x18\x04 \x01(\x02\x12\x0f\n\x07lower_x\x18\x05 \x01(\x02\x12\x0f\n\x07lower_y\x18\x06 \x01(\x02\x1ar\n\x08RightLip\x12\x0f\n\x07upper_x\x18\x01 \x01(\x02\x12\x0f\n\x07upper_y\x18\x02 \x01(\x02\x12\x10\n\x08\x63orner_x\x18\x03 \x01(\x02\x12\x10\n\x08\x63orner_y\x18\x04 \x01(\x02\x12\x0f\n\x07lower_x\x18\x05 \x01(\x02\x12\x0f\n\x07lower_y\x18\x06 \x01(\x02\x1a\x1b\n\x03Jaw\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\"\xf0\x01\n\x13SetFacialExpression\x1aj\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12.\n\nexpression\x18\x02 \x01(\x0b\x32\x1a.cmvr.api.FacialExpression\x1am\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x14\n\x0c\x65xecution_id\x18\x02 \x01(\t\x12\x19\n\x11\x65xecution_time_ms\x18\x03 \x01(\x02\"\xf8\x01\n\x16StreamFacialExpression\x1aq\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12(\n\x04\x65xpr\x18\x02 \x01(\x0b\x32\x1a.cmvr.api.FacialExpression\x12\x0b\n\x03\x65of\x18\x03 \x01(\x08\x1ak\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12-\n\texpr_diff\x18\x02 \x01(\x0b\x32\x1a.cmvr.api.FacialExpression\"\x84\x02\n\tGetStatus\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\xba\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x11\n\tis_moving\x18\x02 \x01(\x08\x12\x17\n\x0flast_request_id\x18\x03 \x01(\t\x12\x19\n\x11\x63urrent_positions\x18\x04 \x03(\x02\x12\x18\n\x10\x63\x61mera_recording\x18\x05 \x01(\x08\x12\x1b\n\x13\x61\x63tive_recording_id\x18\x06 \x01(\t\"\xa4\x01\n\rEmergencyStop\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1aW\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x19\n\x11stopped_processes\x18\x02 \x01(\tb\x06proto3') + + + +_FACIALEXPRESSION = DESCRIPTOR.message_types_by_name['FacialExpression'] +_FACIALEXPRESSION_EYEBROW = _FACIALEXPRESSION.nested_types_by_name['Eyebrow'] +_FACIALEXPRESSION_EYELID = _FACIALEXPRESSION.nested_types_by_name['Eyelid'] +_FACIALEXPRESSION_EYEBALL = _FACIALEXPRESSION.nested_types_by_name['Eyeball'] +_FACIALEXPRESSION_NOSE = _FACIALEXPRESSION.nested_types_by_name['Nose'] +_FACIALEXPRESSION_MOUTH = _FACIALEXPRESSION.nested_types_by_name['Mouth'] +_FACIALEXPRESSION_MOUTH_LEFTLIP = _FACIALEXPRESSION_MOUTH.nested_types_by_name['LeftLip'] +_FACIALEXPRESSION_MOUTH_RIGHTLIP = _FACIALEXPRESSION_MOUTH.nested_types_by_name['RightLip'] +_FACIALEXPRESSION_JAW = _FACIALEXPRESSION.nested_types_by_name['Jaw'] +_SETFACIALEXPRESSION = DESCRIPTOR.message_types_by_name['SetFacialExpression'] +_SETFACIALEXPRESSION_REQUEST = _SETFACIALEXPRESSION.nested_types_by_name['Request'] +_SETFACIALEXPRESSION_FEEDBACK = _SETFACIALEXPRESSION.nested_types_by_name['Feedback'] +_STREAMFACIALEXPRESSION = DESCRIPTOR.message_types_by_name['StreamFacialExpression'] +_STREAMFACIALEXPRESSION_REQUEST = _STREAMFACIALEXPRESSION.nested_types_by_name['Request'] +_STREAMFACIALEXPRESSION_FEEDBACK = _STREAMFACIALEXPRESSION.nested_types_by_name['Feedback'] +_GETSTATUS = DESCRIPTOR.message_types_by_name['GetStatus'] +_GETSTATUS_REQUEST = _GETSTATUS.nested_types_by_name['Request'] +_GETSTATUS_FEEDBACK = _GETSTATUS.nested_types_by_name['Feedback'] +_EMERGENCYSTOP = DESCRIPTOR.message_types_by_name['EmergencyStop'] +_EMERGENCYSTOP_REQUEST = _EMERGENCYSTOP.nested_types_by_name['Request'] +_EMERGENCYSTOP_FEEDBACK = _EMERGENCYSTOP.nested_types_by_name['Feedback'] +FacialExpression = _reflection.GeneratedProtocolMessageType('FacialExpression', (_message.Message,), { + + 'Eyebrow' : _reflection.GeneratedProtocolMessageType('Eyebrow', (_message.Message,), { + 'DESCRIPTOR' : _FACIALEXPRESSION_EYEBROW, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FacialExpression.Eyebrow) + }) + , + + 'Eyelid' : _reflection.GeneratedProtocolMessageType('Eyelid', (_message.Message,), { + 'DESCRIPTOR' : _FACIALEXPRESSION_EYELID, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FacialExpression.Eyelid) + }) + , + + 'Eyeball' : _reflection.GeneratedProtocolMessageType('Eyeball', (_message.Message,), { + 'DESCRIPTOR' : _FACIALEXPRESSION_EYEBALL, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FacialExpression.Eyeball) + }) + , + + 'Nose' : _reflection.GeneratedProtocolMessageType('Nose', (_message.Message,), { + 'DESCRIPTOR' : _FACIALEXPRESSION_NOSE, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FacialExpression.Nose) + }) + , + + 'Mouth' : _reflection.GeneratedProtocolMessageType('Mouth', (_message.Message,), { + + 'LeftLip' : _reflection.GeneratedProtocolMessageType('LeftLip', (_message.Message,), { + 'DESCRIPTOR' : _FACIALEXPRESSION_MOUTH_LEFTLIP, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FacialExpression.Mouth.LeftLip) + }) + , + + 'RightLip' : _reflection.GeneratedProtocolMessageType('RightLip', (_message.Message,), { + 'DESCRIPTOR' : _FACIALEXPRESSION_MOUTH_RIGHTLIP, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FacialExpression.Mouth.RightLip) + }) + , + 'DESCRIPTOR' : _FACIALEXPRESSION_MOUTH, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FacialExpression.Mouth) + }) + , + + 'Jaw' : _reflection.GeneratedProtocolMessageType('Jaw', (_message.Message,), { + 'DESCRIPTOR' : _FACIALEXPRESSION_JAW, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FacialExpression.Jaw) + }) + , + 'DESCRIPTOR' : _FACIALEXPRESSION, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FacialExpression) + }) +_sym_db.RegisterMessage(FacialExpression) +_sym_db.RegisterMessage(FacialExpression.Eyebrow) +_sym_db.RegisterMessage(FacialExpression.Eyelid) +_sym_db.RegisterMessage(FacialExpression.Eyeball) +_sym_db.RegisterMessage(FacialExpression.Nose) +_sym_db.RegisterMessage(FacialExpression.Mouth) +_sym_db.RegisterMessage(FacialExpression.Mouth.LeftLip) +_sym_db.RegisterMessage(FacialExpression.Mouth.RightLip) +_sym_db.RegisterMessage(FacialExpression.Jaw) + +SetFacialExpression = _reflection.GeneratedProtocolMessageType('SetFacialExpression', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SETFACIALEXPRESSION_REQUEST, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetFacialExpression.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _SETFACIALEXPRESSION_FEEDBACK, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetFacialExpression.Feedback) + }) + , + 'DESCRIPTOR' : _SETFACIALEXPRESSION, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetFacialExpression) + }) +_sym_db.RegisterMessage(SetFacialExpression) +_sym_db.RegisterMessage(SetFacialExpression.Request) +_sym_db.RegisterMessage(SetFacialExpression.Feedback) + +StreamFacialExpression = _reflection.GeneratedProtocolMessageType('StreamFacialExpression', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _STREAMFACIALEXPRESSION_REQUEST, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StreamFacialExpression.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _STREAMFACIALEXPRESSION_FEEDBACK, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StreamFacialExpression.Feedback) + }) + , + 'DESCRIPTOR' : _STREAMFACIALEXPRESSION, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StreamFacialExpression) + }) +_sym_db.RegisterMessage(StreamFacialExpression) +_sym_db.RegisterMessage(StreamFacialExpression.Request) +_sym_db.RegisterMessage(StreamFacialExpression.Feedback) + +GetStatus = _reflection.GeneratedProtocolMessageType('GetStatus', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETSTATUS_REQUEST, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetStatus.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETSTATUS_FEEDBACK, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetStatus.Feedback) + }) + , + 'DESCRIPTOR' : _GETSTATUS, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetStatus) + }) +_sym_db.RegisterMessage(GetStatus) +_sym_db.RegisterMessage(GetStatus.Request) +_sym_db.RegisterMessage(GetStatus.Feedback) + +EmergencyStop = _reflection.GeneratedProtocolMessageType('EmergencyStop', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _EMERGENCYSTOP_REQUEST, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.EmergencyStop.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _EMERGENCYSTOP_FEEDBACK, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.EmergencyStop.Feedback) + }) + , + 'DESCRIPTOR' : _EMERGENCYSTOP, + '__module__' : 'cmvr.api.biohead_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.EmergencyStop) + }) +_sym_db.RegisterMessage(EmergencyStop) +_sym_db.RegisterMessage(EmergencyStop.Request) +_sym_db.RegisterMessage(EmergencyStop.Feedback) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _FACIALEXPRESSION._serialized_start=68 + _FACIALEXPRESSION._serialized_end=1185 + _FACIALEXPRESSION_EYEBROW._serialized_start=386 + _FACIALEXPRESSION_EYEBROW._serialized_end=491 + _FACIALEXPRESSION_EYELID._serialized_start=493 + _FACIALEXPRESSION_EYELID._serialized_end=591 + _FACIALEXPRESSION_EYEBALL._serialized_start=593 + _FACIALEXPRESSION_EYEBALL._serialized_end=668 + _FACIALEXPRESSION_NOSE._serialized_start=670 + _FACIALEXPRESSION_NOSE._serialized_end=709 + _FACIALEXPRESSION_MOUTH._serialized_start=712 + _FACIALEXPRESSION_MOUTH._serialized_end=1156 + _FACIALEXPRESSION_MOUTH_LEFTLIP._serialized_start=927 + _FACIALEXPRESSION_MOUTH_LEFTLIP._serialized_end=1040 + _FACIALEXPRESSION_MOUTH_RIGHTLIP._serialized_start=1042 + _FACIALEXPRESSION_MOUTH_RIGHTLIP._serialized_end=1156 + _FACIALEXPRESSION_JAW._serialized_start=1158 + _FACIALEXPRESSION_JAW._serialized_end=1185 + _SETFACIALEXPRESSION._serialized_start=1188 + _SETFACIALEXPRESSION._serialized_end=1428 + _SETFACIALEXPRESSION_REQUEST._serialized_start=1211 + _SETFACIALEXPRESSION_REQUEST._serialized_end=1317 + _SETFACIALEXPRESSION_FEEDBACK._serialized_start=1319 + _SETFACIALEXPRESSION_FEEDBACK._serialized_end=1428 + _STREAMFACIALEXPRESSION._serialized_start=1431 + _STREAMFACIALEXPRESSION._serialized_end=1679 + _STREAMFACIALEXPRESSION_REQUEST._serialized_start=1457 + _STREAMFACIALEXPRESSION_REQUEST._serialized_end=1570 + _STREAMFACIALEXPRESSION_FEEDBACK._serialized_start=1572 + _STREAMFACIALEXPRESSION_FEEDBACK._serialized_end=1679 + _GETSTATUS._serialized_start=1682 + _GETSTATUS._serialized_end=1942 + _GETSTATUS_REQUEST._serialized_start=1211 + _GETSTATUS_REQUEST._serialized_end=1269 + _GETSTATUS_FEEDBACK._serialized_start=1756 + _GETSTATUS_FEEDBACK._serialized_end=1942 + _EMERGENCYSTOP._serialized_start=1945 + _EMERGENCYSTOP._serialized_end=2109 + _EMERGENCYSTOP_REQUEST._serialized_start=1211 + _EMERGENCYSTOP_REQUEST._serialized_end=1269 + _EMERGENCYSTOP_FEEDBACK._serialized_start=2022 + _EMERGENCYSTOP_FEEDBACK._serialized_end=2109 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/biohead_command_pb2_grpc.py b/generated/cmvr/api/biohead_command_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/api/biohead_command_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/api/biohead_service_pb2.py b/generated/cmvr/api/biohead_service_pb2.py new file mode 100644 index 0000000..c3e26c2 --- /dev/null +++ b/generated/cmvr/api/biohead_service_pb2.py @@ -0,0 +1,28 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/biohead_service.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import biohead_command_pb2 as cmvr_dot_api_dot_biohead__command__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/biohead_service.proto\x12\x08\x63mvr.api\x1a\x1e\x63mvr/api/biohead_command.proto2\x85\x03\n\x0e\x42ioHeadService\x12`\n\rSetExpression\x12%.cmvr.api.SetFacialExpression.Request\x1a&.cmvr.api.SetFacialExpression.Feedback\"\x00\x12k\n\x10StreamExpression\x12(.cmvr.api.StreamFacialExpression.Request\x1a).cmvr.api.StreamFacialExpression.Feedback(\x01\x30\x01\x12N\n\x0fGetSystemStatus\x12\x1b.cmvr.api.GetStatus.Request\x1a\x1c.cmvr.api.GetStatus.Feedback\"\x00\x12T\n\rEmergencyStop\x12\x1f.cmvr.api.EmergencyStop.Request\x1a .cmvr.api.EmergencyStop.Feedback\"\x00\x62\x06proto3') + + + +_BIOHEADSERVICE = DESCRIPTOR.services_by_name['BioHeadService'] +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _BIOHEADSERVICE._serialized_start=77 + _BIOHEADSERVICE._serialized_end=466 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/biohead_service_pb2_grpc.py b/generated/cmvr/api/biohead_service_pb2_grpc.py new file mode 100644 index 0000000..aa45fe0 --- /dev/null +++ b/generated/cmvr/api/biohead_service_pb2_grpc.py @@ -0,0 +1,174 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +from cmvr.api import biohead_command_pb2 as cmvr_dot_api_dot_biohead__command__pb2 + + +class BioHeadServiceStub(object): + """生物头部机器人服务接口 + """ + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.SetExpression = channel.unary_unary( + '/cmvr.api.BioHeadService/SetExpression', + request_serializer=cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Feedback.FromString, + ) + self.StreamExpression = channel.stream_stream( + '/cmvr.api.BioHeadService/StreamExpression', + request_serializer=cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Feedback.FromString, + ) + self.GetSystemStatus = channel.unary_unary( + '/cmvr.api.BioHeadService/GetSystemStatus', + request_serializer=cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Feedback.FromString, + ) + self.EmergencyStop = channel.unary_unary( + '/cmvr.api.BioHeadService/EmergencyStop', + request_serializer=cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Feedback.FromString, + ) + + +class BioHeadServiceServicer(object): + """生物头部机器人服务接口 + """ + + def SetExpression(self, request, context): + """设置面部表情 + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def StreamExpression(self, request_iterator, context): + """流式表情控制 + rpc StreamExpression(StreamFacialExpression.Request) returns (StreamFacialExpression.Feedback){}; + + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetSystemStatus(self, request, context): + """获取状态 + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def EmergencyStop(self, request, context): + """紧急停止 + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_BioHeadServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'SetExpression': grpc.unary_unary_rpc_method_handler( + servicer.SetExpression, + request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Request.FromString, + response_serializer=cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Feedback.SerializeToString, + ), + 'StreamExpression': grpc.stream_stream_rpc_method_handler( + servicer.StreamExpression, + request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Request.FromString, + response_serializer=cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Feedback.SerializeToString, + ), + 'GetSystemStatus': grpc.unary_unary_rpc_method_handler( + servicer.GetSystemStatus, + request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Request.FromString, + response_serializer=cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Feedback.SerializeToString, + ), + 'EmergencyStop': grpc.unary_unary_rpc_method_handler( + servicer.EmergencyStop, + request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Request.FromString, + response_serializer=cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Feedback.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'cmvr.api.BioHeadService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class BioHeadService(object): + """生物头部机器人服务接口 + """ + + @staticmethod + def SetExpression(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.BioHeadService/SetExpression', + cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Request.SerializeToString, + cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def StreamExpression(request_iterator, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.BioHeadService/StreamExpression', + cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Request.SerializeToString, + cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetSystemStatus(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.BioHeadService/GetSystemStatus', + cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Request.SerializeToString, + cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def EmergencyStop(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.BioHeadService/EmergencyStop', + cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Request.SerializeToString, + cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/generated/cmvr/api/camera_command_pb2.py b/generated/cmvr/api/camera_command_pb2.py new file mode 100644 index 0000000..3cd1ea2 --- /dev/null +++ b/generated/cmvr/api/camera_command_pb2.py @@ -0,0 +1,412 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/camera_command.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1d\x63mvr/api/camera_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"\xd7\x01\n\tFrameData\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12+\n\x04type\x18\x04 \x01(\x0e\x32\x1d.cmvr.api.FrameData.FrameType\x12\r\n\x05\x63odec\x18\x05 \x01(\t\x12\x14\n\x0cis_key_frame\x18\x06 \x01(\x08\"K\n\tFrameType\x12\x08\n\x04U8C1\x10\x00\x12\t\n\x05U16C1\x10\x01\x12\x08\n\x04U8C3\x10\x02\x12\t\n\x05U16C3\x10\x03\x12\t\n\x05\x46\x31\x36\x43\x31\x10\x04\x12\t\n\x05\x46\x33\x32\x43\x31\x10\x05\"V\n\x10\x43\x61meraIntrinsics\x12\n\n\x02\x63x\x18\x01 \x01(\x02\x12\n\n\x02\x63y\x18\x02 \x01(\x02\x12\n\n\x02\x66x\x18\x03 \x01(\x02\x12\n\n\x02\x66y\x18\x04 \x01(\x02\x12\x12\n\x06\x63oeffs\x18\x05 \x03(\x02\x42\x02\x10\x01\"\xb9\x01\n\x0b\x43\x61meraState\x12\x16\n\x0eis_initialized\x18\x01 \x01(\x08\x12\x11\n\tis_opened\x18\x02 \x01(\x08\x12\x14\n\x0cis_streaming\x18\x03 \x01(\x08\x12\x14\n\x0cis_recording\x18\x04 \x01(\x08\x12\x10\n\x08is_error\x18\x05 \x01(\x08\x12\x15\n\rerror_message\x18\x06 \x01(\t\x12\x0b\n\x03\x66ps\x18\x07 \x01(\x05\x12\r\n\x05width\x18\x08 \x01(\x05\x12\x0e\n\x06height\x18\t \x01(\x05\"\xb7\x01\n\x15GetCameraStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x62\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12$\n\x05state\x18\x02 \x01(\x0b\x32\x15.cmvr.api.CameraState\"\x8e\x01\n\x12StartCameraCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8d\x01\n\x11StopCameraCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xe9\x01\n\x12GetRGBImageCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x96\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x63olor_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x03 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\"\xeb\x01\n\x14GetDepthImageCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x96\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x64\x65pth_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x03 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\"\x95\x02\n\x14GetRGBDImagesCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\xc0\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x63olor_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12(\n\x0b\x64\x65pth_frame\x18\x03 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x04 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\"\xab\x01\n\x1bStartCameraRecordingCommand\x1aN\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\nvideo_path\x18\x02 \x01(\t\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x96\x01\n\x1aStopCameraRecordingCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8c\x02\n\x18GetRGBImageStreamCommand\x1aG\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0b\n\x03\x65of\x18\x02 \x01(\x08\x1a\xa6\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x63olor_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x03 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\x12\x0e\n\x06seq_no\x18\x04 \x01(\x05\"\x8e\x02\n\x1aGetDepthImageStreamCommand\x1aG\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0b\n\x03\x65of\x18\x02 \x01(\x08\x1a\xa6\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x64\x65pth_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x03 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\x12\x0e\n\x06seq_no\x18\x04 \x01(\x05\"\xb8\x02\n\x1aGetRGBDImagesStreamCommand\x1aG\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0b\n\x03\x65of\x18\x02 \x01(\x08\x1a\xd0\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x63olor_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12(\n\x0b\x64\x65pth_frame\x18\x03 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x04 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\x12\x0e\n\x06seq_no\x18\x05 \x01(\x05\x62\x06proto3') + + + +_FRAMEDATA = DESCRIPTOR.message_types_by_name['FrameData'] +_CAMERAINTRINSICS = DESCRIPTOR.message_types_by_name['CameraIntrinsics'] +_CAMERASTATE = DESCRIPTOR.message_types_by_name['CameraState'] +_GETCAMERASTATECOMMAND = DESCRIPTOR.message_types_by_name['GetCameraStateCommand'] +_GETCAMERASTATECOMMAND_REQUEST = _GETCAMERASTATECOMMAND.nested_types_by_name['Request'] +_GETCAMERASTATECOMMAND_FEEDBACK = _GETCAMERASTATECOMMAND.nested_types_by_name['Feedback'] +_STARTCAMERACOMMAND = DESCRIPTOR.message_types_by_name['StartCameraCommand'] +_STARTCAMERACOMMAND_REQUEST = _STARTCAMERACOMMAND.nested_types_by_name['Request'] +_STARTCAMERACOMMAND_FEEDBACK = _STARTCAMERACOMMAND.nested_types_by_name['Feedback'] +_STOPCAMERACOMMAND = DESCRIPTOR.message_types_by_name['StopCameraCommand'] +_STOPCAMERACOMMAND_REQUEST = _STOPCAMERACOMMAND.nested_types_by_name['Request'] +_STOPCAMERACOMMAND_FEEDBACK = _STOPCAMERACOMMAND.nested_types_by_name['Feedback'] +_GETRGBIMAGECOMMAND = DESCRIPTOR.message_types_by_name['GetRGBImageCommand'] +_GETRGBIMAGECOMMAND_REQUEST = _GETRGBIMAGECOMMAND.nested_types_by_name['Request'] +_GETRGBIMAGECOMMAND_FEEDBACK = _GETRGBIMAGECOMMAND.nested_types_by_name['Feedback'] +_GETDEPTHIMAGECOMMAND = DESCRIPTOR.message_types_by_name['GetDepthImageCommand'] +_GETDEPTHIMAGECOMMAND_REQUEST = _GETDEPTHIMAGECOMMAND.nested_types_by_name['Request'] +_GETDEPTHIMAGECOMMAND_FEEDBACK = _GETDEPTHIMAGECOMMAND.nested_types_by_name['Feedback'] +_GETRGBDIMAGESCOMMAND = DESCRIPTOR.message_types_by_name['GetRGBDImagesCommand'] +_GETRGBDIMAGESCOMMAND_REQUEST = _GETRGBDIMAGESCOMMAND.nested_types_by_name['Request'] +_GETRGBDIMAGESCOMMAND_FEEDBACK = _GETRGBDIMAGESCOMMAND.nested_types_by_name['Feedback'] +_STARTCAMERARECORDINGCOMMAND = DESCRIPTOR.message_types_by_name['StartCameraRecordingCommand'] +_STARTCAMERARECORDINGCOMMAND_REQUEST = _STARTCAMERARECORDINGCOMMAND.nested_types_by_name['Request'] +_STARTCAMERARECORDINGCOMMAND_FEEDBACK = _STARTCAMERARECORDINGCOMMAND.nested_types_by_name['Feedback'] +_STOPCAMERARECORDINGCOMMAND = DESCRIPTOR.message_types_by_name['StopCameraRecordingCommand'] +_STOPCAMERARECORDINGCOMMAND_REQUEST = _STOPCAMERARECORDINGCOMMAND.nested_types_by_name['Request'] +_STOPCAMERARECORDINGCOMMAND_FEEDBACK = _STOPCAMERARECORDINGCOMMAND.nested_types_by_name['Feedback'] +_GETRGBIMAGESTREAMCOMMAND = DESCRIPTOR.message_types_by_name['GetRGBImageStreamCommand'] +_GETRGBIMAGESTREAMCOMMAND_REQUEST = _GETRGBIMAGESTREAMCOMMAND.nested_types_by_name['Request'] +_GETRGBIMAGESTREAMCOMMAND_FEEDBACK = _GETRGBIMAGESTREAMCOMMAND.nested_types_by_name['Feedback'] +_GETDEPTHIMAGESTREAMCOMMAND = DESCRIPTOR.message_types_by_name['GetDepthImageStreamCommand'] +_GETDEPTHIMAGESTREAMCOMMAND_REQUEST = _GETDEPTHIMAGESTREAMCOMMAND.nested_types_by_name['Request'] +_GETDEPTHIMAGESTREAMCOMMAND_FEEDBACK = _GETDEPTHIMAGESTREAMCOMMAND.nested_types_by_name['Feedback'] +_GETRGBDIMAGESSTREAMCOMMAND = DESCRIPTOR.message_types_by_name['GetRGBDImagesStreamCommand'] +_GETRGBDIMAGESSTREAMCOMMAND_REQUEST = _GETRGBDIMAGESSTREAMCOMMAND.nested_types_by_name['Request'] +_GETRGBDIMAGESSTREAMCOMMAND_FEEDBACK = _GETRGBDIMAGESSTREAMCOMMAND.nested_types_by_name['Feedback'] +_FRAMEDATA_FRAMETYPE = _FRAMEDATA.enum_types_by_name['FrameType'] +FrameData = _reflection.GeneratedProtocolMessageType('FrameData', (_message.Message,), { + 'DESCRIPTOR' : _FRAMEDATA, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FrameData) + }) +_sym_db.RegisterMessage(FrameData) + +CameraIntrinsics = _reflection.GeneratedProtocolMessageType('CameraIntrinsics', (_message.Message,), { + 'DESCRIPTOR' : _CAMERAINTRINSICS, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.CameraIntrinsics) + }) +_sym_db.RegisterMessage(CameraIntrinsics) + +CameraState = _reflection.GeneratedProtocolMessageType('CameraState', (_message.Message,), { + 'DESCRIPTOR' : _CAMERASTATE, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.CameraState) + }) +_sym_db.RegisterMessage(CameraState) + +GetCameraStateCommand = _reflection.GeneratedProtocolMessageType('GetCameraStateCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETCAMERASTATECOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetCameraStateCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETCAMERASTATECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetCameraStateCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETCAMERASTATECOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetCameraStateCommand) + }) +_sym_db.RegisterMessage(GetCameraStateCommand) +_sym_db.RegisterMessage(GetCameraStateCommand.Request) +_sym_db.RegisterMessage(GetCameraStateCommand.Feedback) + +StartCameraCommand = _reflection.GeneratedProtocolMessageType('StartCameraCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _STARTCAMERACOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StartCameraCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _STARTCAMERACOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StartCameraCommand.Feedback) + }) + , + 'DESCRIPTOR' : _STARTCAMERACOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StartCameraCommand) + }) +_sym_db.RegisterMessage(StartCameraCommand) +_sym_db.RegisterMessage(StartCameraCommand.Request) +_sym_db.RegisterMessage(StartCameraCommand.Feedback) + +StopCameraCommand = _reflection.GeneratedProtocolMessageType('StopCameraCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _STOPCAMERACOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopCameraCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _STOPCAMERACOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopCameraCommand.Feedback) + }) + , + 'DESCRIPTOR' : _STOPCAMERACOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopCameraCommand) + }) +_sym_db.RegisterMessage(StopCameraCommand) +_sym_db.RegisterMessage(StopCameraCommand.Request) +_sym_db.RegisterMessage(StopCameraCommand.Feedback) + +GetRGBImageCommand = _reflection.GeneratedProtocolMessageType('GetRGBImageCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETRGBIMAGECOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBImageCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETRGBIMAGECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBImageCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETRGBIMAGECOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBImageCommand) + }) +_sym_db.RegisterMessage(GetRGBImageCommand) +_sym_db.RegisterMessage(GetRGBImageCommand.Request) +_sym_db.RegisterMessage(GetRGBImageCommand.Feedback) + +GetDepthImageCommand = _reflection.GeneratedProtocolMessageType('GetDepthImageCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETDEPTHIMAGECOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetDepthImageCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETDEPTHIMAGECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetDepthImageCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETDEPTHIMAGECOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetDepthImageCommand) + }) +_sym_db.RegisterMessage(GetDepthImageCommand) +_sym_db.RegisterMessage(GetDepthImageCommand.Request) +_sym_db.RegisterMessage(GetDepthImageCommand.Feedback) + +GetRGBDImagesCommand = _reflection.GeneratedProtocolMessageType('GetRGBDImagesCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETRGBDIMAGESCOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBDImagesCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETRGBDIMAGESCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBDImagesCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETRGBDIMAGESCOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBDImagesCommand) + }) +_sym_db.RegisterMessage(GetRGBDImagesCommand) +_sym_db.RegisterMessage(GetRGBDImagesCommand.Request) +_sym_db.RegisterMessage(GetRGBDImagesCommand.Feedback) + +StartCameraRecordingCommand = _reflection.GeneratedProtocolMessageType('StartCameraRecordingCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _STARTCAMERARECORDINGCOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StartCameraRecordingCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _STARTCAMERARECORDINGCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StartCameraRecordingCommand.Feedback) + }) + , + 'DESCRIPTOR' : _STARTCAMERARECORDINGCOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StartCameraRecordingCommand) + }) +_sym_db.RegisterMessage(StartCameraRecordingCommand) +_sym_db.RegisterMessage(StartCameraRecordingCommand.Request) +_sym_db.RegisterMessage(StartCameraRecordingCommand.Feedback) + +StopCameraRecordingCommand = _reflection.GeneratedProtocolMessageType('StopCameraRecordingCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _STOPCAMERARECORDINGCOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopCameraRecordingCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _STOPCAMERARECORDINGCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopCameraRecordingCommand.Feedback) + }) + , + 'DESCRIPTOR' : _STOPCAMERARECORDINGCOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopCameraRecordingCommand) + }) +_sym_db.RegisterMessage(StopCameraRecordingCommand) +_sym_db.RegisterMessage(StopCameraRecordingCommand.Request) +_sym_db.RegisterMessage(StopCameraRecordingCommand.Feedback) + +GetRGBImageStreamCommand = _reflection.GeneratedProtocolMessageType('GetRGBImageStreamCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETRGBIMAGESTREAMCOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBImageStreamCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETRGBIMAGESTREAMCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBImageStreamCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETRGBIMAGESTREAMCOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBImageStreamCommand) + }) +_sym_db.RegisterMessage(GetRGBImageStreamCommand) +_sym_db.RegisterMessage(GetRGBImageStreamCommand.Request) +_sym_db.RegisterMessage(GetRGBImageStreamCommand.Feedback) + +GetDepthImageStreamCommand = _reflection.GeneratedProtocolMessageType('GetDepthImageStreamCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETDEPTHIMAGESTREAMCOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetDepthImageStreamCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETDEPTHIMAGESTREAMCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetDepthImageStreamCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETDEPTHIMAGESTREAMCOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetDepthImageStreamCommand) + }) +_sym_db.RegisterMessage(GetDepthImageStreamCommand) +_sym_db.RegisterMessage(GetDepthImageStreamCommand.Request) +_sym_db.RegisterMessage(GetDepthImageStreamCommand.Feedback) + +GetRGBDImagesStreamCommand = _reflection.GeneratedProtocolMessageType('GetRGBDImagesStreamCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETRGBDIMAGESSTREAMCOMMAND_REQUEST, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBDImagesStreamCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETRGBDIMAGESSTREAMCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBDImagesStreamCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETRGBDIMAGESSTREAMCOMMAND, + '__module__' : 'cmvr.api.camera_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetRGBDImagesStreamCommand) + }) +_sym_db.RegisterMessage(GetRGBDImagesStreamCommand) +_sym_db.RegisterMessage(GetRGBDImagesStreamCommand.Request) +_sym_db.RegisterMessage(GetRGBDImagesStreamCommand.Feedback) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _CAMERAINTRINSICS.fields_by_name['coeffs']._options = None + _CAMERAINTRINSICS.fields_by_name['coeffs']._serialized_options = b'\020\001' + _FRAMEDATA._serialized_start=67 + _FRAMEDATA._serialized_end=282 + _FRAMEDATA_FRAMETYPE._serialized_start=207 + _FRAMEDATA_FRAMETYPE._serialized_end=282 + _CAMERAINTRINSICS._serialized_start=284 + _CAMERAINTRINSICS._serialized_end=370 + _CAMERASTATE._serialized_start=373 + _CAMERASTATE._serialized_end=558 + _GETCAMERASTATECOMMAND._serialized_start=561 + _GETCAMERASTATECOMMAND._serialized_end=744 + _GETCAMERASTATECOMMAND_REQUEST._serialized_start=586 + _GETCAMERASTATECOMMAND_REQUEST._serialized_end=644 + _GETCAMERASTATECOMMAND_FEEDBACK._serialized_start=646 + _GETCAMERASTATECOMMAND_FEEDBACK._serialized_end=744 + _STARTCAMERACOMMAND._serialized_start=747 + _STARTCAMERACOMMAND._serialized_end=889 + _STARTCAMERACOMMAND_REQUEST._serialized_start=586 + _STARTCAMERACOMMAND_REQUEST._serialized_end=644 + _STARTCAMERACOMMAND_FEEDBACK._serialized_start=646 + _STARTCAMERACOMMAND_FEEDBACK._serialized_end=706 + _STOPCAMERACOMMAND._serialized_start=892 + _STOPCAMERACOMMAND._serialized_end=1033 + _STOPCAMERACOMMAND_REQUEST._serialized_start=586 + _STOPCAMERACOMMAND_REQUEST._serialized_end=644 + _STOPCAMERACOMMAND_FEEDBACK._serialized_start=646 + _STOPCAMERACOMMAND_FEEDBACK._serialized_end=706 + _GETRGBIMAGECOMMAND._serialized_start=1036 + _GETRGBIMAGECOMMAND._serialized_end=1269 + _GETRGBIMAGECOMMAND_REQUEST._serialized_start=586 + _GETRGBIMAGECOMMAND_REQUEST._serialized_end=644 + _GETRGBIMAGECOMMAND_FEEDBACK._serialized_start=1119 + _GETRGBIMAGECOMMAND_FEEDBACK._serialized_end=1269 + _GETDEPTHIMAGECOMMAND._serialized_start=1272 + _GETDEPTHIMAGECOMMAND._serialized_end=1507 + _GETDEPTHIMAGECOMMAND_REQUEST._serialized_start=586 + _GETDEPTHIMAGECOMMAND_REQUEST._serialized_end=644 + _GETDEPTHIMAGECOMMAND_FEEDBACK._serialized_start=1357 + _GETDEPTHIMAGECOMMAND_FEEDBACK._serialized_end=1507 + _GETRGBDIMAGESCOMMAND._serialized_start=1510 + _GETRGBDIMAGESCOMMAND._serialized_end=1787 + _GETRGBDIMAGESCOMMAND_REQUEST._serialized_start=586 + _GETRGBDIMAGESCOMMAND_REQUEST._serialized_end=644 + _GETRGBDIMAGESCOMMAND_FEEDBACK._serialized_start=1595 + _GETRGBDIMAGESCOMMAND_FEEDBACK._serialized_end=1787 + _STARTCAMERARECORDINGCOMMAND._serialized_start=1790 + _STARTCAMERARECORDINGCOMMAND._serialized_end=1961 + _STARTCAMERARECORDINGCOMMAND_REQUEST._serialized_start=1821 + _STARTCAMERARECORDINGCOMMAND_REQUEST._serialized_end=1899 + _STARTCAMERARECORDINGCOMMAND_FEEDBACK._serialized_start=646 + _STARTCAMERARECORDINGCOMMAND_FEEDBACK._serialized_end=706 + _STOPCAMERARECORDINGCOMMAND._serialized_start=1964 + _STOPCAMERARECORDINGCOMMAND._serialized_end=2114 + _STOPCAMERARECORDINGCOMMAND_REQUEST._serialized_start=586 + _STOPCAMERARECORDINGCOMMAND_REQUEST._serialized_end=644 + _STOPCAMERARECORDINGCOMMAND_FEEDBACK._serialized_start=646 + _STOPCAMERARECORDINGCOMMAND_FEEDBACK._serialized_end=706 + _GETRGBIMAGESTREAMCOMMAND._serialized_start=2117 + _GETRGBIMAGESTREAMCOMMAND._serialized_end=2385 + _GETRGBIMAGESTREAMCOMMAND_REQUEST._serialized_start=2145 + _GETRGBIMAGESTREAMCOMMAND_REQUEST._serialized_end=2216 + _GETRGBIMAGESTREAMCOMMAND_FEEDBACK._serialized_start=2219 + _GETRGBIMAGESTREAMCOMMAND_FEEDBACK._serialized_end=2385 + _GETDEPTHIMAGESTREAMCOMMAND._serialized_start=2388 + _GETDEPTHIMAGESTREAMCOMMAND._serialized_end=2658 + _GETDEPTHIMAGESTREAMCOMMAND_REQUEST._serialized_start=2145 + _GETDEPTHIMAGESTREAMCOMMAND_REQUEST._serialized_end=2216 + _GETDEPTHIMAGESTREAMCOMMAND_FEEDBACK._serialized_start=2492 + _GETDEPTHIMAGESTREAMCOMMAND_FEEDBACK._serialized_end=2658 + _GETRGBDIMAGESSTREAMCOMMAND._serialized_start=2661 + _GETRGBDIMAGESSTREAMCOMMAND._serialized_end=2973 + _GETRGBDIMAGESSTREAMCOMMAND_REQUEST._serialized_start=2145 + _GETRGBDIMAGESSTREAMCOMMAND_REQUEST._serialized_end=2216 + _GETRGBDIMAGESSTREAMCOMMAND_FEEDBACK._serialized_start=2765 + _GETRGBDIMAGESSTREAMCOMMAND_FEEDBACK._serialized_end=2973 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/camera_command_pb2_grpc.py b/generated/cmvr/api/camera_command_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/api/camera_command_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/api/camera_service_pb2.py b/generated/cmvr/api/camera_service_pb2.py new file mode 100644 index 0000000..093d19e --- /dev/null +++ b/generated/cmvr/api/camera_service_pb2.py @@ -0,0 +1,28 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/camera_service.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import camera_command_pb2 as cmvr_dot_api_dot_camera__command__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1d\x63mvr/api/camera_service.proto\x12\x08\x63mvr.api\x1a\x1d\x63mvr/api/camera_command.proto2\x9b\t\n\rCameraService\x12`\n\tGetStatus\x12\'.cmvr.api.GetCameraStateCommand.Request\x1a(.cmvr.api.GetCameraStateCommand.Feedback\"\x00\x12\\\n\x0bStartCamera\x12$.cmvr.api.StartCameraCommand.Request\x1a%.cmvr.api.StartCameraCommand.Feedback\"\x00\x12Y\n\nStopCamera\x12#.cmvr.api.StopCameraCommand.Request\x1a$.cmvr.api.StopCameraCommand.Feedback\"\x00\x12\\\n\x0bGetRGBImage\x12$.cmvr.api.GetRGBImageCommand.Request\x1a%.cmvr.api.GetRGBImageCommand.Feedback\"\x00\x12\x62\n\rGetDepthImage\x12&.cmvr.api.GetDepthImageCommand.Request\x1a\'.cmvr.api.GetDepthImageCommand.Feedback\"\x00\x12\x62\n\rGetRGBDImages\x12&.cmvr.api.GetRGBDImagesCommand.Request\x1a\'.cmvr.api.GetRGBDImagesCommand.Feedback\"\x00\x12q\n\x0eStartRecording\x12-.cmvr.api.StartCameraRecordingCommand.Request\x1a..cmvr.api.StartCameraRecordingCommand.Feedback\"\x00\x12n\n\rStopRecording\x12,.cmvr.api.StopCameraRecordingCommand.Request\x1a-.cmvr.api.StopCameraRecordingCommand.Feedback\"\x00\x12r\n\x11GetRGBImageStream\x12*.cmvr.api.GetRGBImageStreamCommand.Request\x1a+.cmvr.api.GetRGBImageStreamCommand.Feedback\"\x00(\x01\x30\x01\x12x\n\x13GetDepthImageStream\x12,.cmvr.api.GetDepthImageStreamCommand.Request\x1a-.cmvr.api.GetDepthImageStreamCommand.Feedback\"\x00(\x01\x30\x01\x12x\n\x13GetRGBDImagesStream\x12,.cmvr.api.GetRGBDImagesStreamCommand.Request\x1a-.cmvr.api.GetRGBDImagesStreamCommand.Feedback\"\x00(\x01\x30\x01\x62\x06proto3') + + + +_CAMERASERVICE = DESCRIPTOR.services_by_name['CameraService'] +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _CAMERASERVICE._serialized_start=75 + _CAMERASERVICE._serialized_end=1254 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/camera_service_pb2_grpc.py b/generated/cmvr/api/camera_service_pb2_grpc.py new file mode 100644 index 0000000..ed889aa --- /dev/null +++ b/generated/cmvr/api/camera_service_pb2_grpc.py @@ -0,0 +1,396 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +from cmvr.api import camera_command_pb2 as cmvr_dot_api_dot_camera__command__pb2 + + +class CameraServiceStub(object): + """Missing associated documentation comment in .proto file.""" + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.GetStatus = channel.unary_unary( + '/cmvr.api.CameraService/GetStatus', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Feedback.FromString, + ) + self.StartCamera = channel.unary_unary( + '/cmvr.api.CameraService/StartCamera', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Feedback.FromString, + ) + self.StopCamera = channel.unary_unary( + '/cmvr.api.CameraService/StopCamera', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Feedback.FromString, + ) + self.GetRGBImage = channel.unary_unary( + '/cmvr.api.CameraService/GetRGBImage', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Feedback.FromString, + ) + self.GetDepthImage = channel.unary_unary( + '/cmvr.api.CameraService/GetDepthImage', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Feedback.FromString, + ) + self.GetRGBDImages = channel.unary_unary( + '/cmvr.api.CameraService/GetRGBDImages', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Feedback.FromString, + ) + self.StartRecording = channel.unary_unary( + '/cmvr.api.CameraService/StartRecording', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Feedback.FromString, + ) + self.StopRecording = channel.unary_unary( + '/cmvr.api.CameraService/StopRecording', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Feedback.FromString, + ) + self.GetRGBImageStream = channel.stream_stream( + '/cmvr.api.CameraService/GetRGBImageStream', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Feedback.FromString, + ) + self.GetDepthImageStream = channel.stream_stream( + '/cmvr.api.CameraService/GetDepthImageStream', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Feedback.FromString, + ) + self.GetRGBDImagesStream = channel.stream_stream( + '/cmvr.api.CameraService/GetRGBDImagesStream', + request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Feedback.FromString, + ) + + +class CameraServiceServicer(object): + """Missing associated documentation comment in .proto file.""" + + def GetStatus(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def StartCamera(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def StopCamera(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetRGBImage(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetDepthImage(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetRGBDImages(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def StartRecording(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def StopRecording(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetRGBImageStream(self, request_iterator, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetDepthImageStream(self, request_iterator, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetRGBDImagesStream(self, request_iterator, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_CameraServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'GetStatus': grpc.unary_unary_rpc_method_handler( + servicer.GetStatus, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Feedback.SerializeToString, + ), + 'StartCamera': grpc.unary_unary_rpc_method_handler( + servicer.StartCamera, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Feedback.SerializeToString, + ), + 'StopCamera': grpc.unary_unary_rpc_method_handler( + servicer.StopCamera, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Feedback.SerializeToString, + ), + 'GetRGBImage': grpc.unary_unary_rpc_method_handler( + servicer.GetRGBImage, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Feedback.SerializeToString, + ), + 'GetDepthImage': grpc.unary_unary_rpc_method_handler( + servicer.GetDepthImage, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Feedback.SerializeToString, + ), + 'GetRGBDImages': grpc.unary_unary_rpc_method_handler( + servicer.GetRGBDImages, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Feedback.SerializeToString, + ), + 'StartRecording': grpc.unary_unary_rpc_method_handler( + servicer.StartRecording, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Feedback.SerializeToString, + ), + 'StopRecording': grpc.unary_unary_rpc_method_handler( + servicer.StopRecording, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Feedback.SerializeToString, + ), + 'GetRGBImageStream': grpc.stream_stream_rpc_method_handler( + servicer.GetRGBImageStream, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Feedback.SerializeToString, + ), + 'GetDepthImageStream': grpc.stream_stream_rpc_method_handler( + servicer.GetDepthImageStream, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Feedback.SerializeToString, + ), + 'GetRGBDImagesStream': grpc.stream_stream_rpc_method_handler( + servicer.GetRGBDImagesStream, + request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Feedback.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'cmvr.api.CameraService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class CameraService(object): + """Missing associated documentation comment in .proto file.""" + + @staticmethod + def GetStatus(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/GetStatus', + cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def StartCamera(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/StartCamera', + cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def StopCamera(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/StopCamera', + cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetRGBImage(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/GetRGBImage', + cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetDepthImage(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/GetDepthImage', + cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetRGBDImages(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/GetRGBDImages', + cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def StartRecording(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/StartRecording', + cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def StopRecording(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/StopRecording', + cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetRGBImageStream(request_iterator, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.CameraService/GetRGBImageStream', + cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetDepthImageStream(request_iterator, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.CameraService/GetDepthImageStream', + cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetRGBDImagesStream(request_iterator, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.CameraService/GetRGBDImagesStream', + cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Request.SerializeToString, + cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/generated/cmvr/api/common_pb2.py b/generated/cmvr/api/common_pb2.py new file mode 100644 index 0000000..f6f8612 --- /dev/null +++ b/generated/cmvr/api/common_pb2.py @@ -0,0 +1,80 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/common.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15\x63mvr/api/common.proto\x12\x08\x63mvr.api\x1a\x1fgoogle/protobuf/timestamp.proto\"\xb8\x01\n\x0f\x44\x65viceLifecycle\x12\x32\n\x05state\x18\x01 \x01(\x0e\x32#.cmvr.api.DeviceLifecycle.Lifecycle\"q\n\tLifecycle\x12\x0e\n\nSTATE_INIT\x10\x00\x12\x0f\n\x0bSTATE_READY\x10\x01\x12\x11\n\rSTATE_RUNNING\x10\x02\x12\x0f\n\x0bSTATE_ERROR\x10\x03\x12\x0f\n\x0bSTATE_ESTOP\x10\x04\x12\x0e\n\nSTATE_STOP\x10\x05\"\xbf\x01\n\rCommandHeader\x1aK\n\x07Request\x12\x11\n\tdevice_id\x18\x01 \x01(\t\x12-\n\ttimestamp\x18\x02 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x1a\x61\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x15\n\rerror_message\x18\x02 \x01(\t\x12-\n\ttimestamp\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"\xa2\x01\n\x0b\x43onfigParam\x12\x12\n\nparam_name\x18\x01 \x01(\t\x12\x13\n\tint_value\x18\x02 \x01(\x05H\x00\x12\x16\n\x0c\x64ouble_value\x18\x03 \x01(\x01H\x00\x12\x16\n\x0cstring_value\x18\x04 \x01(\tH\x00\x12\x14\n\nbool_value\x18\x05 \x01(\x08H\x00\x12\x15\n\x0b\x62ytes_value\x18\x06 \x01(\x0cH\x00\x42\r\n\x0bparam_valueb\x06proto3') + + + +_DEVICELIFECYCLE = DESCRIPTOR.message_types_by_name['DeviceLifecycle'] +_COMMANDHEADER = DESCRIPTOR.message_types_by_name['CommandHeader'] +_COMMANDHEADER_REQUEST = _COMMANDHEADER.nested_types_by_name['Request'] +_COMMANDHEADER_FEEDBACK = _COMMANDHEADER.nested_types_by_name['Feedback'] +_CONFIGPARAM = DESCRIPTOR.message_types_by_name['ConfigParam'] +_DEVICELIFECYCLE_LIFECYCLE = _DEVICELIFECYCLE.enum_types_by_name['Lifecycle'] +DeviceLifecycle = _reflection.GeneratedProtocolMessageType('DeviceLifecycle', (_message.Message,), { + 'DESCRIPTOR' : _DEVICELIFECYCLE, + '__module__' : 'cmvr.api.common_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.DeviceLifecycle) + }) +_sym_db.RegisterMessage(DeviceLifecycle) + +CommandHeader = _reflection.GeneratedProtocolMessageType('CommandHeader', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _COMMANDHEADER_REQUEST, + '__module__' : 'cmvr.api.common_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.CommandHeader.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _COMMANDHEADER_FEEDBACK, + '__module__' : 'cmvr.api.common_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.CommandHeader.Feedback) + }) + , + 'DESCRIPTOR' : _COMMANDHEADER, + '__module__' : 'cmvr.api.common_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.CommandHeader) + }) +_sym_db.RegisterMessage(CommandHeader) +_sym_db.RegisterMessage(CommandHeader.Request) +_sym_db.RegisterMessage(CommandHeader.Feedback) + +ConfigParam = _reflection.GeneratedProtocolMessageType('ConfigParam', (_message.Message,), { + 'DESCRIPTOR' : _CONFIGPARAM, + '__module__' : 'cmvr.api.common_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.ConfigParam) + }) +_sym_db.RegisterMessage(ConfigParam) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _DEVICELIFECYCLE._serialized_start=69 + _DEVICELIFECYCLE._serialized_end=253 + _DEVICELIFECYCLE_LIFECYCLE._serialized_start=140 + _DEVICELIFECYCLE_LIFECYCLE._serialized_end=253 + _COMMANDHEADER._serialized_start=256 + _COMMANDHEADER._serialized_end=447 + _COMMANDHEADER_REQUEST._serialized_start=273 + _COMMANDHEADER_REQUEST._serialized_end=348 + _COMMANDHEADER_FEEDBACK._serialized_start=350 + _COMMANDHEADER_FEEDBACK._serialized_end=447 + _CONFIGPARAM._serialized_start=450 + _CONFIGPARAM._serialized_end=612 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/common_pb2_grpc.py b/generated/cmvr/api/common_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/api/common_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/api/dexhand_command_pb2.py b/generated/cmvr/api/dexhand_command_pb2.py new file mode 100644 index 0000000..7ac3b6d --- /dev/null +++ b/generated/cmvr/api/dexhand_command_pb2.py @@ -0,0 +1,340 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/dexhand_command.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/dexhand_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\")\n\x0c\x46reedomValue\x12\n\n\x02id\x18\x01 \x01(\x05\x12\r\n\x05value\x18\x02 \x01(\x02\"\xa9\x01\n\x0c\x46reedomState\x12\x0e\n\x06\x64of_id\x18\x01 \x01(\x05\x12\r\n\x05\x61ngle\x18\x02 \x01(\x05\x12\r\n\x05speed\x18\x03 \x01(\x05\x12\r\n\x05\x66orce\x18\x04 \x01(\x05\x12\x10\n\x08position\x18\x05 \x01(\x05\x12\x0f\n\x07\x63urrent\x18\x06 \x01(\x05\x12\x13\n\x0btemperature\x18\x07 \x01(\x05\x12\r\n\x05\x65rror\x18\x08 \x01(\x05\x12\x15\n\rerror_message\x18\t \x03(\t\"\x90\x03\n\nSensorData\x12\x34\n\x0b\x66inger_type\x18\x04 \x01(\x0e\x32\x1f.cmvr.api.SensorData.FingerType\x12\x30\n\tpart_type\x18\x05 \x01(\x0e\x32\x1d.cmvr.api.SensorData.PartType\x12\x13\n\x0bsensor_name\x18\x06 \x01(\t\x12*\n\x04\x64\x61ta\x18\x01 \x03(\x0b\x32\x1c.cmvr.api.SensorData.RowData\x12\x0c\n\x04rows\x18\x02 \x01(\x05\x12\x0c\n\x04\x63ols\x18\x03 \x01(\x05\x1a\x1d\n\x07RowData\x12\x12\n\x06values\x18\x01 \x03(\x05\x42\x02\x10\x01\"T\n\nFingerType\x12\t\n\x05PINKY\x10\x00\x12\x08\n\x04RING\x10\x01\x12\x11\n\rMIDDLE_FINGER\x10\x02\x12\t\n\x05INDEX\x10\x03\x12\t\n\x05THUMB\x10\x04\x12\x08\n\x04PALM\x10\x05\"H\n\x08PartType\x12\x07\n\x03TIP\x10\x00\x12\n\n\x06\x46INGER\x10\x01\x12\x07\n\x03PAD\x10\x02\x12\x10\n\x0cTHUMB_MIDDLE\x10\x03\x12\x0c\n\x08PALM_PAD\x10\x04\"M\n\x0c\x44\x65xHandState\x12\x16\n\x0eis_initialized\x18\x01 \x01(\x08\x12%\n\x05hands\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomState\"\xb9\x01\n\x16GetDexHandStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x63\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12%\n\x05state\x18\x02 \x01(\x0b\x32\x16.cmvr.api.DexHandState\"\xbe\x01\n\x1aSetDexHandPositionsCommand\x1a\x62\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12&\n\x06values\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomValue\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xbb\x01\n\x17SetDexHandAnglesCommand\x1a\x62\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12&\n\x06values\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomValue\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xba\x01\n\x16SetDexHandForceCommand\x1a\x62\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12&\n\x06values\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomValue\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xba\x01\n\x16SetDexHandSpeedCommand\x1a\x62\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12&\n\x06values\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomValue\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xab\x01\n\x1aSetDexHandPresetActCommand\x1aO\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x13\n\x0bpresetActId\x18\x02 \x01(\x05\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xb6\x01\n\x14GetSensorDataCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x62\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12$\n\x06sensor\x18\x02 \x03(\x0b\x32\x14.cmvr.api.SensorData\"\xbc\x01\n\x1aGetSensorDataStreamCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x62\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12$\n\x06sensor\x18\x02 \x03(\x0b\x32\x14.cmvr.api.SensorDatab\x06proto3') + + + +_FREEDOMVALUE = DESCRIPTOR.message_types_by_name['FreedomValue'] +_FREEDOMSTATE = DESCRIPTOR.message_types_by_name['FreedomState'] +_SENSORDATA = DESCRIPTOR.message_types_by_name['SensorData'] +_SENSORDATA_ROWDATA = _SENSORDATA.nested_types_by_name['RowData'] +_DEXHANDSTATE = DESCRIPTOR.message_types_by_name['DexHandState'] +_GETDEXHANDSTATECOMMAND = DESCRIPTOR.message_types_by_name['GetDexHandStateCommand'] +_GETDEXHANDSTATECOMMAND_REQUEST = _GETDEXHANDSTATECOMMAND.nested_types_by_name['Request'] +_GETDEXHANDSTATECOMMAND_FEEDBACK = _GETDEXHANDSTATECOMMAND.nested_types_by_name['Feedback'] +_SETDEXHANDPOSITIONSCOMMAND = DESCRIPTOR.message_types_by_name['SetDexHandPositionsCommand'] +_SETDEXHANDPOSITIONSCOMMAND_REQUEST = _SETDEXHANDPOSITIONSCOMMAND.nested_types_by_name['Request'] +_SETDEXHANDPOSITIONSCOMMAND_FEEDBACK = _SETDEXHANDPOSITIONSCOMMAND.nested_types_by_name['Feedback'] +_SETDEXHANDANGLESCOMMAND = DESCRIPTOR.message_types_by_name['SetDexHandAnglesCommand'] +_SETDEXHANDANGLESCOMMAND_REQUEST = _SETDEXHANDANGLESCOMMAND.nested_types_by_name['Request'] +_SETDEXHANDANGLESCOMMAND_FEEDBACK = _SETDEXHANDANGLESCOMMAND.nested_types_by_name['Feedback'] +_SETDEXHANDFORCECOMMAND = DESCRIPTOR.message_types_by_name['SetDexHandForceCommand'] +_SETDEXHANDFORCECOMMAND_REQUEST = _SETDEXHANDFORCECOMMAND.nested_types_by_name['Request'] +_SETDEXHANDFORCECOMMAND_FEEDBACK = _SETDEXHANDFORCECOMMAND.nested_types_by_name['Feedback'] +_SETDEXHANDSPEEDCOMMAND = DESCRIPTOR.message_types_by_name['SetDexHandSpeedCommand'] +_SETDEXHANDSPEEDCOMMAND_REQUEST = _SETDEXHANDSPEEDCOMMAND.nested_types_by_name['Request'] +_SETDEXHANDSPEEDCOMMAND_FEEDBACK = _SETDEXHANDSPEEDCOMMAND.nested_types_by_name['Feedback'] +_SETDEXHANDPRESETACTCOMMAND = DESCRIPTOR.message_types_by_name['SetDexHandPresetActCommand'] +_SETDEXHANDPRESETACTCOMMAND_REQUEST = _SETDEXHANDPRESETACTCOMMAND.nested_types_by_name['Request'] +_SETDEXHANDPRESETACTCOMMAND_FEEDBACK = _SETDEXHANDPRESETACTCOMMAND.nested_types_by_name['Feedback'] +_GETSENSORDATACOMMAND = DESCRIPTOR.message_types_by_name['GetSensorDataCommand'] +_GETSENSORDATACOMMAND_REQUEST = _GETSENSORDATACOMMAND.nested_types_by_name['Request'] +_GETSENSORDATACOMMAND_FEEDBACK = _GETSENSORDATACOMMAND.nested_types_by_name['Feedback'] +_GETSENSORDATASTREAMCOMMAND = DESCRIPTOR.message_types_by_name['GetSensorDataStreamCommand'] +_GETSENSORDATASTREAMCOMMAND_REQUEST = _GETSENSORDATASTREAMCOMMAND.nested_types_by_name['Request'] +_GETSENSORDATASTREAMCOMMAND_FEEDBACK = _GETSENSORDATASTREAMCOMMAND.nested_types_by_name['Feedback'] +_SENSORDATA_FINGERTYPE = _SENSORDATA.enum_types_by_name['FingerType'] +_SENSORDATA_PARTTYPE = _SENSORDATA.enum_types_by_name['PartType'] +FreedomValue = _reflection.GeneratedProtocolMessageType('FreedomValue', (_message.Message,), { + 'DESCRIPTOR' : _FREEDOMVALUE, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FreedomValue) + }) +_sym_db.RegisterMessage(FreedomValue) + +FreedomState = _reflection.GeneratedProtocolMessageType('FreedomState', (_message.Message,), { + 'DESCRIPTOR' : _FREEDOMSTATE, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.FreedomState) + }) +_sym_db.RegisterMessage(FreedomState) + +SensorData = _reflection.GeneratedProtocolMessageType('SensorData', (_message.Message,), { + + 'RowData' : _reflection.GeneratedProtocolMessageType('RowData', (_message.Message,), { + 'DESCRIPTOR' : _SENSORDATA_ROWDATA, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SensorData.RowData) + }) + , + 'DESCRIPTOR' : _SENSORDATA, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SensorData) + }) +_sym_db.RegisterMessage(SensorData) +_sym_db.RegisterMessage(SensorData.RowData) + +DexHandState = _reflection.GeneratedProtocolMessageType('DexHandState', (_message.Message,), { + 'DESCRIPTOR' : _DEXHANDSTATE, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.DexHandState) + }) +_sym_db.RegisterMessage(DexHandState) + +GetDexHandStateCommand = _reflection.GeneratedProtocolMessageType('GetDexHandStateCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETDEXHANDSTATECOMMAND_REQUEST, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetDexHandStateCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETDEXHANDSTATECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetDexHandStateCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETDEXHANDSTATECOMMAND, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetDexHandStateCommand) + }) +_sym_db.RegisterMessage(GetDexHandStateCommand) +_sym_db.RegisterMessage(GetDexHandStateCommand.Request) +_sym_db.RegisterMessage(GetDexHandStateCommand.Feedback) + +SetDexHandPositionsCommand = _reflection.GeneratedProtocolMessageType('SetDexHandPositionsCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDPOSITIONSCOMMAND_REQUEST, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandPositionsCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDPOSITIONSCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandPositionsCommand.Feedback) + }) + , + 'DESCRIPTOR' : _SETDEXHANDPOSITIONSCOMMAND, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandPositionsCommand) + }) +_sym_db.RegisterMessage(SetDexHandPositionsCommand) +_sym_db.RegisterMessage(SetDexHandPositionsCommand.Request) +_sym_db.RegisterMessage(SetDexHandPositionsCommand.Feedback) + +SetDexHandAnglesCommand = _reflection.GeneratedProtocolMessageType('SetDexHandAnglesCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDANGLESCOMMAND_REQUEST, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandAnglesCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDANGLESCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandAnglesCommand.Feedback) + }) + , + 'DESCRIPTOR' : _SETDEXHANDANGLESCOMMAND, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandAnglesCommand) + }) +_sym_db.RegisterMessage(SetDexHandAnglesCommand) +_sym_db.RegisterMessage(SetDexHandAnglesCommand.Request) +_sym_db.RegisterMessage(SetDexHandAnglesCommand.Feedback) + +SetDexHandForceCommand = _reflection.GeneratedProtocolMessageType('SetDexHandForceCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDFORCECOMMAND_REQUEST, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandForceCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDFORCECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandForceCommand.Feedback) + }) + , + 'DESCRIPTOR' : _SETDEXHANDFORCECOMMAND, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandForceCommand) + }) +_sym_db.RegisterMessage(SetDexHandForceCommand) +_sym_db.RegisterMessage(SetDexHandForceCommand.Request) +_sym_db.RegisterMessage(SetDexHandForceCommand.Feedback) + +SetDexHandSpeedCommand = _reflection.GeneratedProtocolMessageType('SetDexHandSpeedCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDSPEEDCOMMAND_REQUEST, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandSpeedCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDSPEEDCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandSpeedCommand.Feedback) + }) + , + 'DESCRIPTOR' : _SETDEXHANDSPEEDCOMMAND, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandSpeedCommand) + }) +_sym_db.RegisterMessage(SetDexHandSpeedCommand) +_sym_db.RegisterMessage(SetDexHandSpeedCommand.Request) +_sym_db.RegisterMessage(SetDexHandSpeedCommand.Feedback) + +SetDexHandPresetActCommand = _reflection.GeneratedProtocolMessageType('SetDexHandPresetActCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDPRESETACTCOMMAND_REQUEST, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandPresetActCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _SETDEXHANDPRESETACTCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandPresetActCommand.Feedback) + }) + , + 'DESCRIPTOR' : _SETDEXHANDPRESETACTCOMMAND, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetDexHandPresetActCommand) + }) +_sym_db.RegisterMessage(SetDexHandPresetActCommand) +_sym_db.RegisterMessage(SetDexHandPresetActCommand.Request) +_sym_db.RegisterMessage(SetDexHandPresetActCommand.Feedback) + +GetSensorDataCommand = _reflection.GeneratedProtocolMessageType('GetSensorDataCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETSENSORDATACOMMAND_REQUEST, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSensorDataCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETSENSORDATACOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSensorDataCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETSENSORDATACOMMAND, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSensorDataCommand) + }) +_sym_db.RegisterMessage(GetSensorDataCommand) +_sym_db.RegisterMessage(GetSensorDataCommand.Request) +_sym_db.RegisterMessage(GetSensorDataCommand.Feedback) + +GetSensorDataStreamCommand = _reflection.GeneratedProtocolMessageType('GetSensorDataStreamCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETSENSORDATASTREAMCOMMAND_REQUEST, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSensorDataStreamCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETSENSORDATASTREAMCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSensorDataStreamCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETSENSORDATASTREAMCOMMAND, + '__module__' : 'cmvr.api.dexhand_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSensorDataStreamCommand) + }) +_sym_db.RegisterMessage(GetSensorDataStreamCommand) +_sym_db.RegisterMessage(GetSensorDataStreamCommand.Request) +_sym_db.RegisterMessage(GetSensorDataStreamCommand.Feedback) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _SENSORDATA_ROWDATA.fields_by_name['values']._options = None + _SENSORDATA_ROWDATA.fields_by_name['values']._serialized_options = b'\020\001' + _FREEDOMVALUE._serialized_start=67 + _FREEDOMVALUE._serialized_end=108 + _FREEDOMSTATE._serialized_start=111 + _FREEDOMSTATE._serialized_end=280 + _SENSORDATA._serialized_start=283 + _SENSORDATA._serialized_end=683 + _SENSORDATA_ROWDATA._serialized_start=494 + _SENSORDATA_ROWDATA._serialized_end=523 + _SENSORDATA_FINGERTYPE._serialized_start=525 + _SENSORDATA_FINGERTYPE._serialized_end=609 + _SENSORDATA_PARTTYPE._serialized_start=611 + _SENSORDATA_PARTTYPE._serialized_end=683 + _DEXHANDSTATE._serialized_start=685 + _DEXHANDSTATE._serialized_end=762 + _GETDEXHANDSTATECOMMAND._serialized_start=765 + _GETDEXHANDSTATECOMMAND._serialized_end=950 + _GETDEXHANDSTATECOMMAND_REQUEST._serialized_start=791 + _GETDEXHANDSTATECOMMAND_REQUEST._serialized_end=849 + _GETDEXHANDSTATECOMMAND_FEEDBACK._serialized_start=851 + _GETDEXHANDSTATECOMMAND_FEEDBACK._serialized_end=950 + _SETDEXHANDPOSITIONSCOMMAND._serialized_start=953 + _SETDEXHANDPOSITIONSCOMMAND._serialized_end=1143 + _SETDEXHANDPOSITIONSCOMMAND_REQUEST._serialized_start=983 + _SETDEXHANDPOSITIONSCOMMAND_REQUEST._serialized_end=1081 + _SETDEXHANDPOSITIONSCOMMAND_FEEDBACK._serialized_start=851 + _SETDEXHANDPOSITIONSCOMMAND_FEEDBACK._serialized_end=911 + _SETDEXHANDANGLESCOMMAND._serialized_start=1146 + _SETDEXHANDANGLESCOMMAND._serialized_end=1333 + _SETDEXHANDANGLESCOMMAND_REQUEST._serialized_start=983 + _SETDEXHANDANGLESCOMMAND_REQUEST._serialized_end=1081 + _SETDEXHANDANGLESCOMMAND_FEEDBACK._serialized_start=851 + _SETDEXHANDANGLESCOMMAND_FEEDBACK._serialized_end=911 + _SETDEXHANDFORCECOMMAND._serialized_start=1336 + _SETDEXHANDFORCECOMMAND._serialized_end=1522 + _SETDEXHANDFORCECOMMAND_REQUEST._serialized_start=983 + _SETDEXHANDFORCECOMMAND_REQUEST._serialized_end=1081 + _SETDEXHANDFORCECOMMAND_FEEDBACK._serialized_start=851 + _SETDEXHANDFORCECOMMAND_FEEDBACK._serialized_end=911 + _SETDEXHANDSPEEDCOMMAND._serialized_start=1525 + _SETDEXHANDSPEEDCOMMAND._serialized_end=1711 + _SETDEXHANDSPEEDCOMMAND_REQUEST._serialized_start=983 + _SETDEXHANDSPEEDCOMMAND_REQUEST._serialized_end=1081 + _SETDEXHANDSPEEDCOMMAND_FEEDBACK._serialized_start=851 + _SETDEXHANDSPEEDCOMMAND_FEEDBACK._serialized_end=911 + _SETDEXHANDPRESETACTCOMMAND._serialized_start=1714 + _SETDEXHANDPRESETACTCOMMAND._serialized_end=1885 + _SETDEXHANDPRESETACTCOMMAND_REQUEST._serialized_start=1744 + _SETDEXHANDPRESETACTCOMMAND_REQUEST._serialized_end=1823 + _SETDEXHANDPRESETACTCOMMAND_FEEDBACK._serialized_start=851 + _SETDEXHANDPRESETACTCOMMAND_FEEDBACK._serialized_end=911 + _GETSENSORDATACOMMAND._serialized_start=1888 + _GETSENSORDATACOMMAND._serialized_end=2070 + _GETSENSORDATACOMMAND_REQUEST._serialized_start=791 + _GETSENSORDATACOMMAND_REQUEST._serialized_end=849 + _GETSENSORDATACOMMAND_FEEDBACK._serialized_start=1972 + _GETSENSORDATACOMMAND_FEEDBACK._serialized_end=2070 + _GETSENSORDATASTREAMCOMMAND._serialized_start=2073 + _GETSENSORDATASTREAMCOMMAND._serialized_end=2261 + _GETSENSORDATASTREAMCOMMAND_REQUEST._serialized_start=791 + _GETSENSORDATASTREAMCOMMAND_REQUEST._serialized_end=849 + _GETSENSORDATASTREAMCOMMAND_FEEDBACK._serialized_start=1972 + _GETSENSORDATASTREAMCOMMAND_FEEDBACK._serialized_end=2070 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/dexhand_command_pb2_grpc.py b/generated/cmvr/api/dexhand_command_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/api/dexhand_command_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/api/dexhand_service_pb2.py b/generated/cmvr/api/dexhand_service_pb2.py new file mode 100644 index 0000000..668b90e --- /dev/null +++ b/generated/cmvr/api/dexhand_service_pb2.py @@ -0,0 +1,28 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/dexhand_service.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import dexhand_command_pb2 as cmvr_dot_api_dot_dexhand__command__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/dexhand_service.proto\x12\x08\x63mvr.api\x1a\x1e\x63mvr/api/dexhand_command.proto2\xe8\x06\n\x0e\x44\x65xHandService\x12`\n\tGetStatus\x12(.cmvr.api.GetDexHandStateCommand.Request\x1a).cmvr.api.GetDexHandStateCommand.Feedback\x12l\n\rSetDexHandPos\x12,.cmvr.api.SetDexHandPositionsCommand.Request\x1a-.cmvr.api.SetDexHandPositionsCommand.Feedback\x12h\n\x0fSetDexHandAngle\x12).cmvr.api.SetDexHandAnglesCommand.Request\x1a*.cmvr.api.SetDexHandAnglesCommand.Feedback\x12\x66\n\x0fSetDexHandForce\x12(.cmvr.api.SetDexHandForceCommand.Request\x1a).cmvr.api.SetDexHandForceCommand.Feedback\x12\x66\n\x0fSetDexHandSpeed\x12(.cmvr.api.SetDexHandSpeedCommand.Request\x1a).cmvr.api.SetDexHandSpeedCommand.Feedback\x12r\n\x13SetDexHandPresetAct\x12,.cmvr.api.SetDexHandPresetActCommand.Request\x1a-.cmvr.api.SetDexHandPresetActCommand.Feedback\x12`\n\rGetSensorData\x12&.cmvr.api.GetSensorDataCommand.Request\x1a\'.cmvr.api.GetSensorDataCommand.Feedback\x12v\n\x13GetSensorDataStream\x12,.cmvr.api.GetSensorDataStreamCommand.Request\x1a-.cmvr.api.GetSensorDataStreamCommand.Feedback(\x01\x30\x01\x62\x06proto3') + + + +_DEXHANDSERVICE = DESCRIPTOR.services_by_name['DexHandService'] +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _DEXHANDSERVICE._serialized_start=77 + _DEXHANDSERVICE._serialized_end=949 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/dexhand_service_pb2_grpc.py b/generated/cmvr/api/dexhand_service_pb2_grpc.py new file mode 100644 index 0000000..e212c0a --- /dev/null +++ b/generated/cmvr/api/dexhand_service_pb2_grpc.py @@ -0,0 +1,298 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +from cmvr.api import dexhand_command_pb2 as cmvr_dot_api_dot_dexhand__command__pb2 + + +class DexHandServiceStub(object): + """Missing associated documentation comment in .proto file.""" + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.GetStatus = channel.unary_unary( + '/cmvr.api.DexHandService/GetStatus', + request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Feedback.FromString, + ) + self.SetDexHandPos = channel.unary_unary( + '/cmvr.api.DexHandService/SetDexHandPos', + request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Feedback.FromString, + ) + self.SetDexHandAngle = channel.unary_unary( + '/cmvr.api.DexHandService/SetDexHandAngle', + request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Feedback.FromString, + ) + self.SetDexHandForce = channel.unary_unary( + '/cmvr.api.DexHandService/SetDexHandForce', + request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Feedback.FromString, + ) + self.SetDexHandSpeed = channel.unary_unary( + '/cmvr.api.DexHandService/SetDexHandSpeed', + request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Feedback.FromString, + ) + self.SetDexHandPresetAct = channel.unary_unary( + '/cmvr.api.DexHandService/SetDexHandPresetAct', + request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Feedback.FromString, + ) + self.GetSensorData = channel.unary_unary( + '/cmvr.api.DexHandService/GetSensorData', + request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Feedback.FromString, + ) + self.GetSensorDataStream = channel.stream_stream( + '/cmvr.api.DexHandService/GetSensorDataStream', + request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Feedback.FromString, + ) + + +class DexHandServiceServicer(object): + """Missing associated documentation comment in .proto file.""" + + def GetStatus(self, request, context): + """基本控制 + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetDexHandPos(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetDexHandAngle(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetDexHandForce(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetDexHandSpeed(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetDexHandPresetAct(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetSensorData(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetSensorDataStream(self, request_iterator, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_DexHandServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'GetStatus': grpc.unary_unary_rpc_method_handler( + servicer.GetStatus, + request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Feedback.SerializeToString, + ), + 'SetDexHandPos': grpc.unary_unary_rpc_method_handler( + servicer.SetDexHandPos, + request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Feedback.SerializeToString, + ), + 'SetDexHandAngle': grpc.unary_unary_rpc_method_handler( + servicer.SetDexHandAngle, + request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Feedback.SerializeToString, + ), + 'SetDexHandForce': grpc.unary_unary_rpc_method_handler( + servicer.SetDexHandForce, + request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Feedback.SerializeToString, + ), + 'SetDexHandSpeed': grpc.unary_unary_rpc_method_handler( + servicer.SetDexHandSpeed, + request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Feedback.SerializeToString, + ), + 'SetDexHandPresetAct': grpc.unary_unary_rpc_method_handler( + servicer.SetDexHandPresetAct, + request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Feedback.SerializeToString, + ), + 'GetSensorData': grpc.unary_unary_rpc_method_handler( + servicer.GetSensorData, + request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Feedback.SerializeToString, + ), + 'GetSensorDataStream': grpc.stream_stream_rpc_method_handler( + servicer.GetSensorDataStream, + request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Feedback.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'cmvr.api.DexHandService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class DexHandService(object): + """Missing associated documentation comment in .proto file.""" + + @staticmethod + def GetStatus(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/GetStatus', + cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Request.SerializeToString, + cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetDexHandPos(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandPos', + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Request.SerializeToString, + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetDexHandAngle(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandAngle', + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Request.SerializeToString, + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetDexHandForce(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandForce', + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Request.SerializeToString, + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetDexHandSpeed(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandSpeed', + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Request.SerializeToString, + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetDexHandPresetAct(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandPresetAct', + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Request.SerializeToString, + cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetSensorData(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/GetSensorData', + cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Request.SerializeToString, + cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetSensorDataStream(request_iterator, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.DexHandService/GetSensorDataStream', + cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Request.SerializeToString, + cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/generated/cmvr/api/hlc_command_pb2.py b/generated/cmvr/api/hlc_command_pb2.py new file mode 100644 index 0000000..c0442bf --- /dev/null +++ b/generated/cmvr/api/hlc_command_pb2.py @@ -0,0 +1,57 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/hlc_command.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/hlc_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"\xaa\x01\n\x05Touch\x1a\x63\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\t\n\x01u\x18\x02 \x01(\x05\x12\t\n\x01v\x18\x03 \x01(\x05\x12\x11\n\tmax_force\x18\x04 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedbackb\x06proto3') + + + +_TOUCH = DESCRIPTOR.message_types_by_name['Touch'] +_TOUCH_REQUEST = _TOUCH.nested_types_by_name['Request'] +_TOUCH_RESPONSE = _TOUCH.nested_types_by_name['Response'] +Touch = _reflection.GeneratedProtocolMessageType('Touch', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _TOUCH_REQUEST, + '__module__' : 'cmvr.api.hlc_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.Touch.Request) + }) + , + + 'Response' : _reflection.GeneratedProtocolMessageType('Response', (_message.Message,), { + 'DESCRIPTOR' : _TOUCH_RESPONSE, + '__module__' : 'cmvr.api.hlc_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.Touch.Response) + }) + , + 'DESCRIPTOR' : _TOUCH, + '__module__' : 'cmvr.api.hlc_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.Touch) + }) +_sym_db.RegisterMessage(Touch) +_sym_db.RegisterMessage(Touch.Request) +_sym_db.RegisterMessage(Touch.Response) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _TOUCH._serialized_start=64 + _TOUCH._serialized_end=234 + _TOUCH_REQUEST._serialized_start=73 + _TOUCH_REQUEST._serialized_end=172 + _TOUCH_RESPONSE._serialized_start=174 + _TOUCH_RESPONSE._serialized_end=234 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/hlc_command_pb2_grpc.py b/generated/cmvr/api/hlc_command_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/api/hlc_command_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/api/hlc_service_pb2.py b/generated/cmvr/api/hlc_service_pb2.py new file mode 100644 index 0000000..a37f95f --- /dev/null +++ b/generated/cmvr/api/hlc_service_pb2.py @@ -0,0 +1,28 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/hlc_service.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import hlc_command_pb2 as cmvr_dot_api_dot_hlc__command__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/hlc_service.proto\x12\x08\x63mvr.api\x1a\x1a\x63mvr/api/hlc_command.proto2H\n\nHlcService\x12:\n\x05touch\x12\x17.cmvr.api.Touch.Request\x1a\x18.cmvr.api.Touch.Responseb\x06proto3') + + + +_HLCSERVICE = DESCRIPTOR.services_by_name['HlcService'] +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _HLCSERVICE._serialized_start=68 + _HLCSERVICE._serialized_end=140 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/hlc_service_pb2_grpc.py b/generated/cmvr/api/hlc_service_pb2_grpc.py new file mode 100644 index 0000000..ec331cc --- /dev/null +++ b/generated/cmvr/api/hlc_service_pb2_grpc.py @@ -0,0 +1,66 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +from cmvr.api import hlc_command_pb2 as cmvr_dot_api_dot_hlc__command__pb2 + + +class HlcServiceStub(object): + """Missing associated documentation comment in .proto file.""" + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.touch = channel.unary_unary( + '/cmvr.api.HlcService/touch', + request_serializer=cmvr_dot_api_dot_hlc__command__pb2.Touch.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_hlc__command__pb2.Touch.Response.FromString, + ) + + +class HlcServiceServicer(object): + """Missing associated documentation comment in .proto file.""" + + def touch(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_HlcServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'touch': grpc.unary_unary_rpc_method_handler( + servicer.touch, + request_deserializer=cmvr_dot_api_dot_hlc__command__pb2.Touch.Request.FromString, + response_serializer=cmvr_dot_api_dot_hlc__command__pb2.Touch.Response.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'cmvr.api.HlcService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class HlcService(object): + """Missing associated documentation comment in .proto file.""" + + @staticmethod + def touch(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.HlcService/touch', + cmvr_dot_api_dot_hlc__command__pb2.Touch.Request.SerializeToString, + cmvr_dot_api_dot_hlc__command__pb2.Touch.Response.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/generated/cmvr/api/humanoid_robot_command_pb2.py b/generated/cmvr/api/humanoid_robot_command_pb2.py new file mode 100644 index 0000000..b4d15dd --- /dev/null +++ b/generated/cmvr/api/humanoid_robot_command_pb2.py @@ -0,0 +1,261 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/humanoid_robot_command.proto +"""Generated protocol buffer code.""" +from google.protobuf.internal import enum_type_wrapper +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%cmvr/api/humanoid_robot_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"8\n\x08JointCmd\x12\x12\n\njoint_name\x18\x01 \x01(\t\x12\x0b\n\x03rad\x18\x02 \x01(\x01\x12\x0b\n\x03vel\x18\x03 \x01(\x01\"M\n\x06Pose3D\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\x12\n\n\x02rx\x18\x04 \x01(\x01\x12\n\n\x02ry\x18\x05 \x01(\x01\x12\n\n\x02rz\x18\x06 \x01(\x01\"\xbd\x01\n\x05MoveJ\x1av\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12 \n\x04\x63mds\x18\x02 \x03(\x0b\x32\x12.cmvr.api.JointCmd\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x04 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xd3\x01\n\x05MoveL\x1a\x8b\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0f\n\x07\x65\x65_link\x18\x02 \x01(\t\x12$\n\ntargetPose\x18\x03 \x01(\x0b\x32\x10.cmvr.api.Pose3D\x12\x0b\n\x03vel\x18\x04 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x05 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xe2\x01\n\x06SpeedJ\x1a\x99\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\njoint_name\x18\x02 \x01(\t\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x04 \x01(\x01\x12/\n\x03\x64ir\x18\x05 \x01(\x0e\x32\".cmvr.api.RobotJointIndexDirection\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x87\x02\n\x06SpeedL\x1a\xbe\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0f\n\x07\x65\x65_link\x18\x02 \x01(\t\x12\x0b\n\x03vel\x18\x03 \x01(\x01\x12\x0b\n\x03\x61\x63\x63\x18\x04 \x01(\x01\x12/\n\x03\x64ir\x18\x05 \x01(\x0e\x32\".cmvr.api.RobotJointIndexDirection\x12&\n\x04\x63\x61rt\x18\x06 \x01(\x0e\x32\x18.cmvr.api.RobotCartesian\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"a\n\nJointState\x12\x0c\n\x04name\x18\x01 \x03(\t\x12\x10\n\x08position\x18\x02 \x03(\x01\x12\x10\n\x08velocity\x18\x03 \x03(\x01\x12\x0e\n\x06\x65\x66\x66ort\x18\x04 \x03(\x01\x12\x11\n\ttimestamp\x18\x05 \x01(\x01\"f\n\rJointResponse\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12#\n\x05state\x18\x02 \x03(\x0b\x32\x14.cmvr.api.JointState\"?\n\x0cJointRequest\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\"\xc7\x01\n\x07GetPose\x1a^\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x1a\\\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x1e\n\x04pose\x18\x02 \x01(\x0b\x32\x10.cmvr.api.Pose3D*=\n\x0eRobotCartesian\x12\x05\n\x01X\x10\x00\x12\x05\n\x01Y\x10\x01\x12\x05\n\x01Z\x10\x02\x12\x06\n\x02RX\x10\x03\x12\x06\n\x02RY\x10\x04\x12\x06\n\x02RZ\x10\x05*\xbf\x01\n\x18RobotJointIndexDirection\x12\x0b\n\x07\x46ORWARD\x10\x00\x12\x0c\n\x08\x42\x41\x43KWARD\x10\x01\x12\x0e\n\nX_POSITIVE\x10\x02\x12\x0e\n\nX_NEGATIVE\x10\x03\x12\x0e\n\nY_POSITIVE\x10\x04\x12\x0e\n\nY_NEGATIVE\x10\x05\x12\x0e\n\nZ_POSITIVE\x10\x06\x12\x0e\n\nZ_NEGATIVE\x10\x07\x12\x0c\n\x08ROTATE_X\x10\x08\x12\x0c\n\x08ROTATE_Y\x10\t\x12\x0c\n\x08ROTATE_Z\x10\nb\x06proto3') + +_ROBOTCARTESIAN = DESCRIPTOR.enum_types_by_name['RobotCartesian'] +RobotCartesian = enum_type_wrapper.EnumTypeWrapper(_ROBOTCARTESIAN) +_ROBOTJOINTINDEXDIRECTION = DESCRIPTOR.enum_types_by_name['RobotJointIndexDirection'] +RobotJointIndexDirection = enum_type_wrapper.EnumTypeWrapper(_ROBOTJOINTINDEXDIRECTION) +X = 0 +Y = 1 +Z = 2 +RX = 3 +RY = 4 +RZ = 5 +FORWARD = 0 +BACKWARD = 1 +X_POSITIVE = 2 +X_NEGATIVE = 3 +Y_POSITIVE = 4 +Y_NEGATIVE = 5 +Z_POSITIVE = 6 +Z_NEGATIVE = 7 +ROTATE_X = 8 +ROTATE_Y = 9 +ROTATE_Z = 10 + + +_JOINTCMD = DESCRIPTOR.message_types_by_name['JointCmd'] +_POSE3D = DESCRIPTOR.message_types_by_name['Pose3D'] +_MOVEJ = DESCRIPTOR.message_types_by_name['MoveJ'] +_MOVEJ_REQUEST = _MOVEJ.nested_types_by_name['Request'] +_MOVEJ_RESPONSE = _MOVEJ.nested_types_by_name['Response'] +_MOVEL = DESCRIPTOR.message_types_by_name['MoveL'] +_MOVEL_REQUEST = _MOVEL.nested_types_by_name['Request'] +_MOVEL_RESPONSE = _MOVEL.nested_types_by_name['Response'] +_SPEEDJ = DESCRIPTOR.message_types_by_name['SpeedJ'] +_SPEEDJ_REQUEST = _SPEEDJ.nested_types_by_name['Request'] +_SPEEDJ_RESPONSE = _SPEEDJ.nested_types_by_name['Response'] +_SPEEDL = DESCRIPTOR.message_types_by_name['SpeedL'] +_SPEEDL_REQUEST = _SPEEDL.nested_types_by_name['Request'] +_SPEEDL_RESPONSE = _SPEEDL.nested_types_by_name['Response'] +_JOINTSTATE = DESCRIPTOR.message_types_by_name['JointState'] +_JOINTRESPONSE = DESCRIPTOR.message_types_by_name['JointResponse'] +_JOINTREQUEST = DESCRIPTOR.message_types_by_name['JointRequest'] +_GETPOSE = DESCRIPTOR.message_types_by_name['GetPose'] +_GETPOSE_REQUEST = _GETPOSE.nested_types_by_name['Request'] +_GETPOSE_RESPONSE = _GETPOSE.nested_types_by_name['Response'] +JointCmd = _reflection.GeneratedProtocolMessageType('JointCmd', (_message.Message,), { + 'DESCRIPTOR' : _JOINTCMD, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.JointCmd) + }) +_sym_db.RegisterMessage(JointCmd) + +Pose3D = _reflection.GeneratedProtocolMessageType('Pose3D', (_message.Message,), { + 'DESCRIPTOR' : _POSE3D, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.Pose3D) + }) +_sym_db.RegisterMessage(Pose3D) + +MoveJ = _reflection.GeneratedProtocolMessageType('MoveJ', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _MOVEJ_REQUEST, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.MoveJ.Request) + }) + , + + 'Response' : _reflection.GeneratedProtocolMessageType('Response', (_message.Message,), { + 'DESCRIPTOR' : _MOVEJ_RESPONSE, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.MoveJ.Response) + }) + , + 'DESCRIPTOR' : _MOVEJ, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.MoveJ) + }) +_sym_db.RegisterMessage(MoveJ) +_sym_db.RegisterMessage(MoveJ.Request) +_sym_db.RegisterMessage(MoveJ.Response) + +MoveL = _reflection.GeneratedProtocolMessageType('MoveL', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _MOVEL_REQUEST, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.MoveL.Request) + }) + , + + 'Response' : _reflection.GeneratedProtocolMessageType('Response', (_message.Message,), { + 'DESCRIPTOR' : _MOVEL_RESPONSE, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.MoveL.Response) + }) + , + 'DESCRIPTOR' : _MOVEL, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.MoveL) + }) +_sym_db.RegisterMessage(MoveL) +_sym_db.RegisterMessage(MoveL.Request) +_sym_db.RegisterMessage(MoveL.Response) + +SpeedJ = _reflection.GeneratedProtocolMessageType('SpeedJ', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SPEEDJ_REQUEST, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SpeedJ.Request) + }) + , + + 'Response' : _reflection.GeneratedProtocolMessageType('Response', (_message.Message,), { + 'DESCRIPTOR' : _SPEEDJ_RESPONSE, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SpeedJ.Response) + }) + , + 'DESCRIPTOR' : _SPEEDJ, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SpeedJ) + }) +_sym_db.RegisterMessage(SpeedJ) +_sym_db.RegisterMessage(SpeedJ.Request) +_sym_db.RegisterMessage(SpeedJ.Response) + +SpeedL = _reflection.GeneratedProtocolMessageType('SpeedL', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SPEEDL_REQUEST, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SpeedL.Request) + }) + , + + 'Response' : _reflection.GeneratedProtocolMessageType('Response', (_message.Message,), { + 'DESCRIPTOR' : _SPEEDL_RESPONSE, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SpeedL.Response) + }) + , + 'DESCRIPTOR' : _SPEEDL, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SpeedL) + }) +_sym_db.RegisterMessage(SpeedL) +_sym_db.RegisterMessage(SpeedL.Request) +_sym_db.RegisterMessage(SpeedL.Response) + +JointState = _reflection.GeneratedProtocolMessageType('JointState', (_message.Message,), { + 'DESCRIPTOR' : _JOINTSTATE, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.JointState) + }) +_sym_db.RegisterMessage(JointState) + +JointResponse = _reflection.GeneratedProtocolMessageType('JointResponse', (_message.Message,), { + 'DESCRIPTOR' : _JOINTRESPONSE, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.JointResponse) + }) +_sym_db.RegisterMessage(JointResponse) + +JointRequest = _reflection.GeneratedProtocolMessageType('JointRequest', (_message.Message,), { + 'DESCRIPTOR' : _JOINTREQUEST, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.JointRequest) + }) +_sym_db.RegisterMessage(JointRequest) + +GetPose = _reflection.GeneratedProtocolMessageType('GetPose', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETPOSE_REQUEST, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetPose.Request) + }) + , + + 'Response' : _reflection.GeneratedProtocolMessageType('Response', (_message.Message,), { + 'DESCRIPTOR' : _GETPOSE_RESPONSE, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetPose.Response) + }) + , + 'DESCRIPTOR' : _GETPOSE, + '__module__' : 'cmvr.api.humanoid_robot_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetPose) + }) +_sym_db.RegisterMessage(GetPose) +_sym_db.RegisterMessage(GetPose.Request) +_sym_db.RegisterMessage(GetPose.Response) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _ROBOTCARTESIAN._serialized_start=1582 + _ROBOTCARTESIAN._serialized_end=1643 + _ROBOTJOINTINDEXDIRECTION._serialized_start=1646 + _ROBOTJOINTINDEXDIRECTION._serialized_end=1837 + _JOINTCMD._serialized_start=74 + _JOINTCMD._serialized_end=130 + _POSE3D._serialized_start=132 + _POSE3D._serialized_end=209 + _MOVEJ._serialized_start=212 + _MOVEJ._serialized_end=401 + _MOVEJ_REQUEST._serialized_start=221 + _MOVEJ_REQUEST._serialized_end=339 + _MOVEJ_RESPONSE._serialized_start=341 + _MOVEJ_RESPONSE._serialized_end=401 + _MOVEL._serialized_start=404 + _MOVEL._serialized_end=615 + _MOVEL_REQUEST._serialized_start=414 + _MOVEL_REQUEST._serialized_end=553 + _MOVEL_RESPONSE._serialized_start=341 + _MOVEL_RESPONSE._serialized_end=401 + _SPEEDJ._serialized_start=618 + _SPEEDJ._serialized_end=844 + _SPEEDJ_REQUEST._serialized_start=629 + _SPEEDJ_REQUEST._serialized_end=782 + _SPEEDJ_RESPONSE._serialized_start=341 + _SPEEDJ_RESPONSE._serialized_end=401 + _SPEEDL._serialized_start=847 + _SPEEDL._serialized_end=1110 + _SPEEDL_REQUEST._serialized_start=858 + _SPEEDL_REQUEST._serialized_end=1048 + _SPEEDL_RESPONSE._serialized_start=341 + _SPEEDL_RESPONSE._serialized_end=401 + _JOINTSTATE._serialized_start=1112 + _JOINTSTATE._serialized_end=1209 + _JOINTRESPONSE._serialized_start=1211 + _JOINTRESPONSE._serialized_end=1313 + _JOINTREQUEST._serialized_start=1315 + _JOINTREQUEST._serialized_end=1378 + _GETPOSE._serialized_start=1381 + _GETPOSE._serialized_end=1580 + _GETPOSE_REQUEST._serialized_start=1392 + _GETPOSE_REQUEST._serialized_end=1486 + _GETPOSE_RESPONSE._serialized_start=1488 + _GETPOSE_RESPONSE._serialized_end=1580 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/humanoid_robot_command_pb2_grpc.py b/generated/cmvr/api/humanoid_robot_command_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/api/humanoid_robot_command_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/api/humanoid_robot_service_pb2.py b/generated/cmvr/api/humanoid_robot_service_pb2.py new file mode 100644 index 0000000..f4119e5 --- /dev/null +++ b/generated/cmvr/api/humanoid_robot_service_pb2.py @@ -0,0 +1,29 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/humanoid_robot_service.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 +from cmvr.api import humanoid_robot_command_pb2 as cmvr_dot_api_dot_humanoid__robot__command__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%cmvr/api/humanoid_robot_service.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\x1a%cmvr/api/humanoid_robot_command.proto2\xaf\x04\n\x14HumanoidRobotService\x12N\n\ttorqueOff\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12M\n\x08torqueOn\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12:\n\x05moveJ\x12\x17.cmvr.api.MoveJ.Request\x1a\x18.cmvr.api.MoveJ.Response\x12:\n\x05moveL\x12\x17.cmvr.api.MoveL.Request\x1a\x18.cmvr.api.MoveL.Response\x12=\n\x06speedJ\x12\x18.cmvr.api.SpeedJ.Request\x1a\x19.cmvr.api.SpeedJ.Response\x12=\n\x06speedL\x12\x18.cmvr.api.SpeedL.Request\x1a\x19.cmvr.api.SpeedL.Response\x12@\n\rgetJointState\x12\x16.cmvr.api.JointRequest\x1a\x17.cmvr.api.JointResponse\x12@\n\x07getPose\x12\x19.cmvr.api.GetPose.Request\x1a\x1a.cmvr.api.GetPose.Responseb\x06proto3') + + + +_HUMANOIDROBOTSERVICE = DESCRIPTOR.services_by_name['HumanoidRobotService'] +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _HUMANOIDROBOTSERVICE._serialized_start=114 + _HUMANOIDROBOTSERVICE._serialized_end=673 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/humanoid_robot_service_pb2_grpc.py b/generated/cmvr/api/humanoid_robot_service_pb2_grpc.py new file mode 100644 index 0000000..d09a877 --- /dev/null +++ b/generated/cmvr/api/humanoid_robot_service_pb2_grpc.py @@ -0,0 +1,298 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 +from cmvr.api import humanoid_robot_command_pb2 as cmvr_dot_api_dot_humanoid__robot__command__pb2 + + +class HumanoidRobotServiceStub(object): + """Missing associated documentation comment in .proto file.""" + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.torqueOff = channel.unary_unary( + '/cmvr.api.HumanoidRobotService/torqueOff', + request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, + ) + self.torqueOn = channel.unary_unary( + '/cmvr.api.HumanoidRobotService/torqueOn', + request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, + ) + self.moveJ = channel.unary_unary( + '/cmvr.api.HumanoidRobotService/moveJ', + request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Response.FromString, + ) + self.moveL = channel.unary_unary( + '/cmvr.api.HumanoidRobotService/moveL', + request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Response.FromString, + ) + self.speedJ = channel.unary_unary( + '/cmvr.api.HumanoidRobotService/speedJ', + request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Response.FromString, + ) + self.speedL = channel.unary_unary( + '/cmvr.api.HumanoidRobotService/speedL', + request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Response.FromString, + ) + self.getJointState = channel.unary_unary( + '/cmvr.api.HumanoidRobotService/getJointState', + request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.JointRequest.SerializeToString, + response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.JointResponse.FromString, + ) + self.getPose = channel.unary_unary( + '/cmvr.api.HumanoidRobotService/getPose', + request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Response.FromString, + ) + + +class HumanoidRobotServiceServicer(object): + """Missing associated documentation comment in .proto file.""" + + def torqueOff(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def torqueOn(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def moveJ(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def moveL(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def speedJ(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def speedL(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def getJointState(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def getPose(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_HumanoidRobotServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'torqueOff': grpc.unary_unary_rpc_method_handler( + servicer.torqueOff, + request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString, + response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString, + ), + 'torqueOn': grpc.unary_unary_rpc_method_handler( + servicer.torqueOn, + request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString, + response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString, + ), + 'moveJ': grpc.unary_unary_rpc_method_handler( + servicer.moveJ, + request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Request.FromString, + response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Response.SerializeToString, + ), + 'moveL': grpc.unary_unary_rpc_method_handler( + servicer.moveL, + request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Request.FromString, + response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Response.SerializeToString, + ), + 'speedJ': grpc.unary_unary_rpc_method_handler( + servicer.speedJ, + request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Request.FromString, + response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Response.SerializeToString, + ), + 'speedL': grpc.unary_unary_rpc_method_handler( + servicer.speedL, + request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Request.FromString, + response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Response.SerializeToString, + ), + 'getJointState': grpc.unary_unary_rpc_method_handler( + servicer.getJointState, + request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.JointRequest.FromString, + response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.JointResponse.SerializeToString, + ), + 'getPose': grpc.unary_unary_rpc_method_handler( + servicer.getPose, + request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Request.FromString, + response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Response.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'cmvr.api.HumanoidRobotService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class HumanoidRobotService(object): + """Missing associated documentation comment in .proto file.""" + + @staticmethod + def torqueOff(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/torqueOff', + cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, + cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def torqueOn(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/torqueOn', + cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString, + cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def moveJ(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/moveJ', + cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Request.SerializeToString, + cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveJ.Response.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def moveL(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/moveL', + cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Request.SerializeToString, + cmvr_dot_api_dot_humanoid__robot__command__pb2.MoveL.Response.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def speedJ(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/speedJ', + cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Request.SerializeToString, + cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedJ.Response.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def speedL(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/speedL', + cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Request.SerializeToString, + cmvr_dot_api_dot_humanoid__robot__command__pb2.SpeedL.Response.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def getJointState(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/getJointState', + cmvr_dot_api_dot_humanoid__robot__command__pb2.JointRequest.SerializeToString, + cmvr_dot_api_dot_humanoid__robot__command__pb2.JointResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def getPose(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/getPose', + cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Request.SerializeToString, + cmvr_dot_api_dot_humanoid__robot__command__pb2.GetPose.Response.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/generated/cmvr/api/microphone_command_pb2.py b/generated/cmvr/api/microphone_command_pb2.py new file mode 100644 index 0000000..0533133 --- /dev/null +++ b/generated/cmvr/api/microphone_command_pb2.py @@ -0,0 +1,259 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/microphone_command.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!cmvr/api/microphone_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"s\n\x08MicState\x12\x16\n\x0eis_initialized\x18\x01 \x01(\x08\x12\x12\n\nis_running\x18\x02 \x01(\x08\x12\x14\n\x0cis_recording\x18\x03 \x01(\x08\x12\x0e\n\x06volume\x18\x04 \x01(\x05\x12\x15\n\rerror_message\x18\x05 \x01(\t\"\xb1\x01\n\x12GetMicStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a_\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12!\n\x05state\x18\x02 \x01(\x0b\x32\x12.cmvr.api.MicState\"\xa7\x01\n\x18StartMicRecordingCommand\x1aM\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tfile_path\x18\x02 \x01(\t\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x93\x01\n\x17StopMicRecordingCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x94\x01\n\x18PauseMicRecordingCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x95\x01\n\x19ResumeMicRecordingCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xa4\x01\n\x18SetMicPhoneVolumeCommand\x1aJ\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0e\n\x06volume\x18\x02 \x01(\x05\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xa4\x01\n\x18GetMicPhoneVolumeCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1aL\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x0e\n\x06volume\x18\x02 \x01(\x05\x62\x06proto3') + + + +_MICSTATE = DESCRIPTOR.message_types_by_name['MicState'] +_GETMICSTATECOMMAND = DESCRIPTOR.message_types_by_name['GetMicStateCommand'] +_GETMICSTATECOMMAND_REQUEST = _GETMICSTATECOMMAND.nested_types_by_name['Request'] +_GETMICSTATECOMMAND_FEEDBACK = _GETMICSTATECOMMAND.nested_types_by_name['Feedback'] +_STARTMICRECORDINGCOMMAND = DESCRIPTOR.message_types_by_name['StartMicRecordingCommand'] +_STARTMICRECORDINGCOMMAND_REQUEST = _STARTMICRECORDINGCOMMAND.nested_types_by_name['Request'] +_STARTMICRECORDINGCOMMAND_FEEDBACK = _STARTMICRECORDINGCOMMAND.nested_types_by_name['Feedback'] +_STOPMICRECORDINGCOMMAND = DESCRIPTOR.message_types_by_name['StopMicRecordingCommand'] +_STOPMICRECORDINGCOMMAND_REQUEST = _STOPMICRECORDINGCOMMAND.nested_types_by_name['Request'] +_STOPMICRECORDINGCOMMAND_FEEDBACK = _STOPMICRECORDINGCOMMAND.nested_types_by_name['Feedback'] +_PAUSEMICRECORDINGCOMMAND = DESCRIPTOR.message_types_by_name['PauseMicRecordingCommand'] +_PAUSEMICRECORDINGCOMMAND_REQUEST = _PAUSEMICRECORDINGCOMMAND.nested_types_by_name['Request'] +_PAUSEMICRECORDINGCOMMAND_FEEDBACK = _PAUSEMICRECORDINGCOMMAND.nested_types_by_name['Feedback'] +_RESUMEMICRECORDINGCOMMAND = DESCRIPTOR.message_types_by_name['ResumeMicRecordingCommand'] +_RESUMEMICRECORDINGCOMMAND_REQUEST = _RESUMEMICRECORDINGCOMMAND.nested_types_by_name['Request'] +_RESUMEMICRECORDINGCOMMAND_FEEDBACK = _RESUMEMICRECORDINGCOMMAND.nested_types_by_name['Feedback'] +_SETMICPHONEVOLUMECOMMAND = DESCRIPTOR.message_types_by_name['SetMicPhoneVolumeCommand'] +_SETMICPHONEVOLUMECOMMAND_REQUEST = _SETMICPHONEVOLUMECOMMAND.nested_types_by_name['Request'] +_SETMICPHONEVOLUMECOMMAND_FEEDBACK = _SETMICPHONEVOLUMECOMMAND.nested_types_by_name['Feedback'] +_GETMICPHONEVOLUMECOMMAND = DESCRIPTOR.message_types_by_name['GetMicPhoneVolumeCommand'] +_GETMICPHONEVOLUMECOMMAND_REQUEST = _GETMICPHONEVOLUMECOMMAND.nested_types_by_name['Request'] +_GETMICPHONEVOLUMECOMMAND_FEEDBACK = _GETMICPHONEVOLUMECOMMAND.nested_types_by_name['Feedback'] +MicState = _reflection.GeneratedProtocolMessageType('MicState', (_message.Message,), { + 'DESCRIPTOR' : _MICSTATE, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.MicState) + }) +_sym_db.RegisterMessage(MicState) + +GetMicStateCommand = _reflection.GeneratedProtocolMessageType('GetMicStateCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETMICSTATECOMMAND_REQUEST, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetMicStateCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETMICSTATECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetMicStateCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETMICSTATECOMMAND, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetMicStateCommand) + }) +_sym_db.RegisterMessage(GetMicStateCommand) +_sym_db.RegisterMessage(GetMicStateCommand.Request) +_sym_db.RegisterMessage(GetMicStateCommand.Feedback) + +StartMicRecordingCommand = _reflection.GeneratedProtocolMessageType('StartMicRecordingCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _STARTMICRECORDINGCOMMAND_REQUEST, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StartMicRecordingCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _STARTMICRECORDINGCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StartMicRecordingCommand.Feedback) + }) + , + 'DESCRIPTOR' : _STARTMICRECORDINGCOMMAND, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StartMicRecordingCommand) + }) +_sym_db.RegisterMessage(StartMicRecordingCommand) +_sym_db.RegisterMessage(StartMicRecordingCommand.Request) +_sym_db.RegisterMessage(StartMicRecordingCommand.Feedback) + +StopMicRecordingCommand = _reflection.GeneratedProtocolMessageType('StopMicRecordingCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _STOPMICRECORDINGCOMMAND_REQUEST, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopMicRecordingCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _STOPMICRECORDINGCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopMicRecordingCommand.Feedback) + }) + , + 'DESCRIPTOR' : _STOPMICRECORDINGCOMMAND, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopMicRecordingCommand) + }) +_sym_db.RegisterMessage(StopMicRecordingCommand) +_sym_db.RegisterMessage(StopMicRecordingCommand.Request) +_sym_db.RegisterMessage(StopMicRecordingCommand.Feedback) + +PauseMicRecordingCommand = _reflection.GeneratedProtocolMessageType('PauseMicRecordingCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _PAUSEMICRECORDINGCOMMAND_REQUEST, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.PauseMicRecordingCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _PAUSEMICRECORDINGCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.PauseMicRecordingCommand.Feedback) + }) + , + 'DESCRIPTOR' : _PAUSEMICRECORDINGCOMMAND, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.PauseMicRecordingCommand) + }) +_sym_db.RegisterMessage(PauseMicRecordingCommand) +_sym_db.RegisterMessage(PauseMicRecordingCommand.Request) +_sym_db.RegisterMessage(PauseMicRecordingCommand.Feedback) + +ResumeMicRecordingCommand = _reflection.GeneratedProtocolMessageType('ResumeMicRecordingCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _RESUMEMICRECORDINGCOMMAND_REQUEST, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.ResumeMicRecordingCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _RESUMEMICRECORDINGCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.ResumeMicRecordingCommand.Feedback) + }) + , + 'DESCRIPTOR' : _RESUMEMICRECORDINGCOMMAND, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.ResumeMicRecordingCommand) + }) +_sym_db.RegisterMessage(ResumeMicRecordingCommand) +_sym_db.RegisterMessage(ResumeMicRecordingCommand.Request) +_sym_db.RegisterMessage(ResumeMicRecordingCommand.Feedback) + +SetMicPhoneVolumeCommand = _reflection.GeneratedProtocolMessageType('SetMicPhoneVolumeCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SETMICPHONEVOLUMECOMMAND_REQUEST, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetMicPhoneVolumeCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _SETMICPHONEVOLUMECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetMicPhoneVolumeCommand.Feedback) + }) + , + 'DESCRIPTOR' : _SETMICPHONEVOLUMECOMMAND, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetMicPhoneVolumeCommand) + }) +_sym_db.RegisterMessage(SetMicPhoneVolumeCommand) +_sym_db.RegisterMessage(SetMicPhoneVolumeCommand.Request) +_sym_db.RegisterMessage(SetMicPhoneVolumeCommand.Feedback) + +GetMicPhoneVolumeCommand = _reflection.GeneratedProtocolMessageType('GetMicPhoneVolumeCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETMICPHONEVOLUMECOMMAND_REQUEST, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetMicPhoneVolumeCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETMICPHONEVOLUMECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetMicPhoneVolumeCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETMICPHONEVOLUMECOMMAND, + '__module__' : 'cmvr.api.microphone_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetMicPhoneVolumeCommand) + }) +_sym_db.RegisterMessage(GetMicPhoneVolumeCommand) +_sym_db.RegisterMessage(GetMicPhoneVolumeCommand.Request) +_sym_db.RegisterMessage(GetMicPhoneVolumeCommand.Feedback) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _MICSTATE._serialized_start=70 + _MICSTATE._serialized_end=185 + _GETMICSTATECOMMAND._serialized_start=188 + _GETMICSTATECOMMAND._serialized_end=365 + _GETMICSTATECOMMAND_REQUEST._serialized_start=210 + _GETMICSTATECOMMAND_REQUEST._serialized_end=268 + _GETMICSTATECOMMAND_FEEDBACK._serialized_start=270 + _GETMICSTATECOMMAND_FEEDBACK._serialized_end=365 + _STARTMICRECORDINGCOMMAND._serialized_start=368 + _STARTMICRECORDINGCOMMAND._serialized_end=535 + _STARTMICRECORDINGCOMMAND_REQUEST._serialized_start=396 + _STARTMICRECORDINGCOMMAND_REQUEST._serialized_end=473 + _STARTMICRECORDINGCOMMAND_FEEDBACK._serialized_start=270 + _STARTMICRECORDINGCOMMAND_FEEDBACK._serialized_end=330 + _STOPMICRECORDINGCOMMAND._serialized_start=538 + _STOPMICRECORDINGCOMMAND._serialized_end=685 + _STOPMICRECORDINGCOMMAND_REQUEST._serialized_start=210 + _STOPMICRECORDINGCOMMAND_REQUEST._serialized_end=268 + _STOPMICRECORDINGCOMMAND_FEEDBACK._serialized_start=270 + _STOPMICRECORDINGCOMMAND_FEEDBACK._serialized_end=330 + _PAUSEMICRECORDINGCOMMAND._serialized_start=688 + _PAUSEMICRECORDINGCOMMAND._serialized_end=836 + _PAUSEMICRECORDINGCOMMAND_REQUEST._serialized_start=210 + _PAUSEMICRECORDINGCOMMAND_REQUEST._serialized_end=268 + _PAUSEMICRECORDINGCOMMAND_FEEDBACK._serialized_start=270 + _PAUSEMICRECORDINGCOMMAND_FEEDBACK._serialized_end=330 + _RESUMEMICRECORDINGCOMMAND._serialized_start=839 + _RESUMEMICRECORDINGCOMMAND._serialized_end=988 + _RESUMEMICRECORDINGCOMMAND_REQUEST._serialized_start=210 + _RESUMEMICRECORDINGCOMMAND_REQUEST._serialized_end=268 + _RESUMEMICRECORDINGCOMMAND_FEEDBACK._serialized_start=270 + _RESUMEMICRECORDINGCOMMAND_FEEDBACK._serialized_end=330 + _SETMICPHONEVOLUMECOMMAND._serialized_start=991 + _SETMICPHONEVOLUMECOMMAND._serialized_end=1155 + _SETMICPHONEVOLUMECOMMAND_REQUEST._serialized_start=1019 + _SETMICPHONEVOLUMECOMMAND_REQUEST._serialized_end=1093 + _SETMICPHONEVOLUMECOMMAND_FEEDBACK._serialized_start=270 + _SETMICPHONEVOLUMECOMMAND_FEEDBACK._serialized_end=330 + _GETMICPHONEVOLUMECOMMAND._serialized_start=1158 + _GETMICPHONEVOLUMECOMMAND._serialized_end=1322 + _GETMICPHONEVOLUMECOMMAND_REQUEST._serialized_start=210 + _GETMICPHONEVOLUMECOMMAND_REQUEST._serialized_end=268 + _GETMICPHONEVOLUMECOMMAND_FEEDBACK._serialized_start=1246 + _GETMICPHONEVOLUMECOMMAND_FEEDBACK._serialized_end=1322 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/microphone_command_pb2_grpc.py b/generated/cmvr/api/microphone_command_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/api/microphone_command_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/api/microphone_service_pb2.py b/generated/cmvr/api/microphone_service_pb2.py new file mode 100644 index 0000000..ab37d7c --- /dev/null +++ b/generated/cmvr/api/microphone_service_pb2.py @@ -0,0 +1,28 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/microphone_service.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import microphone_command_pb2 as cmvr_dot_api_dot_microphone__command__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!cmvr/api/microphone_service.proto\x12\x08\x63mvr.api\x1a!cmvr/api/microphone_command.proto2\xd7\x05\n\x0fMicPhoneService\x12X\n\tGetStatus\x12$.cmvr.api.GetMicStateCommand.Request\x1a%.cmvr.api.GetMicStateCommand.Feedback\x12\x66\n\x0bStartRecord\x12*.cmvr.api.StartMicRecordingCommand.Request\x1a+.cmvr.api.StartMicRecordingCommand.Feedback\x12\x63\n\nStopRecord\x12).cmvr.api.StopMicRecordingCommand.Request\x1a*.cmvr.api.StopMicRecordingCommand.Feedback\x12\x66\n\x0bPauseRecord\x12*.cmvr.api.PauseMicRecordingCommand.Request\x1a+.cmvr.api.PauseMicRecordingCommand.Feedback\x12i\n\x0cResumeRecord\x12+.cmvr.api.ResumeMicRecordingCommand.Request\x1a,.cmvr.api.ResumeMicRecordingCommand.Feedback\x12\x64\n\tSetVolume\x12*.cmvr.api.SetMicPhoneVolumeCommand.Request\x1a+.cmvr.api.SetMicPhoneVolumeCommand.Feedback\x12\x64\n\tGetVolume\x12*.cmvr.api.GetMicPhoneVolumeCommand.Request\x1a+.cmvr.api.GetMicPhoneVolumeCommand.Feedbackb\x06proto3') + + + +_MICPHONESERVICE = DESCRIPTOR.services_by_name['MicPhoneService'] +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _MICPHONESERVICE._serialized_start=83 + _MICPHONESERVICE._serialized_end=810 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/microphone_service_pb2_grpc.py b/generated/cmvr/api/microphone_service_pb2_grpc.py new file mode 100644 index 0000000..68ec4c5 --- /dev/null +++ b/generated/cmvr/api/microphone_service_pb2_grpc.py @@ -0,0 +1,266 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +from cmvr.api import microphone_command_pb2 as cmvr_dot_api_dot_microphone__command__pb2 + + +class MicPhoneServiceStub(object): + """Missing associated documentation comment in .proto file.""" + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.GetStatus = channel.unary_unary( + '/cmvr.api.MicPhoneService/GetStatus', + request_serializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Feedback.FromString, + ) + self.StartRecord = channel.unary_unary( + '/cmvr.api.MicPhoneService/StartRecord', + request_serializer=cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Feedback.FromString, + ) + self.StopRecord = channel.unary_unary( + '/cmvr.api.MicPhoneService/StopRecord', + request_serializer=cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Feedback.FromString, + ) + self.PauseRecord = channel.unary_unary( + '/cmvr.api.MicPhoneService/PauseRecord', + request_serializer=cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Feedback.FromString, + ) + self.ResumeRecord = channel.unary_unary( + '/cmvr.api.MicPhoneService/ResumeRecord', + request_serializer=cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Feedback.FromString, + ) + self.SetVolume = channel.unary_unary( + '/cmvr.api.MicPhoneService/SetVolume', + request_serializer=cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Feedback.FromString, + ) + self.GetVolume = channel.unary_unary( + '/cmvr.api.MicPhoneService/GetVolume', + request_serializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Feedback.FromString, + ) + + +class MicPhoneServiceServicer(object): + """Missing associated documentation comment in .proto file.""" + + def GetStatus(self, request, context): + """基本控制 + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def StartRecord(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def StopRecord(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def PauseRecord(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def ResumeRecord(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetVolume(self, request, context): + """音量控制 + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetVolume(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_MicPhoneServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'GetStatus': grpc.unary_unary_rpc_method_handler( + servicer.GetStatus, + request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Feedback.SerializeToString, + ), + 'StartRecord': grpc.unary_unary_rpc_method_handler( + servicer.StartRecord, + request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Feedback.SerializeToString, + ), + 'StopRecord': grpc.unary_unary_rpc_method_handler( + servicer.StopRecord, + request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Feedback.SerializeToString, + ), + 'PauseRecord': grpc.unary_unary_rpc_method_handler( + servicer.PauseRecord, + request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Feedback.SerializeToString, + ), + 'ResumeRecord': grpc.unary_unary_rpc_method_handler( + servicer.ResumeRecord, + request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Feedback.SerializeToString, + ), + 'SetVolume': grpc.unary_unary_rpc_method_handler( + servicer.SetVolume, + request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Feedback.SerializeToString, + ), + 'GetVolume': grpc.unary_unary_rpc_method_handler( + servicer.GetVolume, + request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Feedback.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'cmvr.api.MicPhoneService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class MicPhoneService(object): + """Missing associated documentation comment in .proto file.""" + + @staticmethod + def GetStatus(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/GetStatus', + cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Request.SerializeToString, + cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def StartRecord(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/StartRecord', + cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Request.SerializeToString, + cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def StopRecord(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/StopRecord', + cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Request.SerializeToString, + cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def PauseRecord(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/PauseRecord', + cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Request.SerializeToString, + cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def ResumeRecord(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/ResumeRecord', + cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Request.SerializeToString, + cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetVolume(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/SetVolume', + cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Request.SerializeToString, + cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetVolume(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/GetVolume', + cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Request.SerializeToString, + cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/generated/cmvr/api/speaker_command_pb2.py b/generated/cmvr/api/speaker_command_pb2.py new file mode 100644 index 0000000..6a7b4e8 --- /dev/null +++ b/generated/cmvr/api/speaker_command_pb2.py @@ -0,0 +1,272 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/speaker_command.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/speaker_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"\xb3\x01\n\tAudioData\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c\x12\x13\n\x0bsample_rate\x18\x02 \x01(\x05\x12\x10\n\x08\x63hannels\x18\x03 \x01(\x05\x12/\n\x06\x66ormat\x18\x04 \x01(\x0e\x32\x1f.cmvr.api.AudioData.AudioFormat\x12\r\n\x05\x63odec\x18\x05 \x01(\t\"1\n\x0b\x41udioFormat\x12\x07\n\x03PCM\x10\x00\x12\x07\n\x03MP3\x10\x01\x12\x07\n\x03\x41\x41\x43\x10\x02\x12\x07\n\x03WAV\x10\x03\"\x89\x01\n\x0cSpeakerState\x12\x16\n\x0eis_initialized\x18\x01 \x01(\x08\x12\x12\n\nis_running\x18\x02 \x01(\x08\x12\x13\n\x0bis_decoding\x18\x03 \x01(\x08\x12\x11\n\tis_paused\x18\x05 \x01(\x08\x12\x0e\n\x06volume\x18\x06 \x01(\x05\x12\x15\n\rerror_message\x18\x07 \x01(\t\"\xb9\x01\n\x16GetSpeakerStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x63\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12%\n\x05state\x18\x02 \x01(\x0b\x32\x16.cmvr.api.SpeakerState\"\xa0\x01\n\x10PlayAudioCommand\x1aN\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\naudio_path\x18\x02 \x01(\t\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8e\x01\n\x12StopSpeakerCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8f\x01\n\x13PauseSpeakerCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x90\x01\n\x14ResumeSpeakerCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xa3\x01\n\x17SetSpeakerVolumeCommand\x1aJ\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0e\n\x06volume\x18\x02 \x01(\x05\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xa3\x01\n\x17GetSpeakerVolumeCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1aL\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x0e\n\x06volume\x18\x02 \x01(\x05\x62\x06proto3') + + + +_AUDIODATA = DESCRIPTOR.message_types_by_name['AudioData'] +_SPEAKERSTATE = DESCRIPTOR.message_types_by_name['SpeakerState'] +_GETSPEAKERSTATECOMMAND = DESCRIPTOR.message_types_by_name['GetSpeakerStateCommand'] +_GETSPEAKERSTATECOMMAND_REQUEST = _GETSPEAKERSTATECOMMAND.nested_types_by_name['Request'] +_GETSPEAKERSTATECOMMAND_FEEDBACK = _GETSPEAKERSTATECOMMAND.nested_types_by_name['Feedback'] +_PLAYAUDIOCOMMAND = DESCRIPTOR.message_types_by_name['PlayAudioCommand'] +_PLAYAUDIOCOMMAND_REQUEST = _PLAYAUDIOCOMMAND.nested_types_by_name['Request'] +_PLAYAUDIOCOMMAND_FEEDBACK = _PLAYAUDIOCOMMAND.nested_types_by_name['Feedback'] +_STOPSPEAKERCOMMAND = DESCRIPTOR.message_types_by_name['StopSpeakerCommand'] +_STOPSPEAKERCOMMAND_REQUEST = _STOPSPEAKERCOMMAND.nested_types_by_name['Request'] +_STOPSPEAKERCOMMAND_FEEDBACK = _STOPSPEAKERCOMMAND.nested_types_by_name['Feedback'] +_PAUSESPEAKERCOMMAND = DESCRIPTOR.message_types_by_name['PauseSpeakerCommand'] +_PAUSESPEAKERCOMMAND_REQUEST = _PAUSESPEAKERCOMMAND.nested_types_by_name['Request'] +_PAUSESPEAKERCOMMAND_FEEDBACK = _PAUSESPEAKERCOMMAND.nested_types_by_name['Feedback'] +_RESUMESPEAKERCOMMAND = DESCRIPTOR.message_types_by_name['ResumeSpeakerCommand'] +_RESUMESPEAKERCOMMAND_REQUEST = _RESUMESPEAKERCOMMAND.nested_types_by_name['Request'] +_RESUMESPEAKERCOMMAND_FEEDBACK = _RESUMESPEAKERCOMMAND.nested_types_by_name['Feedback'] +_SETSPEAKERVOLUMECOMMAND = DESCRIPTOR.message_types_by_name['SetSpeakerVolumeCommand'] +_SETSPEAKERVOLUMECOMMAND_REQUEST = _SETSPEAKERVOLUMECOMMAND.nested_types_by_name['Request'] +_SETSPEAKERVOLUMECOMMAND_FEEDBACK = _SETSPEAKERVOLUMECOMMAND.nested_types_by_name['Feedback'] +_GETSPEAKERVOLUMECOMMAND = DESCRIPTOR.message_types_by_name['GetSpeakerVolumeCommand'] +_GETSPEAKERVOLUMECOMMAND_REQUEST = _GETSPEAKERVOLUMECOMMAND.nested_types_by_name['Request'] +_GETSPEAKERVOLUMECOMMAND_FEEDBACK = _GETSPEAKERVOLUMECOMMAND.nested_types_by_name['Feedback'] +_AUDIODATA_AUDIOFORMAT = _AUDIODATA.enum_types_by_name['AudioFormat'] +AudioData = _reflection.GeneratedProtocolMessageType('AudioData', (_message.Message,), { + 'DESCRIPTOR' : _AUDIODATA, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.AudioData) + }) +_sym_db.RegisterMessage(AudioData) + +SpeakerState = _reflection.GeneratedProtocolMessageType('SpeakerState', (_message.Message,), { + 'DESCRIPTOR' : _SPEAKERSTATE, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SpeakerState) + }) +_sym_db.RegisterMessage(SpeakerState) + +GetSpeakerStateCommand = _reflection.GeneratedProtocolMessageType('GetSpeakerStateCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETSPEAKERSTATECOMMAND_REQUEST, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSpeakerStateCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETSPEAKERSTATECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSpeakerStateCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETSPEAKERSTATECOMMAND, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSpeakerStateCommand) + }) +_sym_db.RegisterMessage(GetSpeakerStateCommand) +_sym_db.RegisterMessage(GetSpeakerStateCommand.Request) +_sym_db.RegisterMessage(GetSpeakerStateCommand.Feedback) + +PlayAudioCommand = _reflection.GeneratedProtocolMessageType('PlayAudioCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _PLAYAUDIOCOMMAND_REQUEST, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.PlayAudioCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _PLAYAUDIOCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.PlayAudioCommand.Feedback) + }) + , + 'DESCRIPTOR' : _PLAYAUDIOCOMMAND, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.PlayAudioCommand) + }) +_sym_db.RegisterMessage(PlayAudioCommand) +_sym_db.RegisterMessage(PlayAudioCommand.Request) +_sym_db.RegisterMessage(PlayAudioCommand.Feedback) + +StopSpeakerCommand = _reflection.GeneratedProtocolMessageType('StopSpeakerCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _STOPSPEAKERCOMMAND_REQUEST, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopSpeakerCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _STOPSPEAKERCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopSpeakerCommand.Feedback) + }) + , + 'DESCRIPTOR' : _STOPSPEAKERCOMMAND, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.StopSpeakerCommand) + }) +_sym_db.RegisterMessage(StopSpeakerCommand) +_sym_db.RegisterMessage(StopSpeakerCommand.Request) +_sym_db.RegisterMessage(StopSpeakerCommand.Feedback) + +PauseSpeakerCommand = _reflection.GeneratedProtocolMessageType('PauseSpeakerCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _PAUSESPEAKERCOMMAND_REQUEST, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.PauseSpeakerCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _PAUSESPEAKERCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.PauseSpeakerCommand.Feedback) + }) + , + 'DESCRIPTOR' : _PAUSESPEAKERCOMMAND, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.PauseSpeakerCommand) + }) +_sym_db.RegisterMessage(PauseSpeakerCommand) +_sym_db.RegisterMessage(PauseSpeakerCommand.Request) +_sym_db.RegisterMessage(PauseSpeakerCommand.Feedback) + +ResumeSpeakerCommand = _reflection.GeneratedProtocolMessageType('ResumeSpeakerCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _RESUMESPEAKERCOMMAND_REQUEST, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.ResumeSpeakerCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _RESUMESPEAKERCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.ResumeSpeakerCommand.Feedback) + }) + , + 'DESCRIPTOR' : _RESUMESPEAKERCOMMAND, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.ResumeSpeakerCommand) + }) +_sym_db.RegisterMessage(ResumeSpeakerCommand) +_sym_db.RegisterMessage(ResumeSpeakerCommand.Request) +_sym_db.RegisterMessage(ResumeSpeakerCommand.Feedback) + +SetSpeakerVolumeCommand = _reflection.GeneratedProtocolMessageType('SetSpeakerVolumeCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _SETSPEAKERVOLUMECOMMAND_REQUEST, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetSpeakerVolumeCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _SETSPEAKERVOLUMECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetSpeakerVolumeCommand.Feedback) + }) + , + 'DESCRIPTOR' : _SETSPEAKERVOLUMECOMMAND, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.SetSpeakerVolumeCommand) + }) +_sym_db.RegisterMessage(SetSpeakerVolumeCommand) +_sym_db.RegisterMessage(SetSpeakerVolumeCommand.Request) +_sym_db.RegisterMessage(SetSpeakerVolumeCommand.Feedback) + +GetSpeakerVolumeCommand = _reflection.GeneratedProtocolMessageType('GetSpeakerVolumeCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETSPEAKERVOLUMECOMMAND_REQUEST, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSpeakerVolumeCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETSPEAKERVOLUMECOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSpeakerVolumeCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETSPEAKERVOLUMECOMMAND, + '__module__' : 'cmvr.api.speaker_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSpeakerVolumeCommand) + }) +_sym_db.RegisterMessage(GetSpeakerVolumeCommand) +_sym_db.RegisterMessage(GetSpeakerVolumeCommand.Request) +_sym_db.RegisterMessage(GetSpeakerVolumeCommand.Feedback) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _AUDIODATA._serialized_start=68 + _AUDIODATA._serialized_end=247 + _AUDIODATA_AUDIOFORMAT._serialized_start=198 + _AUDIODATA_AUDIOFORMAT._serialized_end=247 + _SPEAKERSTATE._serialized_start=250 + _SPEAKERSTATE._serialized_end=387 + _GETSPEAKERSTATECOMMAND._serialized_start=390 + _GETSPEAKERSTATECOMMAND._serialized_end=575 + _GETSPEAKERSTATECOMMAND_REQUEST._serialized_start=416 + _GETSPEAKERSTATECOMMAND_REQUEST._serialized_end=474 + _GETSPEAKERSTATECOMMAND_FEEDBACK._serialized_start=476 + _GETSPEAKERSTATECOMMAND_FEEDBACK._serialized_end=575 + _PLAYAUDIOCOMMAND._serialized_start=578 + _PLAYAUDIOCOMMAND._serialized_end=738 + _PLAYAUDIOCOMMAND_REQUEST._serialized_start=598 + _PLAYAUDIOCOMMAND_REQUEST._serialized_end=676 + _PLAYAUDIOCOMMAND_FEEDBACK._serialized_start=476 + _PLAYAUDIOCOMMAND_FEEDBACK._serialized_end=536 + _STOPSPEAKERCOMMAND._serialized_start=741 + _STOPSPEAKERCOMMAND._serialized_end=883 + _STOPSPEAKERCOMMAND_REQUEST._serialized_start=416 + _STOPSPEAKERCOMMAND_REQUEST._serialized_end=474 + _STOPSPEAKERCOMMAND_FEEDBACK._serialized_start=476 + _STOPSPEAKERCOMMAND_FEEDBACK._serialized_end=536 + _PAUSESPEAKERCOMMAND._serialized_start=886 + _PAUSESPEAKERCOMMAND._serialized_end=1029 + _PAUSESPEAKERCOMMAND_REQUEST._serialized_start=416 + _PAUSESPEAKERCOMMAND_REQUEST._serialized_end=474 + _PAUSESPEAKERCOMMAND_FEEDBACK._serialized_start=476 + _PAUSESPEAKERCOMMAND_FEEDBACK._serialized_end=536 + _RESUMESPEAKERCOMMAND._serialized_start=1032 + _RESUMESPEAKERCOMMAND._serialized_end=1176 + _RESUMESPEAKERCOMMAND_REQUEST._serialized_start=416 + _RESUMESPEAKERCOMMAND_REQUEST._serialized_end=474 + _RESUMESPEAKERCOMMAND_FEEDBACK._serialized_start=476 + _RESUMESPEAKERCOMMAND_FEEDBACK._serialized_end=536 + _SETSPEAKERVOLUMECOMMAND._serialized_start=1179 + _SETSPEAKERVOLUMECOMMAND._serialized_end=1342 + _SETSPEAKERVOLUMECOMMAND_REQUEST._serialized_start=1206 + _SETSPEAKERVOLUMECOMMAND_REQUEST._serialized_end=1280 + _SETSPEAKERVOLUMECOMMAND_FEEDBACK._serialized_start=476 + _SETSPEAKERVOLUMECOMMAND_FEEDBACK._serialized_end=536 + _GETSPEAKERVOLUMECOMMAND._serialized_start=1345 + _GETSPEAKERVOLUMECOMMAND._serialized_end=1508 + _GETSPEAKERVOLUMECOMMAND_REQUEST._serialized_start=416 + _GETSPEAKERVOLUMECOMMAND_REQUEST._serialized_end=474 + _GETSPEAKERVOLUMECOMMAND_FEEDBACK._serialized_start=1432 + _GETSPEAKERVOLUMECOMMAND_FEEDBACK._serialized_end=1508 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/speaker_command_pb2_grpc.py b/generated/cmvr/api/speaker_command_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/api/speaker_command_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/api/speaker_service_pb2.py b/generated/cmvr/api/speaker_service_pb2.py new file mode 100644 index 0000000..d492313 --- /dev/null +++ b/generated/cmvr/api/speaker_service_pb2.py @@ -0,0 +1,28 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/speaker_service.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import speaker_command_pb2 as cmvr_dot_api_dot_speaker__command__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/speaker_service.proto\x12\x08\x63mvr.api\x1a\x1e\x63mvr/api/speaker_command.proto2\xb0\x05\n\x0eSpeakerService\x12`\n\tGetStatus\x12(.cmvr.api.GetSpeakerStateCommand.Request\x1a).cmvr.api.GetSpeakerStateCommand.Feedback\x12T\n\tPlayAudio\x12\".cmvr.api.PlayAudioCommand.Request\x1a#.cmvr.api.PlayAudioCommand.Feedback\x12[\n\x0cStopPlayback\x12$.cmvr.api.StopSpeakerCommand.Request\x1a%.cmvr.api.StopSpeakerCommand.Feedback\x12^\n\rPausePlayback\x12%.cmvr.api.PauseSpeakerCommand.Request\x1a&.cmvr.api.PauseSpeakerCommand.Feedback\x12\x61\n\x0eResumePlayback\x12&.cmvr.api.ResumeSpeakerCommand.Request\x1a\'.cmvr.api.ResumeSpeakerCommand.Feedback\x12\x62\n\tSetVolume\x12).cmvr.api.SetSpeakerVolumeCommand.Request\x1a*.cmvr.api.SetSpeakerVolumeCommand.Feedback\x12\x62\n\tGetVolume\x12).cmvr.api.GetSpeakerVolumeCommand.Request\x1a*.cmvr.api.GetSpeakerVolumeCommand.Feedbackb\x06proto3') + + + +_SPEAKERSERVICE = DESCRIPTOR.services_by_name['SpeakerService'] +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _SPEAKERSERVICE._serialized_start=77 + _SPEAKERSERVICE._serialized_end=765 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/speaker_service_pb2_grpc.py b/generated/cmvr/api/speaker_service_pb2_grpc.py new file mode 100644 index 0000000..1ad0785 --- /dev/null +++ b/generated/cmvr/api/speaker_service_pb2_grpc.py @@ -0,0 +1,266 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +from cmvr.api import speaker_command_pb2 as cmvr_dot_api_dot_speaker__command__pb2 + + +class SpeakerServiceStub(object): + """Missing associated documentation comment in .proto file.""" + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.GetStatus = channel.unary_unary( + '/cmvr.api.SpeakerService/GetStatus', + request_serializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Feedback.FromString, + ) + self.PlayAudio = channel.unary_unary( + '/cmvr.api.SpeakerService/PlayAudio', + request_serializer=cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Feedback.FromString, + ) + self.StopPlayback = channel.unary_unary( + '/cmvr.api.SpeakerService/StopPlayback', + request_serializer=cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Feedback.FromString, + ) + self.PausePlayback = channel.unary_unary( + '/cmvr.api.SpeakerService/PausePlayback', + request_serializer=cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Feedback.FromString, + ) + self.ResumePlayback = channel.unary_unary( + '/cmvr.api.SpeakerService/ResumePlayback', + request_serializer=cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Feedback.FromString, + ) + self.SetVolume = channel.unary_unary( + '/cmvr.api.SpeakerService/SetVolume', + request_serializer=cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Feedback.FromString, + ) + self.GetVolume = channel.unary_unary( + '/cmvr.api.SpeakerService/GetVolume', + request_serializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Feedback.FromString, + ) + + +class SpeakerServiceServicer(object): + """Missing associated documentation comment in .proto file.""" + + def GetStatus(self, request, context): + """基本控制 + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def PlayAudio(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def StopPlayback(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def PausePlayback(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def ResumePlayback(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def SetVolume(self, request, context): + """音量控制 + """ + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetVolume(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_SpeakerServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'GetStatus': grpc.unary_unary_rpc_method_handler( + servicer.GetStatus, + request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Feedback.SerializeToString, + ), + 'PlayAudio': grpc.unary_unary_rpc_method_handler( + servicer.PlayAudio, + request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Feedback.SerializeToString, + ), + 'StopPlayback': grpc.unary_unary_rpc_method_handler( + servicer.StopPlayback, + request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Feedback.SerializeToString, + ), + 'PausePlayback': grpc.unary_unary_rpc_method_handler( + servicer.PausePlayback, + request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Feedback.SerializeToString, + ), + 'ResumePlayback': grpc.unary_unary_rpc_method_handler( + servicer.ResumePlayback, + request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Feedback.SerializeToString, + ), + 'SetVolume': grpc.unary_unary_rpc_method_handler( + servicer.SetVolume, + request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Feedback.SerializeToString, + ), + 'GetVolume': grpc.unary_unary_rpc_method_handler( + servicer.GetVolume, + request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Feedback.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'cmvr.api.SpeakerService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class SpeakerService(object): + """Missing associated documentation comment in .proto file.""" + + @staticmethod + def GetStatus(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/GetStatus', + cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Request.SerializeToString, + cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def PlayAudio(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/PlayAudio', + cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Request.SerializeToString, + cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def StopPlayback(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/StopPlayback', + cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Request.SerializeToString, + cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def PausePlayback(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/PausePlayback', + cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Request.SerializeToString, + cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def ResumePlayback(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/ResumePlayback', + cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Request.SerializeToString, + cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def SetVolume(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/SetVolume', + cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Request.SerializeToString, + cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetVolume(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/GetVolume', + cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Request.SerializeToString, + cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/generated/cmvr/api/system_command_pb2.py b/generated/cmvr/api/system_command_pb2.py new file mode 100644 index 0000000..2b0d600 --- /dev/null +++ b/generated/cmvr/api/system_command_pb2.py @@ -0,0 +1,145 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/system_command.proto +"""Generated protocol buffer code.""" +from google.protobuf.internal import enum_type_wrapper +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1d\x63mvr/api/system_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"J\n\nDeviceList\x12\x11\n\tdevice_id\x18\x01 \x01(\t\x12)\n\x0b\x64\x65vice_type\x18\x02 \x01(\x0e\x32\x14.cmvr.api.DeviceType\"\xd5\x01\n\x14GetSystemInfoCommand\x1a\t\n\x07Request\x1a\xb1\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x13\n\x0bsystem_name\x18\x02 \x01(\t\x12\x0f\n\x07version\x18\x03 \x01(\t\x12\x13\n\x0b\x64\x65scription\x18\x04 \x01(\t\x12\n\n\x02os\x18\x05 \x01(\t\x12\x16\n\x0ekernel_version\x18\x06 \x01(\t\x12\x14\n\x0c\x61rchitecture\x18\x07 \x01(\t\"\xf8\x01\n\x16GetSystemStatusCommand\x1a\t\n\x07Request\x1a\xd2\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x11\n\tcpu_usage\x18\x02 \x01(\x02\x12\x14\n\x0cmem_total_mb\x18\x03 \x01(\x02\x12\x13\n\x0bmem_used_mb\x18\x04 \x01(\x02\x12\x15\n\rdisk_total_gb\x18\x05 \x01(\x02\x12\x14\n\x0c\x64isk_used_gb\x18\x06 \x01(\x02\x12)\n\x0b\x64\x65vice_list\x18\x07 \x03(\x0b\x32\x14.cmvr.api.DeviceList\"\xb6\x01\n\x13UpdateParamsCommand\x1a\x61\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12%\n\x06params\x18\x02 \x03(\x0b\x32\x15.cmvr.api.ConfigParam\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback*}\n\nDeviceType\x12\x07\n\x03\x41GV\x10\x00\x12\x0b\n\x07\x42\x61ttery\x10\x01\x12\n\n\x06\x43\x61mera\x10\x02\x12\x0b\n\x07\x44\x65xHand\x10\x03\x12\x0b\n\x07Gripper\x10\x04\x12\x0e\n\nMicrophone\x10\x05\x12\t\n\x05Robot\x10\x06\x12\x0b\n\x07Speaker\x10\x07\x12\x0b\n\x07Unknown\x10\x14\x62\x06proto3') + +_DEVICETYPE = DESCRIPTOR.enum_types_by_name['DeviceType'] +DeviceType = enum_type_wrapper.EnumTypeWrapper(_DEVICETYPE) +AGV = 0 +Battery = 1 +Camera = 2 +DexHand = 3 +Gripper = 4 +Microphone = 5 +Robot = 6 +Speaker = 7 +Unknown = 20 + + +_DEVICELIST = DESCRIPTOR.message_types_by_name['DeviceList'] +_GETSYSTEMINFOCOMMAND = DESCRIPTOR.message_types_by_name['GetSystemInfoCommand'] +_GETSYSTEMINFOCOMMAND_REQUEST = _GETSYSTEMINFOCOMMAND.nested_types_by_name['Request'] +_GETSYSTEMINFOCOMMAND_FEEDBACK = _GETSYSTEMINFOCOMMAND.nested_types_by_name['Feedback'] +_GETSYSTEMSTATUSCOMMAND = DESCRIPTOR.message_types_by_name['GetSystemStatusCommand'] +_GETSYSTEMSTATUSCOMMAND_REQUEST = _GETSYSTEMSTATUSCOMMAND.nested_types_by_name['Request'] +_GETSYSTEMSTATUSCOMMAND_FEEDBACK = _GETSYSTEMSTATUSCOMMAND.nested_types_by_name['Feedback'] +_UPDATEPARAMSCOMMAND = DESCRIPTOR.message_types_by_name['UpdateParamsCommand'] +_UPDATEPARAMSCOMMAND_REQUEST = _UPDATEPARAMSCOMMAND.nested_types_by_name['Request'] +_UPDATEPARAMSCOMMAND_FEEDBACK = _UPDATEPARAMSCOMMAND.nested_types_by_name['Feedback'] +DeviceList = _reflection.GeneratedProtocolMessageType('DeviceList', (_message.Message,), { + 'DESCRIPTOR' : _DEVICELIST, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.DeviceList) + }) +_sym_db.RegisterMessage(DeviceList) + +GetSystemInfoCommand = _reflection.GeneratedProtocolMessageType('GetSystemInfoCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETSYSTEMINFOCOMMAND_REQUEST, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSystemInfoCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETSYSTEMINFOCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSystemInfoCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETSYSTEMINFOCOMMAND, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSystemInfoCommand) + }) +_sym_db.RegisterMessage(GetSystemInfoCommand) +_sym_db.RegisterMessage(GetSystemInfoCommand.Request) +_sym_db.RegisterMessage(GetSystemInfoCommand.Feedback) + +GetSystemStatusCommand = _reflection.GeneratedProtocolMessageType('GetSystemStatusCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _GETSYSTEMSTATUSCOMMAND_REQUEST, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSystemStatusCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _GETSYSTEMSTATUSCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSystemStatusCommand.Feedback) + }) + , + 'DESCRIPTOR' : _GETSYSTEMSTATUSCOMMAND, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.GetSystemStatusCommand) + }) +_sym_db.RegisterMessage(GetSystemStatusCommand) +_sym_db.RegisterMessage(GetSystemStatusCommand.Request) +_sym_db.RegisterMessage(GetSystemStatusCommand.Feedback) + +UpdateParamsCommand = _reflection.GeneratedProtocolMessageType('UpdateParamsCommand', (_message.Message,), { + + 'Request' : _reflection.GeneratedProtocolMessageType('Request', (_message.Message,), { + 'DESCRIPTOR' : _UPDATEPARAMSCOMMAND_REQUEST, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.UpdateParamsCommand.Request) + }) + , + + 'Feedback' : _reflection.GeneratedProtocolMessageType('Feedback', (_message.Message,), { + 'DESCRIPTOR' : _UPDATEPARAMSCOMMAND_FEEDBACK, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.UpdateParamsCommand.Feedback) + }) + , + 'DESCRIPTOR' : _UPDATEPARAMSCOMMAND, + '__module__' : 'cmvr.api.system_command_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.UpdateParamsCommand) + }) +_sym_db.RegisterMessage(UpdateParamsCommand) +_sym_db.RegisterMessage(UpdateParamsCommand.Request) +_sym_db.RegisterMessage(UpdateParamsCommand.Feedback) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _DEVICETYPE._serialized_start=794 + _DEVICETYPE._serialized_end=919 + _DEVICELIST._serialized_start=66 + _DEVICELIST._serialized_end=140 + _GETSYSTEMINFOCOMMAND._serialized_start=143 + _GETSYSTEMINFOCOMMAND._serialized_end=356 + _GETSYSTEMINFOCOMMAND_REQUEST._serialized_start=167 + _GETSYSTEMINFOCOMMAND_REQUEST._serialized_end=176 + _GETSYSTEMINFOCOMMAND_FEEDBACK._serialized_start=179 + _GETSYSTEMINFOCOMMAND_FEEDBACK._serialized_end=356 + _GETSYSTEMSTATUSCOMMAND._serialized_start=359 + _GETSYSTEMSTATUSCOMMAND._serialized_end=607 + _GETSYSTEMSTATUSCOMMAND_REQUEST._serialized_start=167 + _GETSYSTEMSTATUSCOMMAND_REQUEST._serialized_end=176 + _GETSYSTEMSTATUSCOMMAND_FEEDBACK._serialized_start=397 + _GETSYSTEMSTATUSCOMMAND_FEEDBACK._serialized_end=607 + _UPDATEPARAMSCOMMAND._serialized_start=610 + _UPDATEPARAMSCOMMAND._serialized_end=792 + _UPDATEPARAMSCOMMAND_REQUEST._serialized_start=633 + _UPDATEPARAMSCOMMAND_REQUEST._serialized_end=730 + _UPDATEPARAMSCOMMAND_FEEDBACK._serialized_start=179 + _UPDATEPARAMSCOMMAND_FEEDBACK._serialized_end=239 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/system_command_pb2_grpc.py b/generated/cmvr/api/system_command_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/api/system_command_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/api/system_service_pb2.py b/generated/cmvr/api/system_service_pb2.py new file mode 100644 index 0000000..7c4d5ec --- /dev/null +++ b/generated/cmvr/api/system_service_pb2.py @@ -0,0 +1,28 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/system_service.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.api import system_command_pb2 as cmvr_dot_api_dot_system__command__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1d\x63mvr/api/system_service.proto\x12\x08\x63mvr.api\x1a\x1d\x63mvr/api/system_command.proto2\xbe\x02\n\rSystemService\x12\x62\n\rGetSystemInfo\x12&.cmvr.api.GetSystemInfoCommand.Request\x1a\'.cmvr.api.GetSystemInfoCommand.Feedback\"\x00\x12h\n\x0fGetSystemStatus\x12(.cmvr.api.GetSystemStatusCommand.Request\x1a).cmvr.api.GetSystemStatusCommand.Feedback\"\x00\x12_\n\x0cUpdateParams\x12%.cmvr.api.UpdateParamsCommand.Request\x1a&.cmvr.api.UpdateParamsCommand.Feedback\"\x00\x62\x06proto3') + + + +_SYSTEMSERVICE = DESCRIPTOR.services_by_name['SystemService'] +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _SYSTEMSERVICE._serialized_start=75 + _SYSTEMSERVICE._serialized_end=393 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/system_service_pb2_grpc.py b/generated/cmvr/api/system_service_pb2_grpc.py new file mode 100644 index 0000000..5b1d214 --- /dev/null +++ b/generated/cmvr/api/system_service_pb2_grpc.py @@ -0,0 +1,132 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +from cmvr.api import system_command_pb2 as cmvr_dot_api_dot_system__command__pb2 + + +class SystemServiceStub(object): + """Missing associated documentation comment in .proto file.""" + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.GetSystemInfo = channel.unary_unary( + '/cmvr.api.SystemService/GetSystemInfo', + request_serializer=cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Feedback.FromString, + ) + self.GetSystemStatus = channel.unary_unary( + '/cmvr.api.SystemService/GetSystemStatus', + request_serializer=cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Feedback.FromString, + ) + self.UpdateParams = channel.unary_unary( + '/cmvr.api.SystemService/UpdateParams', + request_serializer=cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Request.SerializeToString, + response_deserializer=cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Feedback.FromString, + ) + + +class SystemServiceServicer(object): + """Missing associated documentation comment in .proto file.""" + + def GetSystemInfo(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def GetSystemStatus(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + def UpdateParams(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_SystemServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'GetSystemInfo': grpc.unary_unary_rpc_method_handler( + servicer.GetSystemInfo, + request_deserializer=cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Feedback.SerializeToString, + ), + 'GetSystemStatus': grpc.unary_unary_rpc_method_handler( + servicer.GetSystemStatus, + request_deserializer=cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Feedback.SerializeToString, + ), + 'UpdateParams': grpc.unary_unary_rpc_method_handler( + servicer.UpdateParams, + request_deserializer=cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Request.FromString, + response_serializer=cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Feedback.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'cmvr.api.SystemService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class SystemService(object): + """Missing associated documentation comment in .proto file.""" + + @staticmethod + def GetSystemInfo(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SystemService/GetSystemInfo', + cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Request.SerializeToString, + cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def GetSystemStatus(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SystemService/GetSystemStatus', + cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Request.SerializeToString, + cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) + + @staticmethod + def UpdateParams(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.SystemService/UpdateParams', + cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Request.SerializeToString, + cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Feedback.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/generated/cmvr/api/test_service_pb2.py b/generated/cmvr/api/test_service_pb2.py new file mode 100644 index 0000000..71b37c3 --- /dev/null +++ b/generated/cmvr/api/test_service_pb2.py @@ -0,0 +1,47 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/api/test_service.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1b\x63mvr/api/test_service.proto\x12\x08\x63mvr.api\"\x1b\n\x0bTestReqeust\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\t\"\x1c\n\x0cTestResponse\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\t2D\n\x0bTestService\x12\x35\n\x04\x43\x61ll\x12\x15.cmvr.api.TestReqeust\x1a\x16.cmvr.api.TestResponseb\x06proto3') + + + +_TESTREQEUST = DESCRIPTOR.message_types_by_name['TestReqeust'] +_TESTRESPONSE = DESCRIPTOR.message_types_by_name['TestResponse'] +TestReqeust = _reflection.GeneratedProtocolMessageType('TestReqeust', (_message.Message,), { + 'DESCRIPTOR' : _TESTREQEUST, + '__module__' : 'cmvr.api.test_service_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.TestReqeust) + }) +_sym_db.RegisterMessage(TestReqeust) + +TestResponse = _reflection.GeneratedProtocolMessageType('TestResponse', (_message.Message,), { + 'DESCRIPTOR' : _TESTRESPONSE, + '__module__' : 'cmvr.api.test_service_pb2' + # @@protoc_insertion_point(class_scope:cmvr.api.TestResponse) + }) +_sym_db.RegisterMessage(TestResponse) + +_TESTSERVICE = DESCRIPTOR.services_by_name['TestService'] +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _TESTREQEUST._serialized_start=41 + _TESTREQEUST._serialized_end=68 + _TESTRESPONSE._serialized_start=70 + _TESTRESPONSE._serialized_end=98 + _TESTSERVICE._serialized_start=100 + _TESTSERVICE._serialized_end=168 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/api/test_service_pb2_grpc.py b/generated/cmvr/api/test_service_pb2_grpc.py new file mode 100644 index 0000000..8d1e3e9 --- /dev/null +++ b/generated/cmvr/api/test_service_pb2_grpc.py @@ -0,0 +1,66 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + +from cmvr.api import test_service_pb2 as cmvr_dot_api_dot_test__service__pb2 + + +class TestServiceStub(object): + """Missing associated documentation comment in .proto file.""" + + def __init__(self, channel): + """Constructor. + + Args: + channel: A grpc.Channel. + """ + self.Call = channel.unary_unary( + '/cmvr.api.TestService/Call', + request_serializer=cmvr_dot_api_dot_test__service__pb2.TestReqeust.SerializeToString, + response_deserializer=cmvr_dot_api_dot_test__service__pb2.TestResponse.FromString, + ) + + +class TestServiceServicer(object): + """Missing associated documentation comment in .proto file.""" + + def Call(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + + +def add_TestServiceServicer_to_server(servicer, server): + rpc_method_handlers = { + 'Call': grpc.unary_unary_rpc_method_handler( + servicer.Call, + request_deserializer=cmvr_dot_api_dot_test__service__pb2.TestReqeust.FromString, + response_serializer=cmvr_dot_api_dot_test__service__pb2.TestResponse.SerializeToString, + ), + } + generic_handler = grpc.method_handlers_generic_handler( + 'cmvr.api.TestService', rpc_method_handlers) + server.add_generic_rpc_handlers((generic_handler,)) + + + # This class is part of an EXPERIMENTAL API. +class TestService(object): + """Missing associated documentation comment in .proto file.""" + + @staticmethod + def Call(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary(request, target, '/cmvr.api.TestService/Call', + cmvr_dot_api_dot_test__service__pb2.TestReqeust.SerializeToString, + cmvr_dot_api_dot_test__service__pb2.TestResponse.FromString, + options, channel_credentials, + insecure, call_credentials, compression, wait_for_ready, timeout, metadata) diff --git a/generated/cmvr/msgs/__init__.py b/generated/cmvr/msgs/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/generated/cmvr/msgs/can_card_parameter_pb2.py b/generated/cmvr/msgs/can_card_parameter_pb2.py new file mode 100644 index 0000000..4f83ac7 --- /dev/null +++ b/generated/cmvr/msgs/can_card_parameter_pb2.py @@ -0,0 +1,49 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/msgs/can_card_parameter.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"cmvr/msgs/can_card_parameter.proto\x12\tcmvr.msgs\"\x98\x07\n\x10\x43\x41NCardParameter\x12<\n\x05\x62rand\x18\x01 \x01(\x0e\x32(.cmvr.msgs.CANCardParameter.CANCardBrandH\x00\x88\x01\x01\x12:\n\x04type\x18\x02 \x01(\x0e\x32\'.cmvr.msgs.CANCardParameter.CANCardTypeH\x01\x88\x01\x01\x12\x41\n\nchannel_id\x18\x03 \x01(\x0e\x32(.cmvr.msgs.CANCardParameter.CANChannelIdH\x02\x88\x01\x01\x12@\n\tinterface\x18\x04 \x01(\x0e\x32(.cmvr.msgs.CANCardParameter.CANInterfaceH\x03\x88\x01\x01\x12\x16\n\tnum_ports\x18\x05 \x01(\rH\x04\x88\x01\x01\x12;\n\x08\x62\x61udrate\x18\x06 \x01(\x0e\x32$.cmvr.msgs.CANCardParameter.BAUDRATEH\x05\x88\x01\x01\"M\n\x0c\x43\x41NCardBrand\x12\x0c\n\x08\x46\x41KE_CAN\x10\x00\x12\x0b\n\x07\x45SD_CAN\x10\x01\x12\x12\n\x0eSOCKET_CAN_RAW\x10\x02\x12\x0e\n\nHERMES_CAN\x10\x03\")\n\x0b\x43\x41NCardType\x12\x0c\n\x08PCI_CARD\x10\x00\x12\x0c\n\x08USB_CARD\x10\x01\"\xb5\x01\n\x0c\x43\x41NChannelId\x12\x13\n\x0f\x43HANNEL_ID_ZERO\x10\x00\x12\x12\n\x0e\x43HANNEL_ID_ONE\x10\x01\x12\x12\n\x0e\x43HANNEL_ID_TWO\x10\x02\x12\x14\n\x10\x43HANNEL_ID_THREE\x10\x03\x12\x13\n\x0f\x43HANNEL_ID_FOUR\x10\x04\x12\x13\n\x0f\x43HANNEL_ID_FIVE\x10\x05\x12\x12\n\x0e\x43HANNEL_ID_SIX\x10\x06\x12\x14\n\x10\x43HANNEL_ID_SEVEN\x10\x07\"2\n\x0c\x43\x41NInterface\x12\n\n\x06NATIVE\x10\x00\x12\x0b\n\x07VIRTUAL\x10\x01\x12\t\n\x05SLCAN\x10\x02\"\x7f\n\x08\x42\x41UDRATE\x12\x14\n\x10\x42\x43\x41N_BAUDRATE_1M\x10\x00\x12\x16\n\x12\x42\x43\x41N_BAUDRATE_500K\x10\x01\x12\x16\n\x12\x42\x43\x41N_BAUDRATE_250K\x10\x02\x12\x16\n\x12\x42\x43\x41N_BAUDRATE_150K\x10\x03\x12\x15\n\x11\x42\x43\x41N_BAUDRATE_NUM\x10\x04\x42\x08\n\x06_brandB\x07\n\x05_typeB\r\n\x0b_channel_idB\x0c\n\n_interfaceB\x0c\n\n_num_portsB\x0b\n\t_baudrateb\x06proto3') + + + +_CANCARDPARAMETER = DESCRIPTOR.message_types_by_name['CANCardParameter'] +_CANCARDPARAMETER_CANCARDBRAND = _CANCARDPARAMETER.enum_types_by_name['CANCardBrand'] +_CANCARDPARAMETER_CANCARDTYPE = _CANCARDPARAMETER.enum_types_by_name['CANCardType'] +_CANCARDPARAMETER_CANCHANNELID = _CANCARDPARAMETER.enum_types_by_name['CANChannelId'] +_CANCARDPARAMETER_CANINTERFACE = _CANCARDPARAMETER.enum_types_by_name['CANInterface'] +_CANCARDPARAMETER_BAUDRATE = _CANCARDPARAMETER.enum_types_by_name['BAUDRATE'] +CANCardParameter = _reflection.GeneratedProtocolMessageType('CANCardParameter', (_message.Message,), { + 'DESCRIPTOR' : _CANCARDPARAMETER, + '__module__' : 'cmvr.msgs.can_card_parameter_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.CANCardParameter) + }) +_sym_db.RegisterMessage(CANCardParameter) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _CANCARDPARAMETER._serialized_start=50 + _CANCARDPARAMETER._serialized_end=970 + _CANCARDPARAMETER_CANCARDBRAND._serialized_start=410 + _CANCARDPARAMETER_CANCARDBRAND._serialized_end=487 + _CANCARDPARAMETER_CANCARDTYPE._serialized_start=489 + _CANCARDPARAMETER_CANCARDTYPE._serialized_end=530 + _CANCARDPARAMETER_CANCHANNELID._serialized_start=533 + _CANCARDPARAMETER_CANCHANNELID._serialized_end=714 + _CANCARDPARAMETER_CANINTERFACE._serialized_start=716 + _CANCARDPARAMETER_CANINTERFACE._serialized_end=766 + _CANCARDPARAMETER_BAUDRATE._serialized_start=768 + _CANCARDPARAMETER_BAUDRATE._serialized_end=895 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/msgs/can_card_parameter_pb2_grpc.py b/generated/cmvr/msgs/can_card_parameter_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/msgs/can_card_parameter_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/msgs/canopen_pb2.py b/generated/cmvr/msgs/canopen_pb2.py new file mode 100644 index 0000000..40aaec9 --- /dev/null +++ b/generated/cmvr/msgs/canopen_pb2.py @@ -0,0 +1,155 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/msgs/canopen.proto +"""Generated protocol buffer code.""" +from google.protobuf.internal import enum_type_wrapper +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x17\x63mvr/msgs/canopen.proto\x12\tcmvr.msgs\"\x9f\x01\n\x08SdoFrame\x12\x0f\n\x07node_id\x18\x01 \x01(\r\x12\'\n\x02\x63s\x18\x02 \x01(\x0e\x32\x1b.cmvr.msgs.CommandSpecifier\x12!\n\x05index\x18\x03 \x01(\x0e\x32\x12.cmvr.msgs.ObIndex\x12(\n\tsub_index\x18\x04 \x01(\x0e\x32\x15.cmvr.msgs.ObSubIndex\x12\x0c\n\x04\x64\x61ta\x18\x05 \x01(\r*\xe8\x01\n\tPdoBaseId\x12\x1b\n\x17PDO_BASE_ID_UNSPECIFIED\x10\x00\x12\x16\n\x11RPDO1_BASE_ID_200\x10\x80\x04\x12\x16\n\x11RPDO2_BASE_ID_300\x10\x80\x06\x12\x16\n\x11RPDO3_BASE_ID_400\x10\x80\x08\x12\x16\n\x11RPDO4_BASE_ID_500\x10\x80\n\x12\x16\n\x11TPDO1_BASE_ID_180\x10\x80\x03\x12\x16\n\x11TPDO2_BASE_ID_280\x10\x80\x05\x12\x16\n\x11TPDO3_BASE_ID_380\x10\x80\x07\x12\x16\n\x11TPDO4_BASE_ID_480\x10\x80\t*\x9d\x01\n\x10TransmissionType\x12\x15\n\x11SYNC_EVENT_DRIVEN\x10\x00\x12\x0f\n\x0bSYNC_CYCLIC\x10\x01\x12\x10\n\x0bREMOTE_SYNC\x10\xfc\x01\x12\x11\n\x0cREMOTE_ASYNC\x10\xfd\x01\x12 \n\x1b\x41SYNC_MANUFACTURER_SPECIFIC\x10\xfe\x01\x12\x1a\n\x15\x41SYNC_DEVICE_SPECIFIC\x10\xff\x01*\xd1\x02\n\x10\x43ommandSpecifier\x12\t\n\x05\x43S_NO\x10\x00\x12\x15\n\x11\x43S_WRITE_ONE_BYTE\x10/\x12\x16\n\x12\x43S_WRITE_TWO_BYTES\x10+\x12\x18\n\x14\x43S_WRITE_THREE_BYTES\x10\'\x12\x17\n\x13\x43S_WRITE_FOUR_BYTES\x10#\x12\x1d\n\x19\x43S_WRITE_SUCCESS_RESPONSE\x10`\x12\x13\n\x0f\x43S_READ_REQUEST\x10@\x12\x1d\n\x19\x43S_READ_RESPONSE_ONE_BYTE\x10O\x12\x1e\n\x1a\x43S_READ_RESPONSE_TWO_BYTES\x10K\x12 \n\x1c\x43S_READ_RESPONSE_THREE_BYTES\x10G\x12\x1f\n\x1b\x43S_READ_RESPONSE_FOUR_BYTES\x10\x43\x12\x1a\n\x15\x43S_EXCEPTION_RESPONSE\x10\x80\x01*\xa1\x01\n\x08NmtState\x12\x14\n\x10NMT_INITIALIZING\x10\x00\x12\x19\n\x15NMT_RESET_APPLICATION\x10\x01\x12\x12\n\x0eNMT_CONNECTING\x10\x02\x12\x11\n\rNMT_PREPARING\x10\x03\x12\x0f\n\x0bNMT_STOPPED\x10\x04\x12\x13\n\x0fNMT_OPERATIONAL\x10\x05\x12\x17\n\x13NMT_PRE_OPERATIONAL\x10\x7f*\xb1\x01\n\nNmtCommand\x12\x1b\n\x17NMT_COMMAND_UNSPECIFIED\x10\x00\x12\x19\n\x15NMT_START_REMOTE_NODE\x10\x01\x12\x18\n\x14NMT_STOP_REMOTE_NODE\x10\x02\x12\x1e\n\x19NMT_ENTER_PRE_OPERATIONAL\x10\x80\x01\x12\x13\n\x0eNMT_RESET_NODE\x10\x81\x01\x12\x1c\n\x17NMT_RESET_COMMUNICATION\x10\x82\x01*\xce\x08\n\x07ObIndex\x12\x0e\n\nINDEX_ZERO\x10\x00\x12\x18\n\x13USER_SAVE_PARA_2000\x10\x80@\x12\x19\n\x14POSITION_OFFSET_2008\x10\x88@\x12\x15\n\x0f\x45RROR_CODE_6007\x10\x87\xc0\x01\x12\x15\n\x0f\x45RROR_CODE_603F\x10\xbf\xc0\x01\x12\x17\n\x11\x43ONTROL_WORD_6040\x10\xc0\xc0\x01\x12\x16\n\x10STATUS_WORD_6041\x10\xc1\xc0\x01\x12\x19\n\x13OPERATION_MODE_6060\x10\xe0\xc0\x01\x12\x17\n\x11MODE_DISPLAY_6061\x10\xe1\xc0\x01\x12\x1a\n\x14\x41\x43TUAL_POSITION_6064\x10\xe4\xc0\x01\x12\x17\n\x11\x41\x43TUAL_SPEED_606C\x10\xec\xc0\x01\x12\x19\n\x13\x41\x43TUAL_CURRENT_6078\x10\xf8\xc0\x01\x12\x18\n\x12TARGET_TORQUE_6071\x10\xf1\xc0\x01\x12\x15\n\x0fMAX_TORQUE_6072\x10\xf2\xc0\x01\x12\x18\n\x12\x44\x45MAND_TORQUE_6074\x10\xf4\xc0\x01\x12\x1a\n\x14TARGET_POSITION_607A\x10\xfa\xc0\x01\x12\"\n\x1cSOFTWARE_POSITION_LIMIT_607D\x10\xfd\xc0\x01\x12\x14\n\x0eMAX_SPEED_607F\x10\xff\xc0\x01\x12\x18\n\x12PROFILE_SPEED_6081\x10\x81\xc1\x01\x12\x1f\n\x19PROFILE_ACCELERATION_6083\x10\x83\xc1\x01\x12\x1f\n\x19PROFILE_DECELERATION_6084\x10\x84\xc1\x01\x12\x1b\n\x15\x43URRENT_LOOP_PID_60F6\x10\xf6\xc1\x01\x12\x19\n\x13SPEED_LOOP_PID_60F9\x10\xf9\xc1\x01\x12\x1c\n\x16POSITION_LOOP_PID_60FB\x10\xfb\xc1\x01\x12\x17\n\x11TARGET_SPEED_60FF\x10\xff\xc1\x01\x12\x1c\n\x16QUICK_STOP_OPTION_605A\x10\xda\xc0\x01\x12\x1b\n\x15QUICK_STOP_DECEL_6085\x10\x85\xc1\x01\x12\x14\n\x0fRPDO1_COMM_1400\x10\x80(\x12\x14\n\x0fRPDO2_COMM_1401\x10\x81(\x12\x14\n\x0fRPDO3_COMM_1402\x10\x82(\x12\x14\n\x0fRPDO4_COMM_1403\x10\x83(\x12\x14\n\x0fTPDO1_COMM_1800\x10\x80\x30\x12\x14\n\x0fTPDO2_COMM_1801\x10\x81\x30\x12\x14\n\x0fTPDO3_COMM_1802\x10\x82\x30\x12\x14\n\x0fTPDO4_COMM_1803\x10\x83\x30\x12\x13\n\x0eRPDO1_MAP_1600\x10\x80,\x12\x13\n\x0eRPDO2_MAP_1601\x10\x81,\x12\x13\n\x0eRPDO3_MAP_1602\x10\x82,\x12\x13\n\x0eRPDO4_MAP_1603\x10\x83,\x12\x13\n\x0eTPDO1_MAP_1A00\x10\x80\x34\x12\x13\n\x0eTPDO2_MAP_1A01\x10\x81\x34\x12\x13\n\x0eTPDO3_MAP_1A02\x10\x82\x34\x12\x13\n\x0eTPDO4_MAP_1A03\x10\x83\x34\x12\x1c\n\x17PRODUCER_HEARTBEAT_TIME\x10\x97 *\x94\x01\n\nObSubIndex\x12\x0f\n\x0bSUB_INDEX_0\x10\x00\x12\x0f\n\x0bSUB_INDEX_1\x10\x01\x12\x0f\n\x0bSUB_INDEX_2\x10\x02\x12\x0f\n\x0bSUB_INDEX_3\x10\x03\x12\x0f\n\x0bSUB_INDEX_4\x10\x04\x12\x0f\n\x0bSUB_INDEX_5\x10\x05\x12\x0f\n\x0bSUB_INDEX_6\x10\x06\x12\x0f\n\x0bSUB_INDEX_7\x10\x07\x62\x06proto3') + +_PDOBASEID = DESCRIPTOR.enum_types_by_name['PdoBaseId'] +PdoBaseId = enum_type_wrapper.EnumTypeWrapper(_PDOBASEID) +_TRANSMISSIONTYPE = DESCRIPTOR.enum_types_by_name['TransmissionType'] +TransmissionType = enum_type_wrapper.EnumTypeWrapper(_TRANSMISSIONTYPE) +_COMMANDSPECIFIER = DESCRIPTOR.enum_types_by_name['CommandSpecifier'] +CommandSpecifier = enum_type_wrapper.EnumTypeWrapper(_COMMANDSPECIFIER) +_NMTSTATE = DESCRIPTOR.enum_types_by_name['NmtState'] +NmtState = enum_type_wrapper.EnumTypeWrapper(_NMTSTATE) +_NMTCOMMAND = DESCRIPTOR.enum_types_by_name['NmtCommand'] +NmtCommand = enum_type_wrapper.EnumTypeWrapper(_NMTCOMMAND) +_OBINDEX = DESCRIPTOR.enum_types_by_name['ObIndex'] +ObIndex = enum_type_wrapper.EnumTypeWrapper(_OBINDEX) +_OBSUBINDEX = DESCRIPTOR.enum_types_by_name['ObSubIndex'] +ObSubIndex = enum_type_wrapper.EnumTypeWrapper(_OBSUBINDEX) +PDO_BASE_ID_UNSPECIFIED = 0 +RPDO1_BASE_ID_200 = 512 +RPDO2_BASE_ID_300 = 768 +RPDO3_BASE_ID_400 = 1024 +RPDO4_BASE_ID_500 = 1280 +TPDO1_BASE_ID_180 = 384 +TPDO2_BASE_ID_280 = 640 +TPDO3_BASE_ID_380 = 896 +TPDO4_BASE_ID_480 = 1152 +SYNC_EVENT_DRIVEN = 0 +SYNC_CYCLIC = 1 +REMOTE_SYNC = 252 +REMOTE_ASYNC = 253 +ASYNC_MANUFACTURER_SPECIFIC = 254 +ASYNC_DEVICE_SPECIFIC = 255 +CS_NO = 0 +CS_WRITE_ONE_BYTE = 47 +CS_WRITE_TWO_BYTES = 43 +CS_WRITE_THREE_BYTES = 39 +CS_WRITE_FOUR_BYTES = 35 +CS_WRITE_SUCCESS_RESPONSE = 96 +CS_READ_REQUEST = 64 +CS_READ_RESPONSE_ONE_BYTE = 79 +CS_READ_RESPONSE_TWO_BYTES = 75 +CS_READ_RESPONSE_THREE_BYTES = 71 +CS_READ_RESPONSE_FOUR_BYTES = 67 +CS_EXCEPTION_RESPONSE = 128 +NMT_INITIALIZING = 0 +NMT_RESET_APPLICATION = 1 +NMT_CONNECTING = 2 +NMT_PREPARING = 3 +NMT_STOPPED = 4 +NMT_OPERATIONAL = 5 +NMT_PRE_OPERATIONAL = 127 +NMT_COMMAND_UNSPECIFIED = 0 +NMT_START_REMOTE_NODE = 1 +NMT_STOP_REMOTE_NODE = 2 +NMT_ENTER_PRE_OPERATIONAL = 128 +NMT_RESET_NODE = 129 +NMT_RESET_COMMUNICATION = 130 +INDEX_ZERO = 0 +USER_SAVE_PARA_2000 = 8192 +POSITION_OFFSET_2008 = 8200 +ERROR_CODE_6007 = 24583 +ERROR_CODE_603F = 24639 +CONTROL_WORD_6040 = 24640 +STATUS_WORD_6041 = 24641 +OPERATION_MODE_6060 = 24672 +MODE_DISPLAY_6061 = 24673 +ACTUAL_POSITION_6064 = 24676 +ACTUAL_SPEED_606C = 24684 +ACTUAL_CURRENT_6078 = 24696 +TARGET_TORQUE_6071 = 24689 +MAX_TORQUE_6072 = 24690 +DEMAND_TORQUE_6074 = 24692 +TARGET_POSITION_607A = 24698 +SOFTWARE_POSITION_LIMIT_607D = 24701 +MAX_SPEED_607F = 24703 +PROFILE_SPEED_6081 = 24705 +PROFILE_ACCELERATION_6083 = 24707 +PROFILE_DECELERATION_6084 = 24708 +CURRENT_LOOP_PID_60F6 = 24822 +SPEED_LOOP_PID_60F9 = 24825 +POSITION_LOOP_PID_60FB = 24827 +TARGET_SPEED_60FF = 24831 +QUICK_STOP_OPTION_605A = 24666 +QUICK_STOP_DECEL_6085 = 24709 +RPDO1_COMM_1400 = 5120 +RPDO2_COMM_1401 = 5121 +RPDO3_COMM_1402 = 5122 +RPDO4_COMM_1403 = 5123 +TPDO1_COMM_1800 = 6144 +TPDO2_COMM_1801 = 6145 +TPDO3_COMM_1802 = 6146 +TPDO4_COMM_1803 = 6147 +RPDO1_MAP_1600 = 5632 +RPDO2_MAP_1601 = 5633 +RPDO3_MAP_1602 = 5634 +RPDO4_MAP_1603 = 5635 +TPDO1_MAP_1A00 = 6656 +TPDO2_MAP_1A01 = 6657 +TPDO3_MAP_1A02 = 6658 +TPDO4_MAP_1A03 = 6659 +PRODUCER_HEARTBEAT_TIME = 4119 +SUB_INDEX_0 = 0 +SUB_INDEX_1 = 1 +SUB_INDEX_2 = 2 +SUB_INDEX_3 = 3 +SUB_INDEX_4 = 4 +SUB_INDEX_5 = 5 +SUB_INDEX_6 = 6 +SUB_INDEX_7 = 7 + + +_SDOFRAME = DESCRIPTOR.message_types_by_name['SdoFrame'] +SdoFrame = _reflection.GeneratedProtocolMessageType('SdoFrame', (_message.Message,), { + 'DESCRIPTOR' : _SDOFRAME, + '__module__' : 'cmvr.msgs.canopen_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.SdoFrame) + }) +_sym_db.RegisterMessage(SdoFrame) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _PDOBASEID._serialized_start=201 + _PDOBASEID._serialized_end=433 + _TRANSMISSIONTYPE._serialized_start=436 + _TRANSMISSIONTYPE._serialized_end=593 + _COMMANDSPECIFIER._serialized_start=596 + _COMMANDSPECIFIER._serialized_end=933 + _NMTSTATE._serialized_start=936 + _NMTSTATE._serialized_end=1097 + _NMTCOMMAND._serialized_start=1100 + _NMTCOMMAND._serialized_end=1277 + _OBINDEX._serialized_start=1280 + _OBINDEX._serialized_end=2382 + _OBSUBINDEX._serialized_start=2385 + _OBSUBINDEX._serialized_end=2533 + _SDOFRAME._serialized_start=39 + _SDOFRAME._serialized_end=198 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/msgs/canopen_pb2_grpc.py b/generated/cmvr/msgs/canopen_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/msgs/canopen_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/msgs/error_code_pb2.py b/generated/cmvr/msgs/error_code_pb2.py new file mode 100644 index 0000000..f6546a4 --- /dev/null +++ b/generated/cmvr/msgs/error_code_pb2.py @@ -0,0 +1,48 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/msgs/error_code.proto +"""Generated protocol buffer code.""" +from google.protobuf.internal import enum_type_wrapper +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/msgs/error_code.proto\x12\tcmvr.msgs\"A\n\x08StatusPb\x12(\n\nerror_code\x18\x01 \x01(\x0e\x32\x14.cmvr.msgs.ErrorCode\x12\x0b\n\x03msg\x18\x02 \x01(\t*\x80\x02\n\tErrorCode\x12\x06\n\x02OK\x10\x00\x12\x11\n\x0c\x43\x41NBUS_ERROR\x10\xd0\x0f\x12\x1a\n\x15\x43\x41N_CLIENT_ERROR_BASE\x10\xb4\x10\x12(\n#CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED\x10\xb5\x10\x12\x1f\n\x1a\x43\x41N_CLIENT_ERROR_FRAME_NUM\x10\xb6\x10\x12!\n\x1c\x43\x41N_CLIENT_ERROR_SEND_FAILED\x10\xb7\x10\x12!\n\x1c\x43\x41N_CLIENT_ERROR_RECV_FAILED\x10\xb8\x10\x12\x10\n\x0bMOTOR_ERROR\x10\xb8\x17\x12\x19\n\x14MOTOR_ERROR_SET_ZERO\x10\xb9\x17\x62\x06proto3') + +_ERRORCODE = DESCRIPTOR.enum_types_by_name['ErrorCode'] +ErrorCode = enum_type_wrapper.EnumTypeWrapper(_ERRORCODE) +OK = 0 +CANBUS_ERROR = 2000 +CAN_CLIENT_ERROR_BASE = 2100 +CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101 +CAN_CLIENT_ERROR_FRAME_NUM = 2102 +CAN_CLIENT_ERROR_SEND_FAILED = 2103 +CAN_CLIENT_ERROR_RECV_FAILED = 2104 +MOTOR_ERROR = 3000 +MOTOR_ERROR_SET_ZERO = 3001 + + +_STATUSPB = DESCRIPTOR.message_types_by_name['StatusPb'] +StatusPb = _reflection.GeneratedProtocolMessageType('StatusPb', (_message.Message,), { + 'DESCRIPTOR' : _STATUSPB, + '__module__' : 'cmvr.msgs.error_code_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.StatusPb) + }) +_sym_db.RegisterMessage(StatusPb) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _ERRORCODE._serialized_start=109 + _ERRORCODE._serialized_end=365 + _STATUSPB._serialized_start=41 + _STATUSPB._serialized_end=106 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/msgs/error_code_pb2_grpc.py b/generated/cmvr/msgs/error_code_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/msgs/error_code_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/msgs/geometry_pb2.py b/generated/cmvr/msgs/geometry_pb2.py new file mode 100644 index 0000000..9ce7f8b --- /dev/null +++ b/generated/cmvr/msgs/geometry_pb2.py @@ -0,0 +1,94 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/msgs/geometry.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x18\x63mvr/msgs/geometry.proto\x12\tcmvr.msgs\"\x1c\n\x04Vec2\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\"\'\n\x04Vec3\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"2\n\x04Quat\x12\t\n\x01w\x18\x01 \x01(\x01\x12\t\n\x01x\x18\x02 \x01(\x01\x12\t\n\x01y\x18\x03 \x01(\x01\x12\t\n\x01z\x18\x04 \x01(\x01\"+\n\x08Position\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"+\n\x05\x45uler\x12\n\n\x02rx\x18\x01 \x01(\x01\x12\n\n\x02ry\x18\x02 \x01(\x01\x12\n\n\x02rz\x18\x03 \x01(\x01\"u\n\x06Pose3d\x12%\n\x08position\x18\x01 \x01(\x0b\x32\x13.cmvr.msgs.Position\x12#\n\nquaternion\x18\x02 \x01(\x0b\x32\x0f.cmvr.msgs.Quat\x12\x1f\n\x05\x65uler\x18\x03 \x01(\x0b\x32\x10.cmvr.msgs.Euler\"-\n\x06Pose2d\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\r\n\x05theta\x18\x03 \x01(\x01\x62\x06proto3') + + + +_VEC2 = DESCRIPTOR.message_types_by_name['Vec2'] +_VEC3 = DESCRIPTOR.message_types_by_name['Vec3'] +_QUAT = DESCRIPTOR.message_types_by_name['Quat'] +_POSITION = DESCRIPTOR.message_types_by_name['Position'] +_EULER = DESCRIPTOR.message_types_by_name['Euler'] +_POSE3D = DESCRIPTOR.message_types_by_name['Pose3d'] +_POSE2D = DESCRIPTOR.message_types_by_name['Pose2d'] +Vec2 = _reflection.GeneratedProtocolMessageType('Vec2', (_message.Message,), { + 'DESCRIPTOR' : _VEC2, + '__module__' : 'cmvr.msgs.geometry_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.Vec2) + }) +_sym_db.RegisterMessage(Vec2) + +Vec3 = _reflection.GeneratedProtocolMessageType('Vec3', (_message.Message,), { + 'DESCRIPTOR' : _VEC3, + '__module__' : 'cmvr.msgs.geometry_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.Vec3) + }) +_sym_db.RegisterMessage(Vec3) + +Quat = _reflection.GeneratedProtocolMessageType('Quat', (_message.Message,), { + 'DESCRIPTOR' : _QUAT, + '__module__' : 'cmvr.msgs.geometry_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.Quat) + }) +_sym_db.RegisterMessage(Quat) + +Position = _reflection.GeneratedProtocolMessageType('Position', (_message.Message,), { + 'DESCRIPTOR' : _POSITION, + '__module__' : 'cmvr.msgs.geometry_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.Position) + }) +_sym_db.RegisterMessage(Position) + +Euler = _reflection.GeneratedProtocolMessageType('Euler', (_message.Message,), { + 'DESCRIPTOR' : _EULER, + '__module__' : 'cmvr.msgs.geometry_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.Euler) + }) +_sym_db.RegisterMessage(Euler) + +Pose3d = _reflection.GeneratedProtocolMessageType('Pose3d', (_message.Message,), { + 'DESCRIPTOR' : _POSE3D, + '__module__' : 'cmvr.msgs.geometry_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.Pose3d) + }) +_sym_db.RegisterMessage(Pose3d) + +Pose2d = _reflection.GeneratedProtocolMessageType('Pose2d', (_message.Message,), { + 'DESCRIPTOR' : _POSE2D, + '__module__' : 'cmvr.msgs.geometry_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.Pose2d) + }) +_sym_db.RegisterMessage(Pose2d) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _VEC2._serialized_start=39 + _VEC2._serialized_end=67 + _VEC3._serialized_start=69 + _VEC3._serialized_end=108 + _QUAT._serialized_start=110 + _QUAT._serialized_end=160 + _POSITION._serialized_start=162 + _POSITION._serialized_end=205 + _EULER._serialized_start=207 + _EULER._serialized_end=250 + _POSE3D._serialized_start=252 + _POSE3D._serialized_end=369 + _POSE2D._serialized_start=371 + _POSE2D._serialized_end=416 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/msgs/geometry_pb2_grpc.py b/generated/cmvr/msgs/geometry_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/msgs/geometry_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/msgs/motor_pb2.py b/generated/cmvr/msgs/motor_pb2.py new file mode 100644 index 0000000..a052644 --- /dev/null +++ b/generated/cmvr/msgs/motor_pb2.py @@ -0,0 +1,50 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/msgs/motor.proto +"""Generated protocol buffer code.""" +from google.protobuf.internal import enum_type_wrapper +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.msgs import canopen_pb2 as cmvr_dot_msgs_dot_canopen__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15\x63mvr/msgs/motor.proto\x12\tcmvr.msgs\x1a\x17\x63mvr/msgs/canopen.proto\"\x94\x08\n\x0bMotorStatus\x12$\n\x08run_mode\x18\x01 \x01(\x0e\x32\x12.cmvr.msgs.RunMode\x12\x0f\n\x07\x63urrent\x18\x02 \x01(\x05\x12\x16\n\x0etarget_current\x18\x03 \x01(\x05\x12\r\n\x05speed\x18\x04 \x01(\x05\x12\x14\n\x0ctarget_speed\x18\x05 \x01(\x05\x12\x10\n\x08position\x18\x06 \x01(\x05\x12\x17\n\x0ftarget_position\x18\x07 \x01(\x05\x12\x13\n\x0b\x65rror_state\x18\x08 \x01(\r\x12\x10\n\x08speed_kp\x18\t \x01(\x05\x12\x10\n\x08speed_ki\x18\n \x01(\x05\x12\x10\n\x08speed_kd\x18\x0b \x01(\x05\x12\x13\n\x0bposition_kp\x18\x0c \x01(\x05\x12\x13\n\x0bposition_ki\x18\r \x01(\x05\x12\x13\n\x0bposition_kd\x18\x0e \x01(\x05\x12\x13\n\x0b\x62us_voltage\x18\x0f \x01(\x05\x12\x17\n\x0fmax_abs_current\x18\x10 \x01(\x05\x12\x17\n\x0fmax_pos_current\x18\x11 \x01(\x05\x12\x17\n\x0fmin_neg_current\x18\x12 \x01(\x05\x12\x15\n\rmax_pos_accel\x18\x13 \x01(\x05\x12\x15\n\rmin_neg_accel\x18\x14 \x01(\x05\x12\x18\n\x10max_pos_velocity\x18\x15 \x01(\x05\x12\x18\n\x10min_neg_velocity\x18\x16 \x01(\x05\x12\x18\n\x10max_pos_position\x18\x17 \x01(\x05\x12\x18\n\x10min_neg_position\x18\x18 \x01(\x05\x12\x12\n\nmotor_temp\x18\x19 \x01(\x05\x12\x12\n\nboard_temp\x18\x1a \x01(\x05\x12\x12\n\ncurrent_kp\x18\x1b \x01(\x05\x12\x12\n\ncurrent_ki\x18\x1c \x01(\x05\x12\x12\n\ncurrent_kd\x18\x1d \x01(\x05\x12\x12\n\nmotor_type\x18\x1e \x01(\x05\x12\x15\n\rmotor_version\x18\x1f \x01(\x05\x12\x18\n\x10software_version\x18 \x01(\x05\x12\x17\n\x0fposition_offset\x18! \x01(\x05\x12\x10\n\x08\x63sp_data\x18\" \x01(\x0c\x12\x17\n\x0f\x65ncoder_voltage\x18# \x01(\x05\x12\x15\n\rencoder_state\x18$ \x01(\x05\x12\x19\n\x11overvoltage_limit\x18% \x01(\x05\x12\x1a\n\x12undervoltage_limit\x18& \x01(\x05\x12\x16\n\x0e\x63oil_over_temp\x18\' \x01(\x05\x12\x18\n\x10\x64river_over_temp\x18( \x01(\x05\x12)\n\x0csdo_response\x18) \x01(\x0b\x32\x13.cmvr.msgs.SdoFrame\x12&\n\tnmt_state\x18* \x01(\x0e\x32\x13.cmvr.msgs.NmtState\x12\x11\n\tctrl_word\x18+ \x01(\r\x12\x13\n\x0bstatus_word\x18, \x01(\r*\xae\x02\n\x07RunMode\x12\x18\n\x14RUN_MODE_UNSPECIFIED\x10\x00\x12\x1d\n\x19RUN_MODE_PROFILE_POSITION\x10\x01\x12\x15\n\x11RUN_MODE_VELOCITY\x10\x02\x12\x1d\n\x19RUN_MODE_PROFILE_VELOCITY\x10\x03\x12\x13\n\x0fRUN_MODE_TORQUE\x10\x04\x12\x13\n\x0fRUN_MODE_HOMING\x10\x05\x12\"\n\x1eRUN_MODE_INTERPOLATED_POSITION\x10\x07\x12!\n\x1dRUN_MODE_CYCLIC_SYNC_POSITION\x10\x08\x12!\n\x1dRUN_MODE_CYCLIC_SYNC_VELOCITY\x10\t\x12 \n\x1cRUN_MODE_CYCLIC_SYNC_CURRENT\x10\nb\x06proto3') + +_RUNMODE = DESCRIPTOR.enum_types_by_name['RunMode'] +RunMode = enum_type_wrapper.EnumTypeWrapper(_RUNMODE) +RUN_MODE_UNSPECIFIED = 0 +RUN_MODE_PROFILE_POSITION = 1 +RUN_MODE_VELOCITY = 2 +RUN_MODE_PROFILE_VELOCITY = 3 +RUN_MODE_TORQUE = 4 +RUN_MODE_HOMING = 5 +RUN_MODE_INTERPOLATED_POSITION = 7 +RUN_MODE_CYCLIC_SYNC_POSITION = 8 +RUN_MODE_CYCLIC_SYNC_VELOCITY = 9 +RUN_MODE_CYCLIC_SYNC_CURRENT = 10 + + +_MOTORSTATUS = DESCRIPTOR.message_types_by_name['MotorStatus'] +MotorStatus = _reflection.GeneratedProtocolMessageType('MotorStatus', (_message.Message,), { + 'DESCRIPTOR' : _MOTORSTATUS, + '__module__' : 'cmvr.msgs.motor_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.MotorStatus) + }) +_sym_db.RegisterMessage(MotorStatus) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _RUNMODE._serialized_start=1109 + _RUNMODE._serialized_end=1411 + _MOTORSTATUS._serialized_start=62 + _MOTORSTATUS._serialized_end=1106 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/msgs/motor_pb2_grpc.py b/generated/cmvr/msgs/motor_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/msgs/motor_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/generated/cmvr/msgs/robot_detail_pb2.py b/generated/cmvr/msgs/robot_detail_pb2.py new file mode 100644 index 0000000..fabfbab --- /dev/null +++ b/generated/cmvr/msgs/robot_detail_pb2.py @@ -0,0 +1,49 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: cmvr/msgs/robot_detail.proto +"""Generated protocol buffer code.""" +from google.protobuf import descriptor as _descriptor +from google.protobuf import descriptor_pool as _descriptor_pool +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + +from cmvr.msgs import canopen_pb2 as cmvr_dot_msgs_dot_canopen__pb2 +from cmvr.msgs import motor_pb2 as cmvr_dot_msgs_dot_motor__pb2 + + +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1c\x63mvr/msgs/robot_detail.proto\x12\tcmvr.msgs\x1a\x17\x63mvr/msgs/canopen.proto\x1a\x15\x63mvr/msgs/motor.proto\"\x88\x01\n\x0bRobotDetail\x12\x32\n\x06motors\x18\x01 \x03(\x0b\x32\".cmvr.msgs.RobotDetail.MotorsEntry\x1a\x45\n\x0bMotorsEntry\x12\x0b\n\x03key\x18\x01 \x01(\r\x12%\n\x05value\x18\x02 \x01(\x0b\x32\x16.cmvr.msgs.MotorStatus:\x02\x38\x01\x62\x06proto3') + + + +_ROBOTDETAIL = DESCRIPTOR.message_types_by_name['RobotDetail'] +_ROBOTDETAIL_MOTORSENTRY = _ROBOTDETAIL.nested_types_by_name['MotorsEntry'] +RobotDetail = _reflection.GeneratedProtocolMessageType('RobotDetail', (_message.Message,), { + + 'MotorsEntry' : _reflection.GeneratedProtocolMessageType('MotorsEntry', (_message.Message,), { + 'DESCRIPTOR' : _ROBOTDETAIL_MOTORSENTRY, + '__module__' : 'cmvr.msgs.robot_detail_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.RobotDetail.MotorsEntry) + }) + , + 'DESCRIPTOR' : _ROBOTDETAIL, + '__module__' : 'cmvr.msgs.robot_detail_pb2' + # @@protoc_insertion_point(class_scope:cmvr.msgs.RobotDetail) + }) +_sym_db.RegisterMessage(RobotDetail) +_sym_db.RegisterMessage(RobotDetail.MotorsEntry) + +if _descriptor._USE_C_DESCRIPTORS == False: + + DESCRIPTOR._options = None + _ROBOTDETAIL_MOTORSENTRY._options = None + _ROBOTDETAIL_MOTORSENTRY._serialized_options = b'8\001' + _ROBOTDETAIL._serialized_start=92 + _ROBOTDETAIL._serialized_end=228 + _ROBOTDETAIL_MOTORSENTRY._serialized_start=159 + _ROBOTDETAIL_MOTORSENTRY._serialized_end=228 +# @@protoc_insertion_point(module_scope) diff --git a/generated/cmvr/msgs/robot_detail_pb2_grpc.py b/generated/cmvr/msgs/robot_detail_pb2_grpc.py new file mode 100644 index 0000000..2daafff --- /dev/null +++ b/generated/cmvr/msgs/robot_detail_pb2_grpc.py @@ -0,0 +1,4 @@ +# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! +"""Client and server classes corresponding to protobuf-defined services.""" +import grpc + diff --git a/protos/cmvr/api/biohead_command.proto b/protos/cmvr/api/biohead_command.proto new file mode 100644 index 0000000..98527ce --- /dev/null +++ b/protos/cmvr/api/biohead_command.proto @@ -0,0 +1,177 @@ +syntax = "proto3"; + +import "cmvr/api/common.proto"; // 导入通用命令头定义，确保与其他服务接口一致 + +package cmvr.api; + +/** + * 面部表情控制参数定义 + * 包含生物头部机器人面部各部位的运动参数，用于精确控制面部表情 + */ +message FacialExpression { + /** + * 眉毛控制参数 + * 左右眉毛的内外侧垂直位置（0.0-1.0标准化值） + */ + message Eyebrow { + float left_outside_y = 1; // 左眉外侧垂直位置 + float left_inside_y = 2; // 左眉内侧垂直位置 + float right_outside_y = 3; // 右眉外侧垂直位置 + float right_inside_y = 4; // 右眉内侧垂直位置 + } + Eyebrow eyebrow = 3; // 眉毛参数封装 + + /** + * 眼睑控制参数 + * 左右眼睑的上下位置（0.0-1.0标准化值） + */ + message Eyelid { + float left_upper_y = 1; // 左上眼睑垂直位置 + float left_lower_y = 2; // 左下眼睑垂直位置 + float right_upper_y = 3; // 右上眼睑垂直位置 + float right_lower_y = 4; // 右下眼睑垂直位置 + } + Eyelid eyelid = 4; // 眼睑参数封装 + + /** + * 眼球控制参数 + * 左右眼球的二维坐标（-1.0到1.0标准化值，中心为0） + */ + message Eyeball { + float left_x = 1; // 左眼球水平位置 + float left_y = 2; // 左眼球垂直位置 + float right_x = 3; // 右眼球水平位置 + float right_y = 4; // 右眼球垂直位置 + } + Eyeball eyeball = 5; // 眼球参数封装 + + /** + * 鼻子控制参数 + * 鼻子左右侧的垂直位置（0.0-1.0标准化值） + */ + message Nose { + float left_y = 1; // 鼻子左侧垂直位置 + float right_y = 2; // 鼻子右侧垂直位置 + } + Nose nose = 6; // 鼻子参数封装 + + /** + * 嘴巴控制参数 + * 包含嘴唇整体位置和左右唇角细节 + */ + message Mouth { + float upper_lip_y = 1; // 上唇垂直位置 + float upper_lip_z = 2; // 上唇前后位置（Z轴） + float lower_lip_y = 3; // 下唇垂直位置 + float lower_lip_z = 4; // 下唇前后位置（Z轴） + + /** + * 左唇角控制参数 + * 包含上唇、唇角、下唇的坐标点 + */ + message LeftLip { + float upper_x = 1; // 左上唇水平位置 + float upper_y = 2; // 左上唇垂直位置 + float corner_x = 3; // 左唇角水平位置 + float corner_y = 4; // 左唇角垂直位置 + float lower_x = 5; // 左下唇水平位置 + float lower_y = 6; // 左下唇垂直位置 + } + LeftLip left_lip = 5; // 左唇角参数封装 + + /** + * 右唇角控制参数 + * 结构与左唇角对称 + */ + message RightLip { + float upper_x = 1; // 右上唇水平位置 + float upper_y = 2; // 右上唇垂直位置 + float corner_x = 3; // 右唇角水平位置 + float corner_y = 4; // 右唇角垂直位置 + float lower_x = 5; // 右下唇水平位置 + float lower_y = 6; // 右下唇垂直位置 + } + RightLip right_lip = 6; // 右唇角参数封装 + } + Mouth mouth = 7; // 嘴巴参数封装 + + /** + * 下巴控制参数 + * 下巴的二维移动坐标（X/Y轴） + */ + message Jaw { + float x = 1; // 下巴水平位置 + float y = 2; // 下巴垂直位置 + } + Jaw jaw = 8; // 下巴参数封装 +} + +/** + * 设置面部表情命令（集成通用命令头） + * 用于单次设置生物头部的面部表情 + */ +message SetFacialExpression { + message Request { + CommandHeader.Request header = 1; // 通用命令头，包含设备ID和时间戳 + FacialExpression expression = 2; // 具体面部表情参数 + } + + message Feedback { + CommandHeader.Feedback header = 1; // 通用反馈头，包含操作状态和时间戳 + string execution_id = 2; // 表情执行任务ID + float execution_time_ms = 3; // 表情执行耗时（毫秒） + } +} + +/** + * 流式面部表情命令（集成通用命令头） + * 用于连续发送多个面部表情，实现表情动画效果 + */ +message StreamFacialExpression { + message Request { + CommandHeader.Request header = 1; // 通用命令头 + FacialExpression expr = 2; // 执行 + bool eof = 3; // 标记是否为流结束 + } + + message Feedback { + CommandHeader.Feedback header = 1; // 通用反馈头 + FacialExpression expr_diff = 2; // 执行误差 + } +} + +/** + * 获取生物头部状态命令（集成通用命令头） + * 用于查询当前头部各部位的状态和位置 + */ +message GetStatus { + message Request { + CommandHeader.Request header = 1; // 通用命令头 + } + + message Feedback { + CommandHeader.Feedback header = 1; // 通用反馈头 + bool is_moving = 2; // 是否有部位在移动 + string last_request_id = 3; // 上一次请求的ID + repeated float current_positions = 4; // 当前各部位位置参数 + bool camera_recording = 5; // 相机是否在录制 + string active_recording_id = 6; // 活跃录制任务的ID + } +} + +/** + * 紧急停止命令（集成通用命令头） + * 用于立即停止所有面部动作 + */ +message EmergencyStop { + message Request { + CommandHeader.Request header = 1; // 通用命令头 + } + + message Feedback { + CommandHeader.Feedback header = 1; // 通用反馈头 + string stopped_processes = 2; // 已停止的进程列表 + } +} + + diff --git a/protos/cmvr/api/biohead_service.proto b/protos/cmvr/api/biohead_service.proto new file mode 100644 index 0000000..7ca4d83 --- /dev/null +++ b/protos/cmvr/api/biohead_service.proto @@ -0,0 +1,22 @@ +syntax = "proto3"; + +package cmvr.api; +import "cmvr/api/biohead_command.proto"; + +// 生物头部机器人服务接口 +service BioHeadService { + // 设置面部表情 + rpc SetExpression(SetFacialExpression.Request) returns (SetFacialExpression.Feedback){}; + + // 流式表情控制 + //rpc StreamExpression(StreamFacialExpression.Request) returns (StreamFacialExpression.Feedback){}; + + rpc StreamExpression (stream StreamFacialExpression.Request) returns (stream StreamFacialExpression.Feedback); + + + // 获取状态 + rpc GetSystemStatus(GetStatus.Request) returns (GetStatus.Feedback){}; + + // 紧急停止 + rpc EmergencyStop(EmergencyStop.Request) returns (EmergencyStop.Feedback){}; +} \ No newline at end of file diff --git a/protos/cmvr/api/camera_command.proto b/protos/cmvr/api/camera_command.proto new file mode 100644 index 0000000..03a8f35 --- /dev/null +++ b/protos/cmvr/api/camera_command.proto @@ -0,0 +1,175 @@ +syntax = "proto3"; + +import "cmvr/api/common.proto"; + +package cmvr.api; + +message FrameData { + enum FrameType { + U8C1 = 0; + U16C1 = 1; + U8C3 = 2; + U16C3 = 3; + F16C1 = 4; + F32C1 = 5; + } + bytes data = 1; + int32 width = 2; + int32 height = 3; + FrameType type = 4; + string codec = 5; + bool is_key_frame = 6; +} + +message CameraIntrinsics { + float cx = 1; // 主点水平坐标（从左边缘的像素偏移） + float cy = 2; // 主点垂直坐标（从上边缘的像素偏移） + float fx = 3; // x方向焦距（像素宽度的倍数） + float fy = 4; // y方向焦距（像素高度的倍数） + repeated float coeffs = 5 [packed = true]; // 畸变系数（固定5个元素） +} + +message CameraState { + bool is_initialized = 1; + bool is_opened = 2; + bool is_streaming = 3; + bool is_recording = 4; + bool is_error = 5; + string error_message = 6; + int32 fps = 7; + int32 width = 8; + int32 height = 9; +} + +message GetCameraStateCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + CameraState state = 2; + } +} + +message StartCameraCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message StopCameraCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message GetRGBImageCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + FrameData color_frame = 2; + CameraIntrinsics intrinsics = 3; + } +} + +message GetDepthImageCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + FrameData depth_frame = 2; + CameraIntrinsics intrinsics = 3; + } +} + +message GetRGBDImagesCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + FrameData color_frame = 2; + FrameData depth_frame = 3; + CameraIntrinsics intrinsics = 4; + } +} + +message StartCameraRecordingCommand { + message Request { + CommandHeader.Request header = 1; + string video_path = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message StopCameraRecordingCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message GetRGBImageStreamCommand { + message Request { + CommandHeader.Request header = 1; + bool eof = 2; + } + + message Feedback { + CommandHeader.Feedback header = 1; + FrameData color_frame = 2; + CameraIntrinsics intrinsics = 3; + int32 seq_no = 4; + } +} + +message GetDepthImageStreamCommand { + message Request { + CommandHeader.Request header = 1; + bool eof = 2; + } + + message Feedback { + CommandHeader.Feedback header = 1; + FrameData depth_frame = 2; + CameraIntrinsics intrinsics = 3; + int32 seq_no = 4; + } +} + +message GetRGBDImagesStreamCommand { + message Request { + CommandHeader.Request header = 1; + bool eof = 2; + } + + message Feedback { + CommandHeader.Feedback header = 1; + FrameData color_frame = 2; + FrameData depth_frame = 3; + CameraIntrinsics intrinsics = 4; + int32 seq_no = 5; + } +} + + + diff --git a/protos/cmvr/api/camera_service.proto b/protos/cmvr/api/camera_service.proto new file mode 100644 index 0000000..cb9b2ac --- /dev/null +++ b/protos/cmvr/api/camera_service.proto @@ -0,0 +1,21 @@ + +syntax = "proto3"; + +import "cmvr/api/camera_command.proto"; + +package cmvr.api; + +service CameraService { + rpc GetStatus(GetCameraStateCommand.Request) returns (GetCameraStateCommand.Feedback) {} + rpc StartCamera(StartCameraCommand.Request) returns (StartCameraCommand.Feedback) {} + rpc StopCamera(StopCameraCommand.Request) returns (StopCameraCommand.Feedback) {} + rpc GetRGBImage(GetRGBImageCommand.Request) returns (GetRGBImageCommand.Feedback) {} + rpc GetDepthImage(GetDepthImageCommand.Request) returns (GetDepthImageCommand.Feedback) {} + rpc GetRGBDImages(GetRGBDImagesCommand.Request) returns (GetRGBDImagesCommand.Feedback) {} + rpc StartRecording(StartCameraRecordingCommand.Request) returns (StartCameraRecordingCommand.Feedback) {} + rpc StopRecording(StopCameraRecordingCommand.Request) returns (StopCameraRecordingCommand.Feedback) {} + + rpc GetRGBImageStream(stream GetRGBImageStreamCommand.Request) returns (stream GetRGBImageStreamCommand.Feedback) {} + rpc GetDepthImageStream(stream GetDepthImageStreamCommand.Request) returns (stream GetDepthImageStreamCommand.Feedback) {} + rpc GetRGBDImagesStream(stream GetRGBDImagesStreamCommand.Request) returns (stream GetRGBDImagesStreamCommand.Feedback) {} +} \ No newline at end of file diff --git a/protos/cmvr/api/common.proto b/protos/cmvr/api/common.proto new file mode 100644 index 0000000..accb936 --- /dev/null +++ b/protos/cmvr/api/common.proto @@ -0,0 +1,43 @@ +syntax = "proto3"; + +package cmvr.api; + +import "google/protobuf/timestamp.proto"; + +message DeviceLifecycle { + enum Lifecycle { + STATE_INIT = 0; + STATE_READY = 1; + STATE_RUNNING = 2; + STATE_ERROR = 3; + STATE_ESTOP = 4; + STATE_STOP = 5; + } + Lifecycle state = 1; +} + +message CommandHeader { + message Request { + string device_id = 1; // 目标设备名称 + google.protobuf.Timestamp timestamp = 2; // 请求时间 + } + + message Feedback { + bool success = 1; // 是否成功 + string error_message = 2; // 错误信息（成功时为空） + google.protobuf.Timestamp timestamp = 3; // 回复时间 + } +} + +message ConfigParam { + + string param_name = 1; + + oneof param_value { + int32 int_value = 2; // 整数类型 + double double_value = 3; // 浮点数类型 + string string_value = 4; // 字符串类型 + bool bool_value = 5; // 布尔类型 + bytes bytes_value = 6; // 二进制数据类型 + } +} diff --git a/protos/cmvr/api/dexhand_command.proto b/protos/cmvr/api/dexhand_command.proto new file mode 100644 index 0000000..9d65a7f --- /dev/null +++ b/protos/cmvr/api/dexhand_command.proto @@ -0,0 +1,149 @@ +syntax = "proto3"; + +import "cmvr/api/common.proto"; + +package cmvr.api; + +message FreedomValue { + int32 id = 1; // 自由度id 0-6 分别对应六个自由度 小拇指 无名指 中指 食指 大拇指弯曲 大拇指旋转 + float value = 2; // 值 0-1百分比 +} + +message FreedomState { + int32 dof_id = 1; // 自由度ID，唯一标识不同的关节或自由度 + int32 angle = 2; // 自由度角度 + int32 speed = 3; // 自由度速度 + int32 force = 4; // 实际受力 + int32 position = 5; // 执行器位置 + int32 current = 6; // 执行器实际电流 + int32 temperature = 7; // 执行器温度 + int32 error = 8; // 执行器故障信息 + repeated string error_message = 9; // 错误消息列表 +} +// 传感器数据 +// 传感器数据 +message SensorData { + // 手指类型（掌心作为特殊类型） + enum FingerType { + PINKY = 0; // 小拇指 + RING = 1; // 无名指 + MIDDLE_FINGER = 2; // 中指（避免与PartType.MIDDLE冲突） + INDEX = 3; // 食指 + THUMB = 4; // 大拇指 + PALM = 5; // 掌心 + } + + // 部位类型（指中改为THUMB_MIDDLE以避免冲突） + enum PartType { + TIP = 0; // 指端 + FINGER = 1; // 指尖 + PAD = 2; // 指腹 + THUMB_MIDDLE = 3; // 大拇指指中（仅大拇指有） + PALM_PAD = 4; // 掌心部位（对应PalmTactileData） + } + + FingerType finger_type = 4; // 手指类型（掌心使用PALM） + PartType part_type = 5; // 部位类型 + string sensor_name = 6; // 传感器名称（如"小拇指指端"） + + message RowData { + repeated int32 values = 1 [packed = true]; // 一维数组，存放每行的浮点数值 + } + repeated RowData data = 1; // 二维数组，每行数据是 RowData 类型 + int32 rows = 2; // 行 + int32 cols = 3; // 列 +} + + +message DexHandState { + bool is_initialized = 1; // 是否初始化 + repeated FreedomState hands = 2; // 包含多个自由度状态 +} + +message GetDexHandStateCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + DexHandState state = 2; + } +} + +message SetDexHandPositionsCommand { + message Request { + CommandHeader.Request header = 1; + repeated FreedomValue values = 2; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message SetDexHandAnglesCommand { + message Request { + CommandHeader.Request header = 1; + repeated FreedomValue values = 2; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message SetDexHandForceCommand { + message Request { + CommandHeader.Request header = 1; + repeated FreedomValue values = 2; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message SetDexHandSpeedCommand { + message Request { + CommandHeader.Request header = 1; + repeated FreedomValue values = 2; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message SetDexHandPresetActCommand { + message Request { + CommandHeader.Request header = 1; + int32 presetActId = 2; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message GetSensorDataCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + repeated SensorData sensor = 2;//所有传感器的数据 + } +} + +message GetSensorDataStreamCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + repeated SensorData sensor = 2;//所有传感器的数据 + } +} \ No newline at end of file diff --git a/protos/cmvr/api/dexhand_service.proto b/protos/cmvr/api/dexhand_service.proto new file mode 100644 index 0000000..13593d3 --- /dev/null +++ b/protos/cmvr/api/dexhand_service.proto @@ -0,0 +1,18 @@ +syntax = "proto3"; + +import "cmvr/api/dexhand_command.proto"; + +package cmvr.api; + + +service DexHandService { + // 基本控制 + rpc GetStatus(GetDexHandStateCommand.Request) returns (GetDexHandStateCommand.Feedback); + rpc SetDexHandPos(SetDexHandPositionsCommand.Request) returns (SetDexHandPositionsCommand.Feedback); + rpc SetDexHandAngle(SetDexHandAnglesCommand.Request) returns (SetDexHandAnglesCommand.Feedback); + rpc SetDexHandForce(SetDexHandForceCommand.Request) returns (SetDexHandForceCommand.Feedback); + rpc SetDexHandSpeed(SetDexHandSpeedCommand.Request) returns (SetDexHandSpeedCommand.Feedback); + rpc SetDexHandPresetAct(SetDexHandPresetActCommand.Request) returns (SetDexHandPresetActCommand.Feedback); + rpc GetSensorData(GetSensorDataCommand.Request) returns (GetSensorDataCommand.Feedback); + rpc GetSensorDataStream(stream GetSensorDataStreamCommand.Request) returns (stream GetSensorDataStreamCommand.Feedback); +} \ No newline at end of file diff --git a/protos/cmvr/api/hlc_command.proto b/protos/cmvr/api/hlc_command.proto new file mode 100644 index 0000000..7c39ced --- /dev/null +++ b/protos/cmvr/api/hlc_command.proto @@ -0,0 +1,24 @@ +syntax = "proto3"; + +import "cmvr/api/common.proto"; + +package cmvr.api; + + +message Touch{ + message Request{ + CommandHeader.Request header = 1; + // 触点坐标，unit: ms + int32 u = 2; // 水平坐标 + int32 v = 3; // 垂直坐标 + + // 触控时允许的最大作用力，unit: N + double max_force = 4; + } + + message Response{ + CommandHeader.Feedback header= 1; + } + +} + diff --git a/protos/cmvr/api/hlc_service.proto b/protos/cmvr/api/hlc_service.proto new file mode 100644 index 0000000..7e14032 --- /dev/null +++ b/protos/cmvr/api/hlc_service.proto @@ -0,0 +1,9 @@ +syntax = "proto3"; + +import "cmvr/api/hlc_command.proto"; + +package cmvr.api; + +service HlcService{ + rpc touch(Touch.Request) returns (Touch.Response); +} \ No newline at end of file diff --git a/protos/cmvr/api/humanoid_robot_command.proto b/protos/cmvr/api/humanoid_robot_command.proto new file mode 100644 index 0000000..ee095f8 --- /dev/null +++ b/protos/cmvr/api/humanoid_robot_command.proto @@ -0,0 +1,135 @@ + + +syntax = "proto3"; +package cmvr.api; +import "cmvr/api/common.proto"; + +message JointCmd { + string joint_name = 1; // 关节名称 + double rad = 2; // 弧度 + double vel = 3; // 角速度，rad/s +} + +message Pose3D{ + double x = 1; + double y = 2; + double z = 3; + double rx = 4; + double ry = 5; + double rz = 6; +} + +enum RobotCartesian{ + X = 0; + Y = 1; + Z = 2; + RX = 3; + RY = 4; + RZ = 5; +} ; +enum RobotJointIndexDirection{ + FORWARD = 0; + BACKWARD = 1; + X_POSITIVE = 2; // X轴正向 + X_NEGATIVE = 3; // X轴负向 + Y_POSITIVE = 4; // Y轴正向 + Y_NEGATIVE = 5; // Y轴负向 + Z_POSITIVE = 6; // Z轴正向 + Z_NEGATIVE = 7; // Z轴负向 + ROTATE_X = 8; // 绕X轴旋转 + ROTATE_Y = 9; // 绕Y轴旋转 + ROTATE_Z = 10; // 绕Z轴旋转 +} +message MoveJ{ + message Request{ + CommandHeader.Request header = 1; + repeated JointCmd cmds = 2; + double vel = 3; + double acc = 4; + } + + message Response{ + CommandHeader.Feedback header= 1; + } + +} + +message MoveL{ + + message Request{ + CommandHeader.Request header = 1; + string ee_link = 2; //连杆名称 + Pose3D targetPose = 3; + double vel = 4; + double acc = 5; + } + + message Response{ + CommandHeader.Feedback header= 1; + } + +} + +message SpeedJ{ + + message Request{ + CommandHeader.Request header = 1; + string joint_name = 2; + double vel = 3; + double acc = 4; + RobotJointIndexDirection dir = 5; + } + + message Response{ + CommandHeader.Feedback header= 1; + } +} + +message SpeedL{ + message Request{ + CommandHeader.Request header = 1; + string ee_link = 2; + double vel = 3; + double acc = 4; + RobotJointIndexDirection dir = 5; + RobotCartesian cart = 6; + } + + message Response{ + CommandHeader.Feedback header= 1; + } +} + +// 关节状态消息 +message JointState { + repeated string name = 1; // 关节名称 + repeated double position = 2; // 关节位置 + repeated double velocity = 3; // 可选：关节速度 + repeated double effort = 4; // 可选：关节力矩 + double timestamp = 5; // 可选：时间戳 +} + +// 返回消息 +message JointResponse { + CommandHeader.Feedback header= 1; + repeated JointState state = 2; +} + +// 请求消息（可选） +message JointRequest { + CommandHeader.Request header = 1; +} + + +message GetPose{ + message Request{ + CommandHeader.Request header = 1; + string base_link = 2; + string ee_link = 3; + } + + message Response{ + CommandHeader.Feedback header= 1; + Pose3D pose = 2; + } +} \ No newline at end of file diff --git a/protos/cmvr/api/humanoid_robot_service.proto b/protos/cmvr/api/humanoid_robot_service.proto new file mode 100644 index 0000000..8438ffb --- /dev/null +++ b/protos/cmvr/api/humanoid_robot_service.proto @@ -0,0 +1,17 @@ + + +syntax = "proto3"; +package cmvr.api; +import "cmvr/api/common.proto"; +import "cmvr/api/humanoid_robot_command.proto"; + +service HumanoidRobotService{ + rpc torqueOff(CommandHeader.Request) returns (CommandHeader.Feedback); + rpc torqueOn(CommandHeader.Request) returns (CommandHeader.Feedback); + rpc moveJ(MoveJ.Request) returns (MoveJ.Response); + rpc moveL(MoveL.Request) returns (MoveL.Response); + rpc speedJ(SpeedJ.Request) returns (SpeedJ.Response); + rpc speedL(SpeedL.Request) returns (SpeedL.Response); + rpc getJointState(JointRequest) returns (JointResponse); + rpc getPose(GetPose.Request) returns (GetPose.Response); +} diff --git a/protos/cmvr/api/microphone_command.proto b/protos/cmvr/api/microphone_command.proto new file mode 100644 index 0000000..4183415 --- /dev/null +++ b/protos/cmvr/api/microphone_command.proto @@ -0,0 +1,81 @@ +syntax = "proto3"; + +import "cmvr/api/common.proto"; + +package cmvr.api; + +message MicState { + bool is_initialized = 1; + bool is_running = 2; + bool is_recording = 3; + int32 volume = 4; + string error_message = 5; +} +message GetMicStateCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + MicState state = 2; + } +} +message StartMicRecordingCommand { + message Request { + CommandHeader.Request header = 1; + string file_path = 2; + } + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message StopMicRecordingCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message PauseMicRecordingCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message ResumeMicRecordingCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message SetMicPhoneVolumeCommand { + message Request { + CommandHeader.Request header = 1; + int32 volume = 2; // 音量值（0 ~ 100） + } + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message GetMicPhoneVolumeCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + int32 volume = 2; // 当前音量值 + } +} + diff --git a/protos/cmvr/api/microphone_service.proto b/protos/cmvr/api/microphone_service.proto new file mode 100644 index 0000000..fcf31b7 --- /dev/null +++ b/protos/cmvr/api/microphone_service.proto @@ -0,0 +1,20 @@ +syntax = "proto3"; + +import "cmvr/api/microphone_command.proto"; + +package cmvr.api; + + +service MicPhoneService { + // 基本控制 + rpc GetStatus(GetMicStateCommand.Request) returns (GetMicStateCommand.Feedback); + rpc StartRecord(StartMicRecordingCommand.Request) returns (StartMicRecordingCommand.Feedback); + rpc StopRecord(StopMicRecordingCommand.Request) returns (StopMicRecordingCommand.Feedback); + rpc PauseRecord(PauseMicRecordingCommand.Request) returns (PauseMicRecordingCommand.Feedback); + rpc ResumeRecord(ResumeMicRecordingCommand.Request) returns (ResumeMicRecordingCommand.Feedback); + + // 音量控制 + rpc SetVolume(SetMicPhoneVolumeCommand.Request) returns (SetMicPhoneVolumeCommand.Feedback); + rpc GetVolume(GetMicPhoneVolumeCommand.Request) returns (GetMicPhoneVolumeCommand.Feedback); + +} \ No newline at end of file diff --git a/protos/cmvr/api/speaker_command.proto b/protos/cmvr/api/speaker_command.proto new file mode 100644 index 0000000..f5a23b8 --- /dev/null +++ b/protos/cmvr/api/speaker_command.proto @@ -0,0 +1,99 @@ +syntax = "proto3"; + +import "cmvr/api/common.proto"; + +package cmvr.api; + + +// 音频数据格式（与麦克风类似，但用于输出） +message AudioData { + enum AudioFormat { + PCM = 0; + MP3 = 1; + AAC = 2; + WAV = 3; + } + bytes data = 1; // 音频二进制数据 + int32 sample_rate = 2; // 采样率（Hz） + int32 channels = 3; // 声道数 + AudioFormat format = 4; // 音频格式 + string codec = 5; // 编码方式 +} + +// 扬声器状态 +message SpeakerState { + bool is_initialized = 1; // 是否已初始化 + bool is_running = 2; // 是否正在播放 + bool is_decoding = 3; + bool is_paused = 5; + int32 volume = 6; // 当前音量（0 ~ 100） + string error_message = 7; // 错误信息 +} + +// 各种扬声器命令 +message GetSpeakerStateCommand { + message Request { + CommandHeader.Request header = 1; + } + + message Feedback { + CommandHeader.Feedback header = 1; + SpeakerState state = 2; + } +} + +message PlayAudioCommand { + message Request { + CommandHeader.Request header = 1; + string audio_path = 2; + } + message Feedback { CommandHeader.Feedback header = 1; } +} + +message StopSpeakerCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message PauseSpeakerCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message ResumeSpeakerCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message SetSpeakerVolumeCommand { + message Request { + CommandHeader.Request header = 1; + int32 volume = 2; // 音量值（0 ~ 100） + } + message Feedback { + CommandHeader.Feedback header = 1; + } +} + +message GetSpeakerVolumeCommand { + message Request { + CommandHeader.Request header = 1; + } + message Feedback { + CommandHeader.Feedback header = 1; + int32 volume = 2; // 当前音量值 + } +} + diff --git a/protos/cmvr/api/speaker_service.proto b/protos/cmvr/api/speaker_service.proto new file mode 100644 index 0000000..9cbc77c --- /dev/null +++ b/protos/cmvr/api/speaker_service.proto @@ -0,0 +1,20 @@ +syntax = "proto3"; + +import "cmvr/api/speaker_command.proto"; + +package cmvr.api; + + +service SpeakerService { + // 基本控制 + rpc GetStatus(GetSpeakerStateCommand.Request) returns (GetSpeakerStateCommand.Feedback); + rpc PlayAudio(PlayAudioCommand.Request) returns (PlayAudioCommand.Feedback); + rpc StopPlayback(StopSpeakerCommand.Request) returns (StopSpeakerCommand.Feedback); + rpc PausePlayback(PauseSpeakerCommand.Request) returns (PauseSpeakerCommand.Feedback); + rpc ResumePlayback(ResumeSpeakerCommand.Request) returns (ResumeSpeakerCommand.Feedback); + + // 音量控制 + rpc SetVolume(SetSpeakerVolumeCommand.Request) returns (SetSpeakerVolumeCommand.Feedback); + rpc GetVolume(GetSpeakerVolumeCommand.Request) returns (GetSpeakerVolumeCommand.Feedback); + +} \ No newline at end of file diff --git a/protos/cmvr/api/system_command.proto b/protos/cmvr/api/system_command.proto new file mode 100644 index 0000000..ea6f21d --- /dev/null +++ b/protos/cmvr/api/system_command.proto @@ -0,0 +1,61 @@ +syntax = "proto3"; + +import "cmvr/api/common.proto"; + +package cmvr.api; + +enum DeviceType { + AGV = 0; + Battery = 1; + Camera = 2; + DexHand = 3; + Gripper = 4; + Microphone = 5; + Robot = 6; + Speaker = 7; + Unknown = 20; +} + +message DeviceList { + string device_id = 1; + DeviceType device_type = 2; +} + +message GetSystemInfoCommand { + message Request {} + + message Feedback { + CommandHeader.Feedback header = 1; + string system_name = 2; + string version = 3; + string description = 4; + string os = 5; + string kernel_version = 6; + string architecture = 7; + } +} + +message GetSystemStatusCommand { + message Request {} + + message Feedback { + CommandHeader.Feedback header = 1; + float cpu_usage = 2; + float mem_total_mb = 3; + float mem_used_mb = 4; + float disk_total_gb = 5; + float disk_used_gb = 6; + repeated DeviceList device_list = 7; + } +} + +message UpdateParamsCommand { + message Request { + CommandHeader.Request header = 1; + repeated ConfigParam params = 2; + } + + message Feedback { + CommandHeader.Feedback header = 1; + } +} diff --git a/protos/cmvr/api/system_service.proto b/protos/cmvr/api/system_service.proto new file mode 100644 index 0000000..f96ea81 --- /dev/null +++ b/protos/cmvr/api/system_service.proto @@ -0,0 +1,13 @@ +syntax = "proto3"; + +import "cmvr/api/system_command.proto"; + +package cmvr.api; + + +service SystemService { + rpc GetSystemInfo(GetSystemInfoCommand.Request) returns (GetSystemInfoCommand.Feedback) {} + rpc GetSystemStatus(GetSystemStatusCommand.Request) returns (GetSystemStatusCommand.Feedback) {} + + rpc UpdateParams(UpdateParamsCommand.Request) returns (UpdateParamsCommand.Feedback) {} +} \ No newline at end of file diff --git a/protos/cmvr/api/test_service.proto b/protos/cmvr/api/test_service.proto new file mode 100644 index 0000000..708479d --- /dev/null +++ b/protos/cmvr/api/test_service.proto @@ -0,0 +1,17 @@ +syntax = "proto3"; + +package cmvr.api; + +message TestReqeust { + string data = 1; +} + +message TestResponse { + string data = 1; +} + +service TestService{ + rpc Call (TestReqeust) returns (TestResponse); +} + + diff --git a/protos/cmvr/msgs/can_card_parameter.proto b/protos/cmvr/msgs/can_card_parameter.proto new file mode 100644 index 0000000..5237042 --- /dev/null +++ b/protos/cmvr/msgs/can_card_parameter.proto @@ -0,0 +1,55 @@ +syntax = "proto3"; + +package cmvr.msgs; + +message CANCardParameter { + enum CANCardBrand { + FAKE_CAN = 0; + ESD_CAN = 1; + SOCKET_CAN_RAW = 2; + HERMES_CAN = 3; + } + + enum CANCardType { + PCI_CARD = 0; + USB_CARD = 1; + } + + enum CANChannelId { + CHANNEL_ID_ZERO = 0; + CHANNEL_ID_ONE = 1; + CHANNEL_ID_TWO = 2; + CHANNEL_ID_THREE = 3; + CHANNEL_ID_FOUR = 4; + CHANNEL_ID_FIVE = 5; + CHANNEL_ID_SIX = 6; + CHANNEL_ID_SEVEN = 7; + } + + enum CANInterface { + NATIVE = 0; + VIRTUAL = 1; + SLCAN = 2; + } + + enum BAUDRATE { + BCAN_BAUDRATE_1M = 0; + BCAN_BAUDRATE_500K = 1; + BCAN_BAUDRATE_250K = 2; + BCAN_BAUDRATE_150K = 3; + BCAN_BAUDRATE_NUM = 4; + } + + // CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置 + optional CANCardBrand brand = 1; + // CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置 + optional CANCardType type = 2; + // CAN卡端口号配置 | 根据所连接的CAN卡端口号配置 + optional CANChannelId channel_id = 3; + // CAN卡软件接口配置 + optional CANInterface interface = 4; + // CAN卡端口数量配置 + optional uint32 num_ports = 5; + // CAN卡波特率配置 + optional BAUDRATE baudrate = 6; +} diff --git a/protos/cmvr/msgs/canopen.proto b/protos/cmvr/msgs/canopen.proto new file mode 100644 index 0000000..23914e7 --- /dev/null +++ b/protos/cmvr/msgs/canopen.proto @@ -0,0 +1,202 @@ +syntax = "proto3"; + +package cmvr.msgs; + +message SdoFrame { + uint32 node_id = 1; // 节点ID + CommandSpecifier cs = 2; // SDO命令字 + ObIndex index = 3; // 对象字典索引 + ObSubIndex sub_index = 4; // 子索引 + uint32 data = 5; // 数据区 +} + +enum PdoBaseId{ + + PDO_BASE_ID_UNSPECIFIED = 0; + + RPDO1_BASE_ID_200 = 0x200; + RPDO2_BASE_ID_300 = 0x300; + RPDO3_BASE_ID_400 = 0x400; + RPDO4_BASE_ID_500 = 0x500; + + + TPDO1_BASE_ID_180 = 0x180; + TPDO2_BASE_ID_280 = 0x280; + TPDO3_BASE_ID_380 = 0x380; + TPDO4_BASE_ID_480 = 0x480; +} + +// PDO 传输类型 +enum TransmissionType { + + // 同步传输 + SYNC_EVENT_DRIVEN = 0x00; // 非循环同步 + SYNC_CYCLIC = 0x01; // 循环同步 + + // 远程请求触发 + REMOTE_SYNC = 0xFC; // 远程同步 + REMOTE_ASYNC = 0xFD; // 远程异步 + + // 异步传输 + ASYNC_MANUFACTURER_SPECIFIC = 0xFE; // 异步，制造商特定事件 + ASYNC_DEVICE_SPECIFIC = 0xFF; // 异步，设备子协议特定事件 +} + + + +enum CommandSpecifier { + CS_NO = 0; // 默认无效 + CS_WRITE_ONE_BYTE = 0x2F; // 写 1 字节 + CS_WRITE_TWO_BYTES = 0x2B; // 写 2 字节 + CS_WRITE_THREE_BYTES = 0x27; // 写 3 字节 + CS_WRITE_FOUR_BYTES = 0x23; // 写 4 字节 + CS_WRITE_SUCCESS_RESPONSE = 0x60; // 写成功响应 + + CS_READ_REQUEST = 0x40; // 发起读取请求 + CS_READ_RESPONSE_ONE_BYTE = 0x4F; // 响应 1 字节 + CS_READ_RESPONSE_TWO_BYTES = 0x4B;// 响应 2 字节 + CS_READ_RESPONSE_THREE_BYTES = 0x47; + CS_READ_RESPONSE_FOUR_BYTES = 0x43; + + CS_EXCEPTION_RESPONSE = 0x80; // 异常响应 +} + + + + +enum NmtState { + // 0x00 - 正在初始化（Initializing） + NMT_INITIALIZING = 0x00; + + // 0x01 - 未连接 / 应用复位（Reset Application） + NMT_RESET_APPLICATION = 0x01; + + // 0x02 - 正在连接（Connecting） + NMT_CONNECTING = 0x02; + + // 0x03 - 准备（Preparing） + NMT_PREPARING = 0x03; + + // 0x04 - 停止状态（Stopped），开启 SDO，关闭 PDO + NMT_STOPPED = 0x04; + + // 0x05 - 运行状态（Operational），开启 SDO、PDO、NMT + NMT_OPERATIONAL = 0x05; + + // 0x7F - 预运行状态（Pre-Operational），开启 SDO，关闭 PDO + NMT_PRE_OPERATIONAL = 0x7F; +} + + + +enum NmtCommand { + // 未指定命令 + NMT_COMMAND_UNSPECIFIED = 0x00; + + // 0x01 - 启动远程节点（Start Remote Node） + NMT_START_REMOTE_NODE = 0x01; + + // 0x02 - 停止远程节点（Stop Remote Node） + NMT_STOP_REMOTE_NODE = 0x02; + + // 0x80 - 进入预操作状态（Enter Pre-Operational） + NMT_ENTER_PRE_OPERATIONAL = 0x80; + + // 0x81 - 复位节点（Reset Node） + NMT_RESET_NODE = 0x81; + + // 0x82 - 复位通信（Reset Communication） + NMT_RESET_COMMUNICATION = 0x82; +} + + +// 索引 +enum ObIndex { + INDEX_ZERO = 0; + USER_SAVE_PARA_2000 = 0x2000; // 下发命令 1 保存参数 + POSITION_OFFSET_2008 = 0x2008; // 位置偏移，子索引 0x00，用于设置零点、起始位置 + // Error Codes + ERROR_CODE_6007 = 0x6007; + ERROR_CODE_603F = 0x603F; + + // Control and Status + CONTROL_WORD_6040 = 0x6040; + STATUS_WORD_6041 = 0x6041; + + // Operation Modes + OPERATION_MODE_6060 = 0x6060; + MODE_DISPLAY_6061 = 0x6061; + + // Actual Values + ACTUAL_POSITION_6064 = 0x6064; + ACTUAL_SPEED_606C = 0x606C; + ACTUAL_CURRENT_6078 = 0x6078; + + // Torque-related + TARGET_TORQUE_6071 = 0x6071; + MAX_TORQUE_6072 = 0x6072; + DEMAND_TORQUE_6074 = 0x6074; + + // Position-related + TARGET_POSITION_607A = 0x607A; + SOFTWARE_POSITION_LIMIT_607D = 0x607D; // Sub-indexes: 1, 2 + + // Speed-related + MAX_SPEED_607F = 0x607F; + PROFILE_SPEED_6081 = 0x6081; + PROFILE_ACCELERATION_6083 = 0x6083; + PROFILE_DECELERATION_6084 = 0x6084; + + // Same as DEMAND_TORQUE? Verify correctness. + // TORQUE_SLOPE_6074 = 0x6074; + + // PID Control + CURRENT_LOOP_PID_60F6 = 0x60F6; // Sub-indexes: 1, 2 + SPEED_LOOP_PID_60F9 = 0x60F9; // Sub-indexes: 1, 2 + POSITION_LOOP_PID_60FB = 0x60FB; // Sub-indexes: 1, 2, 3 + + // Target Speed + TARGET_SPEED_60FF = 0x60FF; + + QUICK_STOP_OPTION_605A = 0x605A; + QUICK_STOP_DECEL_6085 = 0x6085; + + // ------------------------- + // PDO 通信参数对象（Communication Object） + RPDO1_COMM_1400 = 0x1400; + RPDO2_COMM_1401 = 0x1401; + RPDO3_COMM_1402 = 0x1402; + RPDO4_COMM_1403 = 0x1403; + + TPDO1_COMM_1800 = 0x1800; + TPDO2_COMM_1801 = 0x1801; + TPDO3_COMM_1802 = 0x1802; + TPDO4_COMM_1803 = 0x1803; + + // PDO 映射对象（Mapping Object） + RPDO1_MAP_1600 = 0x1600; + RPDO2_MAP_1601 = 0x1601; + RPDO3_MAP_1602 = 0x1602; + RPDO4_MAP_1603 = 0x1603; + + TPDO1_MAP_1A00 = 0x1A00; + TPDO2_MAP_1A01 = 0x1A01; + TPDO3_MAP_1A02 = 0x1A02; + TPDO4_MAP_1A03 = 0x1A03; + + PRODUCER_HEARTBEAT_TIME = 0x1017; +} + +// 子索引 +enum ObSubIndex { + SUB_INDEX_0 = 0; + SUB_INDEX_1 = 1; + SUB_INDEX_2 = 2; + SUB_INDEX_3 = 3; + SUB_INDEX_4 = 4; + SUB_INDEX_5 = 5; + SUB_INDEX_6 = 6; + SUB_INDEX_7 = 7; +} + + diff --git a/protos/cmvr/msgs/error_code.proto b/protos/cmvr/msgs/error_code.proto new file mode 100644 index 0000000..66291a6 --- /dev/null +++ b/protos/cmvr/msgs/error_code.proto @@ -0,0 +1,29 @@ +syntax = "proto3"; + +package cmvr.msgs; + +// Error codes enum for API's categorized by modules. +enum ErrorCode { + // No error, returns on success. + OK = 0; + + // Canbus module error codes start from here. + CANBUS_ERROR = 2000; + CAN_CLIENT_ERROR_BASE = 2100; + CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101; + CAN_CLIENT_ERROR_FRAME_NUM = 2102; + CAN_CLIENT_ERROR_SEND_FAILED = 2103; + CAN_CLIENT_ERROR_RECV_FAILED = 2104; + + // motor + MOTOR_ERROR = 3000; + MOTOR_ERROR_SET_ZERO = 3001; + + + +} + +message StatusPb { + ErrorCode error_code = 1; + string msg = 2; +} diff --git a/protos/cmvr/msgs/geometry.proto b/protos/cmvr/msgs/geometry.proto new file mode 100644 index 0000000..dca7663 --- /dev/null +++ b/protos/cmvr/msgs/geometry.proto @@ -0,0 +1,51 @@ +syntax = "proto3"; + +package cmvr.msgs; + + +message Vec2 { + double x = 1; + double y = 2; +} + +message Vec3 { + double x = 1; + double y = 2; + double z = 3; +} + +// ===== 四元数 ===== +message Quat { + double w = 1; + double x = 2; + double y = 3; + double z = 4; +} + +// ===== 位置（3D）===== +message Position { + double x = 1; // unit: m + double y = 2; + double z = 3; +} + +// ===== 欧拉角 ===== +message Euler { + double rx = 1; // unit: rad (roll) + double ry = 2; // unit: rad (pitch) + double rz = 3; // unit: rad (yaw) +} + +// ===== 位姿（3D）===== +message Pose3d { + Position position = 1; // (m) + Quat quaternion = 2; // 四元数 + Euler euler = 3; // 欧拉角 (rad) +} + +// ===== 位姿（2D）===== +message Pose2d { + double x = 1; // (m) + double y = 2; // (m) + double theta = 3; // (rad) +} diff --git a/protos/cmvr/msgs/motor.proto b/protos/cmvr/msgs/motor.proto new file mode 100644 index 0000000..a0336de --- /dev/null +++ b/protos/cmvr/msgs/motor.proto @@ -0,0 +1,118 @@ +syntax = "proto3"; +import "cmvr/msgs/canopen.proto"; +package cmvr.msgs; + + + +/* -------------------------------------------------------- + * CAN OPEN 定义 + * --------------------------------------------------------*/ + + + + +// 电机控制模式（Operation Mode） +enum RunMode { + // 未指定 + RUN_MODE_UNSPECIFIED = 0; + + // Profile Position Mode - 位置模式 + RUN_MODE_PROFILE_POSITION = 1; + + // Velocity Mode - 简单速度模式 + RUN_MODE_VELOCITY = 2; + + // Profile Velocity Mode - 速度模式（带轮廓） + RUN_MODE_PROFILE_VELOCITY = 3; + + // Torque Mode - 转矩模式 + RUN_MODE_TORQUE = 4; + + // Homing Mode - 回零模式 + RUN_MODE_HOMING = 5; + + // Interpolation Mode - 位置插补模式 + RUN_MODE_INTERPOLATED_POSITION = 7; + + // Cyclic Synchronous Position Mode - 周期位置模式 + RUN_MODE_CYCLIC_SYNC_POSITION = 8; + + // Cyclic Synchronous Velocity Mode - 周期速度模式 + RUN_MODE_CYCLIC_SYNC_VELOCITY = 9; + + // Cyclic Synchronous Current Mode - 周期转矩模式 + RUN_MODE_CYCLIC_SYNC_CURRENT = 10; +} + + + + + +// 电机状态数据 +message MotorStatus { + RunMode run_mode = 1; // 当前运行模式 + + + int32 current = 2; // 当前电流（单位：mA） + int32 target_current = 3; // 目标电流（单位：mA） + int32 speed = 4; // 当前速度，转换为度每秒：(speed / 100 / 减速比) * 360 + int32 target_speed = 5; // 目标速度，单位同上 + int32 position = 6; // 当前电机位置（位置转角度：(position / 65536 / 减速比) * 360） + int32 target_position = 7; // 目标位置（非位置模式无效） + uint32 error_state = 8; // 错误状态位（见位说明） + + int32 speed_kp = 9; // 速度环Kp，含模式和速度信息（bit复用） + int32 speed_ki = 10; // 速度环Ki，含模式和速度信息（bit复用） + int32 speed_kd = 11; // 速度环Kd + + int32 position_kp = 12; // 位置环Kp + int32 position_ki = 13; // 位置环Ki + int32 position_kd = 14; // 位置环Kd + + int32 bus_voltage = 15; // 母线电压 + + int32 max_abs_current = 16; // 最大电流绝对值（单位：mA） + int32 max_pos_current = 17; // 最大正电流（单位：mA） + int32 min_neg_current = 18; // 最小负电流（单位：mA） + + int32 max_pos_accel = 19; // 最大正向加速度 + int32 min_neg_accel = 20; // 最小负向加速度 + int32 max_pos_velocity = 21; // 最大正向速度（转化为度/秒） + int32 min_neg_velocity = 22; // 最小负向速度（转化为度/秒） + + int32 max_pos_position = 23; // 最大正向位置（角度） + int32 min_neg_position = 24; // 最小负向位置（角度） + + int32 motor_temp = 25; // 电机温度（单位：摄氏度） + int32 board_temp = 26; // 电路板温度（单位：摄氏度） + + int32 current_kp = 27; // 电流P + int32 current_ki = 28; // 电流I + int32 current_kd = 29; // 电流D + + int32 motor_type = 30; // 电机型号（复合字段，包含刹车、ACTUATOR_TYPE等） + int32 motor_version = 31; // 电机版本号（软件+硬件，16进制格式） + int32 software_version = 32;// 软件版本号（16进制格式） + + int32 position_offset = 33; // 当前位置偏移（编码器位置 - 偏移值） + bytes csp_data = 34; // 获取CSP，8字节数据 + int32 encoder_voltage = 35; // 编码器电池电压（新版硬件支持） + int32 encoder_state = 36; // 编码器状态（双编码器=外圈位置，单编码器=状态） + + int32 overvoltage_limit = 37; // 过压阈值（单位：V） + int32 undervoltage_limit = 38; // 欠压阈值（单位：V） + int32 coil_over_temp = 39; // 电机线圈过温阈值（单位：℃） + int32 driver_over_temp = 40; // 驱动板过温阈值（单位：℃） + + /* --------------------- + * CANOPEN 特有的参数 + * --------------------*/ + SdoFrame sdo_response = 41; + NmtState nmt_state = 42; + // 只保留值，具体值在使用的时候使用联合体去解析 + uint32 ctrl_word = 43; + uint32 status_word = 44; + +} + + diff --git a/protos/cmvr/msgs/robot_detail.proto b/protos/cmvr/msgs/robot_detail.proto new file mode 100644 index 0000000..19a6595 --- /dev/null +++ b/protos/cmvr/msgs/robot_detail.proto @@ -0,0 +1,14 @@ +syntax = "proto3"; + +import "cmvr/msgs/canopen.proto"; +import "cmvr/msgs/motor.proto"; +package cmvr.msgs; + + +// 包含机器人的所有信息 + +message RobotDetail{ + + // key 电机 nodeid + map motors = 1; // node_id => status +} diff --git a/run_client.py b/run_client.py new file mode 100644 index 0000000..0c317e8 --- /dev/null +++ b/run_client.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +统一启动 gRPC 客户端脚本 +自动设置 PYTHONPATH，让 generated 下的 cmvr 包可用 +用法： + python run_client.py get_joint_state_client + python run_client.py movej_client +""" + +import os +import sys +import subprocess + +PROJECT_ROOT = os.path.dirname(os.path.abspath(__file__)) +GENERATED_DIR = os.path.join(PROJECT_ROOT, "generated") +CLIENTS_DIR = os.path.join(PROJECT_ROOT, "clients") + +# 添加 generated 到 PYTHONPATH +sys.path.insert(0, GENERATED_DIR) +os.environ["PYTHONPATH"] = GENERATED_DIR + os.pathsep + os.environ.get("PYTHONPATH", "") + +if len(sys.argv) < 2: + print("请指定要运行的客户端脚本名，例如：get_joint_state_client") + sys.exit(1) + +client_name = sys.argv[1] +client_script = os.path.join(CLIENTS_DIR, f"{client_name}.py") + +if not os.path.isfile(client_script): + print(f"客户端脚本不存在: {client_script}") + sys.exit(1) + +# 支持传递额外参数给客户端 +subprocess.run([sys.executable, client_script] + sys.argv[2:]) diff --git a/scripts/gen_grpc_py.py b/scripts/gen_grpc_py.py new file mode 100644 index 0000000..b4f162d --- /dev/null +++ b/scripts/gen_grpc_py.py @@ -0,0 +1,100 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +自动生成 gRPC Python 代码脚本（相对导入版） +递归扫描 protos/ 目录并生成到 generated/ +""" + +import os +import subprocess +from pathlib import Path + + +def generate_grpc_code(proto_dir: str, output_dir: str): + proto_path = Path(proto_dir) + if not proto_path.exists(): + raise FileNotFoundError(f"❌ proto 目录不存在: {proto_dir}") + + proto_files = [str(p) for p in proto_path.rglob("*.proto")] + if not proto_files: + print("⚠️ 未找到任何 .proto 文件") + return + + os.makedirs(output_dir, exist_ok=True) + print(f"🔧 生成目录: {output_dir}") + + for proto_file in proto_files: + print(f" ⏳ 编译 {proto_file}") + + # 只需要指定根目录 + include_paths = [f"-I{proto_dir}"] + + cmd = [ + "python", + "-m", + "grpc_tools.protoc", + *include_paths, + f"--python_out={output_dir}", + f"--grpc_python_out={output_dir}", + proto_file, + ] + + try: + result = subprocess.run(cmd, check=True, capture_output=True, text=True) + if result.stdout.strip(): + print(result.stdout) + if result.stderr.strip(): + print("⚠️ 编译警告:", result.stderr) + except subprocess.CalledProcessError as e: + print("❌ 编译失败:") + print(e.stdout) + print(e.stderr) + continue + + # 确保每个目录都有 __init__.py + ensure_init_files(output_dir) + + # 修改 _pb2_grpc.py 为相对导入 + convert_grpc_imports_to_relative(output_dir) + + print(f"✅ 所有 proto 文件已生成到: {output_dir}") + + +def ensure_init_files(output_dir: str): + """递归生成 __init__.py 确保 Python 包可导入""" + for root, dirs, files in os.walk(output_dir): + init_file = os.path.join(root, "__init__.py") + if not os.path.exists(init_file): + open(init_file, "w", encoding="utf-8").close() + + +def convert_grpc_imports_to_relative(output_dir: str): + """把 _pb2_grpc.py 中的绝对导入改为相对导入""" + for root, dirs, files in os.walk(output_dir): + for file in files: + if file.endswith("_pb2_grpc.py"): + path = os.path.join(root, file) + with open(path, "r", encoding="utf-8") as f: + lines = f.readlines() + new_lines = [] + for line in lines: + # 将类似 `import xxx_pb2 as xxx__pb2` 改为 `from . import xxx_pb2 as xxx__pb2` + if line.startswith("import ") and "_pb2 as " in line: + parts = line.split(" as ") + module_name = parts[0].replace("import", "").strip() + alias = parts[1].strip() + new_lines.append(f"from . import {module_name} as {alias}\n") + else: + new_lines.append(line) + with open(path, "w", encoding="utf-8") as f: + f.writelines(new_lines) + + +if __name__ == "__main__": + ROOT_DIR = Path(__file__).resolve().parents[1] + PROTO_DIR = ROOT_DIR / "protos" + OUTPUT_DIR = ROOT_DIR / "generated" + + print("🚀 开始生成 gRPC Python 代码（相对导入版）...") + generate_grpc_code(str(PROTO_DIR), str(OUTPUT_DIR)) + print("\n🎉 gRPC Python 代码生成完成！")