Initial commit

.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

.idea/grpc_client.iml

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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/.venv" />
+    </content>
+    <orderEntry type="jdk" jdkName="Python 3.10" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Black">
+    <option name="sdkName" value="Python 3.8 (grpc_client)" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/grpc_client.iml" filepath="$PROJECT_DIR$/.idea/grpc_client.iml" />
+    </modules>
+  </component>
+</project>

.idea/vcs.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

clients/base_client.py

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+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}")

clients/cal.py

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+
+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()

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()

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()

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()

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
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clients/movej_client.py

@@ -0,0 +1,116 @@
+import sys
+from google.protobuf 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()

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()

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()

clients/test.py

@@ -0,0 +1,5 @@
+from google.protobuf import timestamp_pb2
+
+timestamp = timestamp_pb2.Timestamp()
+timestamp.GetCurrentTime()
+print(timestamp)

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()

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()

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()

generated/cmvr/api/biohead_command_pb2.py

@@ -0,0 +1,251 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  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)

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
+

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)

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)

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
+

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)

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)

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)

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
+

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)

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
+

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)

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)

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)

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
+

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)

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)

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)

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
+

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)

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)

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)

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
+

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)

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)

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)

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
+

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)

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)

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)

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
+

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)

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)

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)

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)

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)

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
+

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)

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
+

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)

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
+

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)

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
+

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)

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
+

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)

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
+

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
+  }
+}
+
+

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){};
+}

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;
+    }
+}
+
+
+

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) {}
+}

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
+    }
+}

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
+    }
+}

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);
+}

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;
+  }
+
+}
+

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);
+}

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;
+  }
+}

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);
+}

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
+    }
+}
+

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);
+
+}

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
+    }
+}
+

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);
+
+}

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;
+    }
+}