Merge branch 'master' of http://192.168.0.100:18088/lgv/grpc_client

# Conflicts:
#	.idea/grpc_client.iml

clients/calibrateZeroQ.py

@@ -0,0 +1,60 @@
+import argparse
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
+from google.protobuf import timestamp_pb2
+
+from clients.base_client import RobotClientBase
+from cmvr.api import common_pb2
+from cmvr.api import humanoid_robot_command_pb2 as pb
+from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+
+
+class CalibrateZeroQClient(RobotClientBase):
+    """Client to send calibrateZeroQ command"""
+
+    def send(self, device_id="hc01", joint_name="xxx"):
+        # Construct request header
+        header = common_pb2.CommandHeader.Request()
+        header.device_id = device_id
+        ts = timestamp_pb2.Timestamp()
+        ts.GetCurrentTime()
+        header.timestamp.CopyFrom(ts)
+
+        # Construct CalibrateZeroQ request
+        req = pb.CalibrateZeroQ.Request(
+            header=header,
+            joint_name=joint_name
+        )
+
+        # Call RPC
+        try:
+            resp = self.stub.calibrateZeroQ(req, timeout=10)
+            print("calibrateZeroQ 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("calibrateZeroQ RPC call failed:", e)
+
+
+if __name__ == "__main__":
+    # 创建命令行参数解析器
+    parser = argparse.ArgumentParser(description='Send calibrateZeroQ command to robot')
+    parser.add_argument('--device_id', type=str, default='hc01',
+                        help='Device ID (default: hc01)')
+    parser.add_argument('--joint_name', type=str, required=True,
+                        help='Joint name to calibrate zero position')
+
+    # 解析命令行参数
+    args = parser.parse_args()
+
+    # 初始化客户端
+    client = CalibrateZeroQClient()
+
+    # 发送calibrateZeroQ命令，使用命令行传入的参数
+    client.send(device_id=args.device_id, joint_name=args.joint_name)
+
+    # 关闭客户端
+    client.close()

clients/movej_client.py

@@ -387,7 +387,7 @@ def action_drive_comfort(client):
 if __name__ == "__main__":
     # Initialize client
     client = MoveJClient()
-    hand_client = DexHandClient()
+    #hand_client = DexHandClient()
     # action_air(client)
     # action_hello(client)
     client.send(test_joint_list, vel=1.0, acc=1.0)
@@ -412,5 +412,5 @@ if __name__ == "__main__":
 
 
     # Close client
-    hand_client.close()
+    #hand_client.close()
     client.close()

clients/servoj_client.py

@@ -0,0 +1,258 @@
+import math
+import time
+import sys
+from collections import deque
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+import numpy as np
+import matplotlib.font_manager as fm
+
+# 设置中文字体
+plt.rcParams['font.sans-serif'] = ['SimHei', 'Microsoft YaHei', 'WenQuanYi Micro Hei', 'DejaVu Sans']
+plt.rcParams['axes.unicode_minus'] = False
+
+from clients._path_setup import ensure_paths
+
+ensure_paths()
+
+from google.protobuf import timestamp_pb2
+
+from clients.base_client import RobotClientBase
+
+from cmvr.api import common_pb2
+from cmvr.api import humanoid_robot_command_pb2 as pb
+from cmvr.api import humanoid_robot_service_pb2_grpc as rpc
+
+
+class ServoJClient(RobotClientBase):
+    """Client to send ServoJ commands to the robot"""
+
+    def send(self, joint_list, vel=1.0, device_id="hc01"):
+        """
+        joint_list: list of dicts, e.g.,
+            [
+                {"joint_name": "L_SHOULDER_P", "rad": 0.0},
+                ...
+            ]
+        """
+        cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) for j in joint_list]
+
+        req = pb.ServoJ.Request(
+            header=self._create_header(device_id),
+            vel=vel,
+            cmds=cmds
+        )
+
+        try:
+            start_time = time.time()
+            resp = self.stub.servoJ(req, timeout=10)
+            rpc_time = time.time() - start_time
+            success = getattr(resp.header, "success", None)
+            error_msg = getattr(resp.header, "error_message", "")
+            return success, error_msg, rpc_time
+        except Exception as e:
+            return False, str(e), 0.0
+
+    def _create_header(self, device_id):
+        header = common_pb2.CommandHeader.Request()
+        header.device_id = device_id
+        ts = timestamp_pb2.Timestamp()
+        ts.GetCurrentTime()
+        header.timestamp.CopyFrom(ts)
+        return header
+
+
+def deg2rad(degrees):
+    return degrees * math.pi / 180.0
+
+
+class DelayPlotter:
+    """实时延迟波形绘制器 - 优化版，减少闪烁"""
+
+    def __init__(self, max_points=300):
+        self.max_points = max_points
+        self.rpc_delays = deque(maxlen=max_points)
+        self.running = True
+        self.last_update = time.time()
+        self.update_interval = 0.2  # 每200ms更新一次图表，减少重绘频率
+
+        # 创建图形 - 使用双缓冲减少闪烁
+        plt.ioff()  # 关闭交互模式
+        self.fig, self.ax = plt.subplots(figsize=(12, 6))
+        self.fig.suptitle('gRPC Call Delay Monitor', fontsize=14)
+
+        # RPC延迟图
+        self.ax.set_ylabel('Delay (ms)')
+        self.ax.set_xlabel('Sample Point')
+        self.ax.set_title('gRPC Call Delay Over Time')
+        self.ax.grid(True, alpha=0.3)
+        self.line, = self.ax.plot([], [], 'b-', linewidth=1)
+        self.ax.axhline(y=5.0, color='r', linestyle='--', alpha=0.5)
+
+        # 设置固定的Y轴范围，避免自动缩放导致的闪烁
+        self.ax.set_ylim(0, 20)
+
+        # 设置固定的X轴范围
+        self.ax.set_xlim(0, max_points)
+
+        plt.tight_layout()
+
+        # 启用双缓冲
+        self.fig.set_dpi(100)
+
+    def add_data(self, rpc_time):
+        """添加新数据点"""
+        self.rpc_delays.append(rpc_time * 1000)  # 转换为ms
+
+    def update_plot(self):
+        """手动更新图表，不使用动画"""
+        if not self.running or len(self.rpc_delays) < 2:
+            return
+
+        # 控制更新频率
+        current_time = time.time()
+        if current_time - self.last_update < self.update_interval:
+            return
+        self.last_update = current_time
+
+        x_data = list(range(len(self.rpc_delays)))
+        y_data = list(self.rpc_delays)
+
+        # 更新数据
+        self.line.set_data(x_data, y_data)
+
+        # 更新X轴范围，但保持平滑
+        if len(x_data) > 0:
+            self.ax.set_xlim(max(0, len(x_data) - self.max_points), len(x_data))
+
+        # 重绘
+        self.fig.canvas.draw_idle()  # 使用draw_idle代替draw，减少阻塞
+        self.fig.canvas.flush_events()
+
+    def start(self):
+        """启动绘图"""
+        plt.ion()  # 开启交互模式
+        plt.show(block=False)
+
+    def stop(self):
+        """停止绘图"""
+        self.running = False
+        plt.close(self.fig)
+
+
+if __name__ == "__main__":
+    # 初始化客户端
+    client = ServoJClient()
+    joint_name = 'R_WRIST_R'
+
+    # 固定发送0度位置
+    fixed_angle = 0
+
+    # 发送频率
+    freq = 200
+    dt = 1.0 / freq  # 5ms
+
+    print(f"=== gRPC Delay Test ===")
+    print(f"Joint: {joint_name}")
+    print(f"Command: fixed angle {fixed_angle}°")
+    print(f"Send frequency: {freq}Hz (interval {dt * 1000:.1f}ms)")
+    print("-" * 50)
+    print("Press Ctrl+C to stop")
+    print("-" * 50)
+
+    # 初始化绘图器
+    plotter = DelayPlotter(max_points=300)
+    plotter.start()
+
+    # 统计
+    sent_count = 0
+    rpc_times = deque(maxlen=100)
+    start_time = time.time()
+
+    # 用于定期打印统计信息
+    last_stats_time = time.time()
+    stats_interval = 2.0  # 每2秒打印一次统计
+
+    # 用于控制显示更新的频率
+    last_display_time = time.time()
+    display_interval = 0.05  # 每50ms更新一次控制台显示
+
+    try:
+        while True:  # 无限循环
+            loop_start = time.time()
+
+            # 发送固定角度的命令
+            joint_cmd = [{'joint_name': joint_name, 'rad': deg2rad(fixed_angle)}]
+            success, error, rpc_time = client.send(joint_cmd, vel=0.5)
+
+            # 记录
+            rpc_times.append(rpc_time)
+            sent_count += 1
+
+            # 添加到绘图器
+            plotter.add_data(rpc_time)
+
+            # 更新图表（受update_plot内部的频率控制）
+            plotter.update_plot()
+
+            # 控制控制台显示更新频率
+            current_time = time.time()
+            if current_time - last_display_time >= display_interval:
+                elapsed = current_time - start_time
+                avg_rpc = sum(rpc_times) / len(rpc_times) * 1000
+                current_rpc = rpc_time * 1000
+
+                sys.stdout.write(
+                    f"\rTime: {elapsed:5.1f}s | "
+                    f"Sent: {sent_count:6d} | "
+                    f"Current: {current_rpc:6.2f}ms | "
+                    f"Avg: {avg_rpc:6.2f}ms   "
+                )
+                sys.stdout.flush()
+                last_display_time = current_time
+
+            # 定期打印详细统计信息（每2秒）
+            if current_time - last_stats_time >= stats_interval:
+                if rpc_times:
+                    delays_ms = [t * 1000 for t in rpc_times]
+                    print(f"\n[Stats @ {current_time - start_time:.1f}s] "
+                          f"Avg:{np.mean(delays_ms):.2f}ms "
+                          f"Max:{np.max(delays_ms):.2f}ms "
+                          f"Min:{np.min(delays_ms):.2f}ms "
+                          f"P95:{np.percentile(delays_ms, 95):.2f}ms")
+                last_stats_time = current_time
+
+            # 控制发送频率
+            elapsed = time.time() - loop_start
+            if elapsed < dt:
+                time.sleep(dt - elapsed)
+
+    except KeyboardInterrupt:
+        print("\n\n⏹️ Test stopped by user")
+
+        # 最终统计
+        total_time = time.time() - start_time
+        print(f"\n=== Final Statistics ===")
+        print(f"Test duration: {total_time:.2f}s")
+        print(f"Total commands: {sent_count}")
+        print(f"Actual frequency: {sent_count / total_time:.1f}Hz")
+        if rpc_times:
+            delays_ms = [t * 1000 for t in rpc_times]
+            print(f"Average RPC: {np.mean(delays_ms):.2f}ms")
+            print(f"Maximum RPC: {np.max(delays_ms):.2f}ms")
+            print(f"Minimum RPC: {np.min(delays_ms):.2f}ms")
+            print(f"StdDev RPC: {np.std(delays_ms):.2f}ms")
+            print(f"P95 RPC: {np.percentile(delays_ms, 95):.2f}ms")
+            print(f"P99 RPC: {np.percentile(delays_ms, 99):.2f}ms")
+
+        # 等待用户查看图表
+        print("\nClose the graph window to exit...")
+        try:
+            input("Press Enter to close...")  # 等待用户输入再关闭
+        except:
+            pass
+
+    finally:
+        plotter.stop()
+        client.close()
+        print("Client closed")

generated/cmvr/api/biohead_command_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/biohead_command.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/biohead_command.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,235 +27,51 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.biohead_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_FACIALEXPRESSION']._serialized_start=68
+  _globals['_FACIALEXPRESSION']._serialized_end=1185
+  _globals['_FACIALEXPRESSION_EYEBROW']._serialized_start=386
+  _globals['_FACIALEXPRESSION_EYEBROW']._serialized_end=491
+  _globals['_FACIALEXPRESSION_EYELID']._serialized_start=493
+  _globals['_FACIALEXPRESSION_EYELID']._serialized_end=591
+  _globals['_FACIALEXPRESSION_EYEBALL']._serialized_start=593
+  _globals['_FACIALEXPRESSION_EYEBALL']._serialized_end=668
+  _globals['_FACIALEXPRESSION_NOSE']._serialized_start=670
+  _globals['_FACIALEXPRESSION_NOSE']._serialized_end=709
+  _globals['_FACIALEXPRESSION_MOUTH']._serialized_start=712
+  _globals['_FACIALEXPRESSION_MOUTH']._serialized_end=1156
+  _globals['_FACIALEXPRESSION_MOUTH_LEFTLIP']._serialized_start=927
+  _globals['_FACIALEXPRESSION_MOUTH_LEFTLIP']._serialized_end=1040
+  _globals['_FACIALEXPRESSION_MOUTH_RIGHTLIP']._serialized_start=1042
+  _globals['_FACIALEXPRESSION_MOUTH_RIGHTLIP']._serialized_end=1156
+  _globals['_FACIALEXPRESSION_JAW']._serialized_start=1158
+  _globals['_FACIALEXPRESSION_JAW']._serialized_end=1185
+  _globals['_SETFACIALEXPRESSION']._serialized_start=1188
+  _globals['_SETFACIALEXPRESSION']._serialized_end=1428
+  _globals['_SETFACIALEXPRESSION_REQUEST']._serialized_start=1211
+  _globals['_SETFACIALEXPRESSION_REQUEST']._serialized_end=1317
+  _globals['_SETFACIALEXPRESSION_FEEDBACK']._serialized_start=1319
+  _globals['_SETFACIALEXPRESSION_FEEDBACK']._serialized_end=1428
+  _globals['_STREAMFACIALEXPRESSION']._serialized_start=1431
+  _globals['_STREAMFACIALEXPRESSION']._serialized_end=1679
+  _globals['_STREAMFACIALEXPRESSION_REQUEST']._serialized_start=1457
+  _globals['_STREAMFACIALEXPRESSION_REQUEST']._serialized_end=1570
+  _globals['_STREAMFACIALEXPRESSION_FEEDBACK']._serialized_start=1572
+  _globals['_STREAMFACIALEXPRESSION_FEEDBACK']._serialized_end=1679
+  _globals['_GETSTATUS']._serialized_start=1682
+  _globals['_GETSTATUS']._serialized_end=1942
+  _globals['_GETSTATUS_REQUEST']._serialized_start=1211
+  _globals['_GETSTATUS_REQUEST']._serialized_end=1269
+  _globals['_GETSTATUS_FEEDBACK']._serialized_start=1756
+  _globals['_GETSTATUS_FEEDBACK']._serialized_end=1942
+  _globals['_EMERGENCYSTOP']._serialized_start=1945
+  _globals['_EMERGENCYSTOP']._serialized_end=2109
+  _globals['_EMERGENCYSTOP_REQUEST']._serialized_start=1211
+  _globals['_EMERGENCYSTOP_REQUEST']._serialized_end=1269
+  _globals['_EMERGENCYSTOP_FEEDBACK']._serialized_start=2022
+  _globals['_EMERGENCYSTOP_FEEDBACK']._serialized_end=2109
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/biohead_command_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/biohead_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/api/biohead_service_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/biohead_service.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/biohead_service.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,12 +27,11 @@ from cmvr.api import biohead_command_pb2 as cmvr_dot_api_dot_biohead__command__p
 
 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.biohead_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_BIOHEADSERVICE']._serialized_start=77
+  _globals['_BIOHEADSERVICE']._serialized_end=466
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/biohead_service_pb2_grpc.py

@@ -1,9 +1,29 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
 from cmvr.api import biohead_command_pb2 as cmvr_dot_api_dot_biohead__command__pb2
 
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/biohead_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
 
 class BioHeadServiceStub(object):
     """生物头部机器人服务接口
@@ -19,22 +39,22 @@ class BioHeadServiceStub(object):
                 '/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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
 
 
 class BioHeadServiceServicer(object):
@@ -98,6 +118,7 @@ def add_BioHeadServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'cmvr.api.BioHeadService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.BioHeadService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -116,11 +137,21 @@ class BioHeadService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.BioHeadService/SetExpression',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def StreamExpression(request_iterator,
@@ -133,11 +164,21 @@ class BioHeadService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.BioHeadService/StreamExpression',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetSystemStatus(request,
@@ -150,11 +191,21 @@ class BioHeadService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.BioHeadService/GetSystemStatus',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def EmergencyStop(request,
@@ -167,8 +218,18 @@ class BioHeadService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.BioHeadService/EmergencyStop',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

generated/cmvr/api/camera_command_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/camera_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/api/camera_service_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/camera_service.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/camera_service.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,12 +27,11 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.camera_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_CAMERASERVICE']._serialized_start=75
+  _globals['_CAMERASERVICE']._serialized_end=1254
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/camera_service_pb2_grpc.py

@@ -1,9 +1,29 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
 from cmvr.api import camera_command_pb2 as cmvr_dot_api_dot_camera__command__pb2
 
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/camera_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
 
 class CameraServiceStub(object):
     """Missing associated documentation comment in .proto file."""
@@ -18,57 +38,57 @@ class CameraServiceStub(object):
                 '/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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
 
 
 class CameraServiceServicer(object):
@@ -202,6 +222,7 @@ def add_CameraServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'cmvr.api.CameraService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.CameraService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -219,11 +240,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/GetStatus',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def StartCamera(request,
@@ -236,11 +267,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/StartCamera',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def StopCamera(request,
@@ -253,11 +294,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/StopCamera',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetRGBImage(request,
@@ -270,11 +321,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/GetRGBImage',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetDepthImage(request,
@@ -287,11 +348,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/GetDepthImage',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetRGBDImages(request,
@@ -304,11 +375,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/GetRGBDImages',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def StartRecording(request,
@@ -321,11 +402,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/StartRecording',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def StopRecording(request,
@@ -338,11 +429,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.CameraService/StopRecording',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetRGBImageStream(request_iterator,
@@ -355,11 +456,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.CameraService/GetRGBImageStream',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetDepthImageStream(request_iterator,
@@ -372,11 +483,21 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.CameraService/GetDepthImageStream',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetRGBDImagesStream(request_iterator,
@@ -389,8 +510,18 @@ class CameraService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.CameraService/GetRGBDImagesStream',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

generated/cmvr/api/common_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/common.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/common.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,64 +27,21 @@ from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__
 
 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.common_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_DEVICELIFECYCLE']._serialized_start=69
+  _globals['_DEVICELIFECYCLE']._serialized_end=253
+  _globals['_DEVICELIFECYCLE_LIFECYCLE']._serialized_start=140
+  _globals['_DEVICELIFECYCLE_LIFECYCLE']._serialized_end=253
+  _globals['_COMMANDHEADER']._serialized_start=256
+  _globals['_COMMANDHEADER']._serialized_end=447
+  _globals['_COMMANDHEADER_REQUEST']._serialized_start=273
+  _globals['_COMMANDHEADER_REQUEST']._serialized_end=348
+  _globals['_COMMANDHEADER_FEEDBACK']._serialized_start=350
+  _globals['_COMMANDHEADER_FEEDBACK']._serialized_end=447
+  _globals['_CONFIGPARAM']._serialized_start=450
+  _globals['_CONFIGPARAM']._serialized_end=612
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/common_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/common_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/api/dexhand_command_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/dexhand_command.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/dexhand_command.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,324 +27,73 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.dexhand_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_SENSORDATA_ROWDATA'].fields_by_name['values']._loaded_options = None
+  _globals['_SENSORDATA_ROWDATA'].fields_by_name['values']._serialized_options = b'\020\001'
+  _globals['_FREEDOMVALUE']._serialized_start=67
+  _globals['_FREEDOMVALUE']._serialized_end=108
+  _globals['_FREEDOMSTATE']._serialized_start=111
+  _globals['_FREEDOMSTATE']._serialized_end=280
+  _globals['_SENSORDATA']._serialized_start=283
+  _globals['_SENSORDATA']._serialized_end=683
+  _globals['_SENSORDATA_ROWDATA']._serialized_start=494
+  _globals['_SENSORDATA_ROWDATA']._serialized_end=523
+  _globals['_SENSORDATA_FINGERTYPE']._serialized_start=525
+  _globals['_SENSORDATA_FINGERTYPE']._serialized_end=609
+  _globals['_SENSORDATA_PARTTYPE']._serialized_start=611
+  _globals['_SENSORDATA_PARTTYPE']._serialized_end=683
+  _globals['_DEXHANDSTATE']._serialized_start=685
+  _globals['_DEXHANDSTATE']._serialized_end=762
+  _globals['_GETDEXHANDSTATECOMMAND']._serialized_start=765
+  _globals['_GETDEXHANDSTATECOMMAND']._serialized_end=950
+  _globals['_GETDEXHANDSTATECOMMAND_REQUEST']._serialized_start=791
+  _globals['_GETDEXHANDSTATECOMMAND_REQUEST']._serialized_end=849
+  _globals['_GETDEXHANDSTATECOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_GETDEXHANDSTATECOMMAND_FEEDBACK']._serialized_end=950
+  _globals['_SETDEXHANDPOSITIONSCOMMAND']._serialized_start=953
+  _globals['_SETDEXHANDPOSITIONSCOMMAND']._serialized_end=1143
+  _globals['_SETDEXHANDPOSITIONSCOMMAND_REQUEST']._serialized_start=983
+  _globals['_SETDEXHANDPOSITIONSCOMMAND_REQUEST']._serialized_end=1081
+  _globals['_SETDEXHANDPOSITIONSCOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDPOSITIONSCOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_SETDEXHANDANGLESCOMMAND']._serialized_start=1146
+  _globals['_SETDEXHANDANGLESCOMMAND']._serialized_end=1333
+  _globals['_SETDEXHANDANGLESCOMMAND_REQUEST']._serialized_start=983
+  _globals['_SETDEXHANDANGLESCOMMAND_REQUEST']._serialized_end=1081
+  _globals['_SETDEXHANDANGLESCOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDANGLESCOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_SETDEXHANDFORCECOMMAND']._serialized_start=1336
+  _globals['_SETDEXHANDFORCECOMMAND']._serialized_end=1522
+  _globals['_SETDEXHANDFORCECOMMAND_REQUEST']._serialized_start=983
+  _globals['_SETDEXHANDFORCECOMMAND_REQUEST']._serialized_end=1081
+  _globals['_SETDEXHANDFORCECOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDFORCECOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_SETDEXHANDSPEEDCOMMAND']._serialized_start=1525
+  _globals['_SETDEXHANDSPEEDCOMMAND']._serialized_end=1711
+  _globals['_SETDEXHANDSPEEDCOMMAND_REQUEST']._serialized_start=983
+  _globals['_SETDEXHANDSPEEDCOMMAND_REQUEST']._serialized_end=1081
+  _globals['_SETDEXHANDSPEEDCOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDSPEEDCOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_SETDEXHANDPRESETACTCOMMAND']._serialized_start=1714
+  _globals['_SETDEXHANDPRESETACTCOMMAND']._serialized_end=1885
+  _globals['_SETDEXHANDPRESETACTCOMMAND_REQUEST']._serialized_start=1744
+  _globals['_SETDEXHANDPRESETACTCOMMAND_REQUEST']._serialized_end=1823
+  _globals['_SETDEXHANDPRESETACTCOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDPRESETACTCOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_GETSENSORDATACOMMAND']._serialized_start=1888
+  _globals['_GETSENSORDATACOMMAND']._serialized_end=2070
+  _globals['_GETSENSORDATACOMMAND_REQUEST']._serialized_start=791
+  _globals['_GETSENSORDATACOMMAND_REQUEST']._serialized_end=849
+  _globals['_GETSENSORDATACOMMAND_FEEDBACK']._serialized_start=1972
+  _globals['_GETSENSORDATACOMMAND_FEEDBACK']._serialized_end=2070
+  _globals['_GETSENSORDATASTREAMCOMMAND']._serialized_start=2073
+  _globals['_GETSENSORDATASTREAMCOMMAND']._serialized_end=2261
+  _globals['_GETSENSORDATASTREAMCOMMAND_REQUEST']._serialized_start=791
+  _globals['_GETSENSORDATASTREAMCOMMAND_REQUEST']._serialized_end=849
+  _globals['_GETSENSORDATASTREAMCOMMAND_FEEDBACK']._serialized_start=1972
+  _globals['_GETSENSORDATASTREAMCOMMAND_FEEDBACK']._serialized_end=2070
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/dexhand_command_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/dexhand_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/api/dexhand_service_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/dexhand_service.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/dexhand_service.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,12 +27,11 @@ from cmvr.api import dexhand_command_pb2 as cmvr_dot_api_dot_dexhand__command__p
 
 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.dexhand_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_DEXHANDSERVICE']._serialized_start=77
+  _globals['_DEXHANDSERVICE']._serialized_end=949
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/dexhand_service_pb2_grpc.py

@@ -1,9 +1,29 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
 from cmvr.api import dexhand_command_pb2 as cmvr_dot_api_dot_dexhand__command__pb2
 
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/dexhand_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
 
 class DexHandServiceStub(object):
     """Missing associated documentation comment in .proto file."""
@@ -18,42 +38,42 @@ class DexHandServiceStub(object):
                 '/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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
 
 
 class DexHandServiceServicer(object):
@@ -155,6 +175,7 @@ def add_DexHandServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'cmvr.api.DexHandService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.DexHandService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -172,11 +193,21 @@ class DexHandService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/GetStatus',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def SetDexHandPos(request,
@@ -189,11 +220,21 @@ class DexHandService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandPos',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def SetDexHandAngle(request,
@@ -206,11 +247,21 @@ class DexHandService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandAngle',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def SetDexHandForce(request,
@@ -223,11 +274,21 @@ class DexHandService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandForce',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def SetDexHandSpeed(request,
@@ -240,11 +301,21 @@ class DexHandService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandSpeed',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def SetDexHandPresetAct(request,
@@ -257,11 +328,21 @@ class DexHandService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/SetDexHandPresetAct',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetSensorData(request,
@@ -274,11 +355,21 @@ class DexHandService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.DexHandService/GetSensorData',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetSensorDataStream(request_iterator,
@@ -291,8 +382,18 @@ class DexHandService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.stream_stream(request_iterator, target, '/cmvr.api.DexHandService/GetSensorDataStream',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

generated/cmvr/api/hlc_command_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/hlc_command.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/hlc_command.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,41 +27,15 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.hlc_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TOUCH']._serialized_start=64
+  _globals['_TOUCH']._serialized_end=234
+  _globals['_TOUCH_REQUEST']._serialized_start=73
+  _globals['_TOUCH_REQUEST']._serialized_end=172
+  _globals['_TOUCH_RESPONSE']._serialized_start=174
+  _globals['_TOUCH_RESPONSE']._serialized_end=234
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/hlc_command_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/hlc_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/api/hlc_service_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/hlc_service.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/hlc_service.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,12 +27,11 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.hlc_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_HLCSERVICE']._serialized_start=68
+  _globals['_HLCSERVICE']._serialized_end=140
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/hlc_service_pb2_grpc.py

@@ -1,9 +1,29 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
 from cmvr.api import hlc_command_pb2 as cmvr_dot_api_dot_hlc__command__pb2
 
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/hlc_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
 
 class HlcServiceStub(object):
     """Missing associated documentation comment in .proto file."""
@@ -18,7 +38,7 @@ class HlcServiceStub(object):
                 '/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,
-                )
+                _registered_method=True)
 
 
 class HlcServiceServicer(object):
@@ -42,6 +62,7 @@ def add_HlcServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'cmvr.api.HlcService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.HlcService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -59,8 +80,18 @@ class HlcService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.HlcService/touch',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

generated/cmvr/api/humanoid_robot_command_pb2.py

@@ -1,13 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/humanoid_robot_command.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/humanoid_robot_command.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -16,246 +25,67 @@ _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')
+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\"\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\"\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\"\x9e\x01\n\x0e\x43\x61librateZeroQ\x1aN\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\njoint_name\x18\x02 \x01(\t\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xb1\x01\n\x06ServoJ\x1ai\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\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback*=\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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.humanoid_robot_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ROBOTCARTESIAN']._serialized_start=1923
+  _globals['_ROBOTCARTESIAN']._serialized_end=1984
+  _globals['_ROBOTJOINTINDEXDIRECTION']._serialized_start=1987
+  _globals['_ROBOTJOINTINDEXDIRECTION']._serialized_end=2178
+  _globals['_JOINTCMD']._serialized_start=74
+  _globals['_JOINTCMD']._serialized_end=130
+  _globals['_POSE3D']._serialized_start=132
+  _globals['_POSE3D']._serialized_end=209
+  _globals['_MOVEJ']._serialized_start=212
+  _globals['_MOVEJ']._serialized_end=401
+  _globals['_MOVEJ_REQUEST']._serialized_start=221
+  _globals['_MOVEJ_REQUEST']._serialized_end=339
+  _globals['_MOVEJ_RESPONSE']._serialized_start=341
+  _globals['_MOVEJ_RESPONSE']._serialized_end=401
+  _globals['_GETPOSE']._serialized_start=404
+  _globals['_GETPOSE']._serialized_end=603
+  _globals['_GETPOSE_REQUEST']._serialized_start=415
+  _globals['_GETPOSE_REQUEST']._serialized_end=509
+  _globals['_GETPOSE_RESPONSE']._serialized_start=511
+  _globals['_GETPOSE_RESPONSE']._serialized_end=603
+  _globals['_MOVEL']._serialized_start=606
+  _globals['_MOVEL']._serialized_end=817
+  _globals['_MOVEL_REQUEST']._serialized_start=616
+  _globals['_MOVEL_REQUEST']._serialized_end=755
+  _globals['_MOVEL_RESPONSE']._serialized_start=341
+  _globals['_MOVEL_RESPONSE']._serialized_end=401
+  _globals['_SPEEDJ']._serialized_start=820
+  _globals['_SPEEDJ']._serialized_end=1046
+  _globals['_SPEEDJ_REQUEST']._serialized_start=831
+  _globals['_SPEEDJ_REQUEST']._serialized_end=984
+  _globals['_SPEEDJ_RESPONSE']._serialized_start=341
+  _globals['_SPEEDJ_RESPONSE']._serialized_end=401
+  _globals['_SPEEDL']._serialized_start=1049
+  _globals['_SPEEDL']._serialized_end=1312
+  _globals['_SPEEDL_REQUEST']._serialized_start=1060
+  _globals['_SPEEDL_REQUEST']._serialized_end=1250
+  _globals['_SPEEDL_RESPONSE']._serialized_start=341
+  _globals['_SPEEDL_RESPONSE']._serialized_end=401
+  _globals['_JOINTSTATE']._serialized_start=1314
+  _globals['_JOINTSTATE']._serialized_end=1411
+  _globals['_JOINTRESPONSE']._serialized_start=1413
+  _globals['_JOINTRESPONSE']._serialized_end=1515
+  _globals['_JOINTREQUEST']._serialized_start=1517
+  _globals['_JOINTREQUEST']._serialized_end=1580
+  _globals['_CALIBRATEZEROQ']._serialized_start=1583
+  _globals['_CALIBRATEZEROQ']._serialized_end=1741
+  _globals['_CALIBRATEZEROQ_REQUEST']._serialized_start=831
+  _globals['_CALIBRATEZEROQ_REQUEST']._serialized_end=909
+  _globals['_CALIBRATEZEROQ_RESPONSE']._serialized_start=341
+  _globals['_CALIBRATEZEROQ_RESPONSE']._serialized_end=401
+  _globals['_SERVOJ']._serialized_start=1744
+  _globals['_SERVOJ']._serialized_end=1921
+  _globals['_SERVOJ_REQUEST']._serialized_start=221
+  _globals['_SERVOJ_REQUEST']._serialized_end=326
+  _globals['_SERVOJ_RESPONSE']._serialized_start=341
+  _globals['_SERVOJ_RESPONSE']._serialized_end=401
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/humanoid_robot_command_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/humanoid_robot_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/api/humanoid_robot_service_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/humanoid_robot_service.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/humanoid_robot_service.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -16,14 +26,13 @@ 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')
+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\xc5\x05\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.Response\x12U\n\x0e\x63\x61librateZeroQ\x12 .cmvr.api.CalibrateZeroQ.Request\x1a!.cmvr.api.CalibrateZeroQ.Response\x12=\n\x06servoJ\x12\x18.cmvr.api.ServoJ.Request\x1a\x19.cmvr.api.ServoJ.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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.humanoid_robot_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_HUMANOIDROBOTSERVICE']._serialized_start=114
+  _globals['_HUMANOIDROBOTSERVICE']._serialized_end=823
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/humanoid_robot_service_pb2_grpc.py

@@ -1,10 +1,30 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
 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
 
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/humanoid_robot_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
 
 class HumanoidRobotServiceStub(object):
     """Missing associated documentation comment in .proto file."""
@@ -19,42 +39,52 @@ class HumanoidRobotServiceStub(object):
                 '/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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
+        self.calibrateZeroQ = channel.unary_unary(
+                '/cmvr.api.HumanoidRobotService/calibrateZeroQ',
+                request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Response.FromString,
+                _registered_method=True)
+        self.servoJ = channel.unary_unary(
+                '/cmvr.api.HumanoidRobotService/servoJ',
+                request_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Response.FromString,
+                _registered_method=True)
 
 
 class HumanoidRobotServiceServicer(object):
@@ -108,6 +138,18 @@ class HumanoidRobotServiceServicer(object):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def calibrateZeroQ(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 servoJ(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 = {
@@ -151,10 +193,21 @@ def add_HumanoidRobotServiceServicer_to_server(servicer, server):
                     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,
             ),
+            'calibrateZeroQ': grpc.unary_unary_rpc_method_handler(
+                    servicer.calibrateZeroQ,
+                    request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Response.SerializeToString,
+            ),
+            'servoJ': grpc.unary_unary_rpc_method_handler(
+                    servicer.servoJ,
+                    request_deserializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Response.SerializeToString,
+            ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
             'cmvr.api.HumanoidRobotService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.HumanoidRobotService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -172,11 +225,21 @@ class HumanoidRobotService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/torqueOff',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def torqueOn(request,
@@ -189,11 +252,21 @@ class HumanoidRobotService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/torqueOn',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def moveJ(request,
@@ -206,11 +279,21 @@ class HumanoidRobotService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/moveJ',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def moveL(request,
@@ -223,11 +306,21 @@ class HumanoidRobotService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/moveL',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def speedJ(request,
@@ -240,11 +333,21 @@ class HumanoidRobotService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/speedJ',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def speedL(request,
@@ -257,11 +360,21 @@ class HumanoidRobotService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/speedL',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def getJointState(request,
@@ -274,11 +387,21 @@ class HumanoidRobotService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/getJointState',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def getPose(request,
@@ -291,8 +414,72 @@ class HumanoidRobotService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.HumanoidRobotService/getPose',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def calibrateZeroQ(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/calibrateZeroQ',
+            cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Request.SerializeToString,
+            cmvr_dot_api_dot_humanoid__robot__command__pb2.CalibrateZeroQ.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def servoJ(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/servoJ',
+            cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Request.SerializeToString,
+            cmvr_dot_api_dot_humanoid__robot__command__pb2.ServoJ.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

generated/cmvr/api/microphone_command_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/microphone_command.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/microphone_command.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,243 +27,53 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.microphone_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_MICSTATE']._serialized_start=70
+  _globals['_MICSTATE']._serialized_end=185
+  _globals['_GETMICSTATECOMMAND']._serialized_start=188
+  _globals['_GETMICSTATECOMMAND']._serialized_end=365
+  _globals['_GETMICSTATECOMMAND_REQUEST']._serialized_start=210
+  _globals['_GETMICSTATECOMMAND_REQUEST']._serialized_end=268
+  _globals['_GETMICSTATECOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_GETMICSTATECOMMAND_FEEDBACK']._serialized_end=365
+  _globals['_STARTMICRECORDINGCOMMAND']._serialized_start=368
+  _globals['_STARTMICRECORDINGCOMMAND']._serialized_end=535
+  _globals['_STARTMICRECORDINGCOMMAND_REQUEST']._serialized_start=396
+  _globals['_STARTMICRECORDINGCOMMAND_REQUEST']._serialized_end=473
+  _globals['_STARTMICRECORDINGCOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_STARTMICRECORDINGCOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_STOPMICRECORDINGCOMMAND']._serialized_start=538
+  _globals['_STOPMICRECORDINGCOMMAND']._serialized_end=685
+  _globals['_STOPMICRECORDINGCOMMAND_REQUEST']._serialized_start=210
+  _globals['_STOPMICRECORDINGCOMMAND_REQUEST']._serialized_end=268
+  _globals['_STOPMICRECORDINGCOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_STOPMICRECORDINGCOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_PAUSEMICRECORDINGCOMMAND']._serialized_start=688
+  _globals['_PAUSEMICRECORDINGCOMMAND']._serialized_end=836
+  _globals['_PAUSEMICRECORDINGCOMMAND_REQUEST']._serialized_start=210
+  _globals['_PAUSEMICRECORDINGCOMMAND_REQUEST']._serialized_end=268
+  _globals['_PAUSEMICRECORDINGCOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_PAUSEMICRECORDINGCOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_RESUMEMICRECORDINGCOMMAND']._serialized_start=839
+  _globals['_RESUMEMICRECORDINGCOMMAND']._serialized_end=988
+  _globals['_RESUMEMICRECORDINGCOMMAND_REQUEST']._serialized_start=210
+  _globals['_RESUMEMICRECORDINGCOMMAND_REQUEST']._serialized_end=268
+  _globals['_RESUMEMICRECORDINGCOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_RESUMEMICRECORDINGCOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_SETMICPHONEVOLUMECOMMAND']._serialized_start=991
+  _globals['_SETMICPHONEVOLUMECOMMAND']._serialized_end=1155
+  _globals['_SETMICPHONEVOLUMECOMMAND_REQUEST']._serialized_start=1019
+  _globals['_SETMICPHONEVOLUMECOMMAND_REQUEST']._serialized_end=1093
+  _globals['_SETMICPHONEVOLUMECOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_SETMICPHONEVOLUMECOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_GETMICPHONEVOLUMECOMMAND']._serialized_start=1158
+  _globals['_GETMICPHONEVOLUMECOMMAND']._serialized_end=1322
+  _globals['_GETMICPHONEVOLUMECOMMAND_REQUEST']._serialized_start=210
+  _globals['_GETMICPHONEVOLUMECOMMAND_REQUEST']._serialized_end=268
+  _globals['_GETMICPHONEVOLUMECOMMAND_FEEDBACK']._serialized_start=1246
+  _globals['_GETMICPHONEVOLUMECOMMAND_FEEDBACK']._serialized_end=1322
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/microphone_command_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/microphone_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/api/microphone_service_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/microphone_service.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/microphone_service.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,12 +27,11 @@ from cmvr.api import microphone_command_pb2 as cmvr_dot_api_dot_microphone__comm
 
 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.microphone_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_MICPHONESERVICE']._serialized_start=83
+  _globals['_MICPHONESERVICE']._serialized_end=810
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/microphone_service_pb2_grpc.py

@@ -1,9 +1,29 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
 from cmvr.api import microphone_command_pb2 as cmvr_dot_api_dot_microphone__command__pb2
 
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/microphone_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
 
 class MicPhoneServiceStub(object):
     """Missing associated documentation comment in .proto file."""
@@ -18,37 +38,37 @@ class MicPhoneServiceStub(object):
                 '/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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
 
 
 class MicPhoneServiceServicer(object):
@@ -140,6 +160,7 @@ def add_MicPhoneServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'cmvr.api.MicPhoneService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.MicPhoneService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -157,11 +178,21 @@ class MicPhoneService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/GetStatus',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def StartRecord(request,
@@ -174,11 +205,21 @@ class MicPhoneService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/StartRecord',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def StopRecord(request,
@@ -191,11 +232,21 @@ class MicPhoneService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/StopRecord',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def PauseRecord(request,
@@ -208,11 +259,21 @@ class MicPhoneService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/PauseRecord',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def ResumeRecord(request,
@@ -225,11 +286,21 @@ class MicPhoneService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/ResumeRecord',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def SetVolume(request,
@@ -242,11 +313,21 @@ class MicPhoneService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/SetVolume',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetVolume(request,
@@ -259,8 +340,18 @@ class MicPhoneService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.MicPhoneService/GetVolume',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

generated/cmvr/api/speaker_command_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/speaker_command.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/speaker_command.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,256 +27,57 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.speaker_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_AUDIODATA']._serialized_start=68
+  _globals['_AUDIODATA']._serialized_end=247
+  _globals['_AUDIODATA_AUDIOFORMAT']._serialized_start=198
+  _globals['_AUDIODATA_AUDIOFORMAT']._serialized_end=247
+  _globals['_SPEAKERSTATE']._serialized_start=250
+  _globals['_SPEAKERSTATE']._serialized_end=387
+  _globals['_GETSPEAKERSTATECOMMAND']._serialized_start=390
+  _globals['_GETSPEAKERSTATECOMMAND']._serialized_end=575
+  _globals['_GETSPEAKERSTATECOMMAND_REQUEST']._serialized_start=416
+  _globals['_GETSPEAKERSTATECOMMAND_REQUEST']._serialized_end=474
+  _globals['_GETSPEAKERSTATECOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_GETSPEAKERSTATECOMMAND_FEEDBACK']._serialized_end=575
+  _globals['_PLAYAUDIOCOMMAND']._serialized_start=578
+  _globals['_PLAYAUDIOCOMMAND']._serialized_end=738
+  _globals['_PLAYAUDIOCOMMAND_REQUEST']._serialized_start=598
+  _globals['_PLAYAUDIOCOMMAND_REQUEST']._serialized_end=676
+  _globals['_PLAYAUDIOCOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_PLAYAUDIOCOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_STOPSPEAKERCOMMAND']._serialized_start=741
+  _globals['_STOPSPEAKERCOMMAND']._serialized_end=883
+  _globals['_STOPSPEAKERCOMMAND_REQUEST']._serialized_start=416
+  _globals['_STOPSPEAKERCOMMAND_REQUEST']._serialized_end=474
+  _globals['_STOPSPEAKERCOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_STOPSPEAKERCOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_PAUSESPEAKERCOMMAND']._serialized_start=886
+  _globals['_PAUSESPEAKERCOMMAND']._serialized_end=1029
+  _globals['_PAUSESPEAKERCOMMAND_REQUEST']._serialized_start=416
+  _globals['_PAUSESPEAKERCOMMAND_REQUEST']._serialized_end=474
+  _globals['_PAUSESPEAKERCOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_PAUSESPEAKERCOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_RESUMESPEAKERCOMMAND']._serialized_start=1032
+  _globals['_RESUMESPEAKERCOMMAND']._serialized_end=1176
+  _globals['_RESUMESPEAKERCOMMAND_REQUEST']._serialized_start=416
+  _globals['_RESUMESPEAKERCOMMAND_REQUEST']._serialized_end=474
+  _globals['_RESUMESPEAKERCOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_RESUMESPEAKERCOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_SETSPEAKERVOLUMECOMMAND']._serialized_start=1179
+  _globals['_SETSPEAKERVOLUMECOMMAND']._serialized_end=1342
+  _globals['_SETSPEAKERVOLUMECOMMAND_REQUEST']._serialized_start=1206
+  _globals['_SETSPEAKERVOLUMECOMMAND_REQUEST']._serialized_end=1280
+  _globals['_SETSPEAKERVOLUMECOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_SETSPEAKERVOLUMECOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_GETSPEAKERVOLUMECOMMAND']._serialized_start=1345
+  _globals['_GETSPEAKERVOLUMECOMMAND']._serialized_end=1508
+  _globals['_GETSPEAKERVOLUMECOMMAND_REQUEST']._serialized_start=416
+  _globals['_GETSPEAKERVOLUMECOMMAND_REQUEST']._serialized_end=474
+  _globals['_GETSPEAKERVOLUMECOMMAND_FEEDBACK']._serialized_start=1432
+  _globals['_GETSPEAKERVOLUMECOMMAND_FEEDBACK']._serialized_end=1508
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/speaker_command_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/speaker_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/api/speaker_service_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/speaker_service.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/speaker_service.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,12 +27,11 @@ from cmvr.api import speaker_command_pb2 as cmvr_dot_api_dot_speaker__command__p
 
 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.speaker_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_SPEAKERSERVICE']._serialized_start=77
+  _globals['_SPEAKERSERVICE']._serialized_end=765
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/speaker_service_pb2_grpc.py

@@ -1,9 +1,29 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
 from cmvr.api import speaker_command_pb2 as cmvr_dot_api_dot_speaker__command__pb2
 
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/speaker_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
 
 class SpeakerServiceStub(object):
     """Missing associated documentation comment in .proto file."""
@@ -18,37 +38,37 @@ class SpeakerServiceStub(object):
                 '/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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
 
 
 class SpeakerServiceServicer(object):
@@ -140,6 +160,7 @@ def add_SpeakerServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'cmvr.api.SpeakerService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.SpeakerService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -157,11 +178,21 @@ class SpeakerService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/GetStatus',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def PlayAudio(request,
@@ -174,11 +205,21 @@ class SpeakerService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/PlayAudio',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def StopPlayback(request,
@@ -191,11 +232,21 @@ class SpeakerService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/StopPlayback',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def PausePlayback(request,
@@ -208,11 +259,21 @@ class SpeakerService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/PausePlayback',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def ResumePlayback(request,
@@ -225,11 +286,21 @@ class SpeakerService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/ResumePlayback',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def SetVolume(request,
@@ -242,11 +313,21 @@ class SpeakerService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/SetVolume',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetVolume(request,
@@ -259,8 +340,18 @@ class SpeakerService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SpeakerService/GetVolume',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

generated/cmvr/api/system_command_pb2.py

@@ -1,13 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/system_command.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/system_command.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -18,128 +27,31 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.system_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_DEVICETYPE']._serialized_start=794
+  _globals['_DEVICETYPE']._serialized_end=919
+  _globals['_DEVICELIST']._serialized_start=66
+  _globals['_DEVICELIST']._serialized_end=140
+  _globals['_GETSYSTEMINFOCOMMAND']._serialized_start=143
+  _globals['_GETSYSTEMINFOCOMMAND']._serialized_end=356
+  _globals['_GETSYSTEMINFOCOMMAND_REQUEST']._serialized_start=167
+  _globals['_GETSYSTEMINFOCOMMAND_REQUEST']._serialized_end=176
+  _globals['_GETSYSTEMINFOCOMMAND_FEEDBACK']._serialized_start=179
+  _globals['_GETSYSTEMINFOCOMMAND_FEEDBACK']._serialized_end=356
+  _globals['_GETSYSTEMSTATUSCOMMAND']._serialized_start=359
+  _globals['_GETSYSTEMSTATUSCOMMAND']._serialized_end=607
+  _globals['_GETSYSTEMSTATUSCOMMAND_REQUEST']._serialized_start=167
+  _globals['_GETSYSTEMSTATUSCOMMAND_REQUEST']._serialized_end=176
+  _globals['_GETSYSTEMSTATUSCOMMAND_FEEDBACK']._serialized_start=397
+  _globals['_GETSYSTEMSTATUSCOMMAND_FEEDBACK']._serialized_end=607
+  _globals['_UPDATEPARAMSCOMMAND']._serialized_start=610
+  _globals['_UPDATEPARAMSCOMMAND']._serialized_end=792
+  _globals['_UPDATEPARAMSCOMMAND_REQUEST']._serialized_start=633
+  _globals['_UPDATEPARAMSCOMMAND_REQUEST']._serialized_end=730
+  _globals['_UPDATEPARAMSCOMMAND_FEEDBACK']._serialized_start=179
+  _globals['_UPDATEPARAMSCOMMAND_FEEDBACK']._serialized_end=239
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/system_command_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/system_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/api/system_service_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/system_service.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/system_service.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,12 +27,11 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.system_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_SYSTEMSERVICE']._serialized_start=75
+  _globals['_SYSTEMSERVICE']._serialized_end=393
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/system_service_pb2_grpc.py

@@ -1,9 +1,29 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
 from cmvr.api import system_command_pb2 as cmvr_dot_api_dot_system__command__pb2
 
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/system_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
 
 class SystemServiceStub(object):
     """Missing associated documentation comment in .proto file."""
@@ -18,17 +38,17 @@ class SystemServiceStub(object):
                 '/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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
         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,
-                )
+                _registered_method=True)
 
 
 class SystemServiceServicer(object):
@@ -74,6 +94,7 @@ def add_SystemServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'cmvr.api.SystemService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.SystemService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -91,11 +112,21 @@ class SystemService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SystemService/GetSystemInfo',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def GetSystemStatus(request,
@@ -108,11 +139,21 @@ class SystemService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SystemService/GetSystemStatus',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
 
     @staticmethod
     def UpdateParams(request,
@@ -125,8 +166,18 @@ class SystemService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.SystemService/UpdateParams',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

generated/cmvr/api/test_service_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/api/test_service.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/api/test_service.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -16,32 +26,15 @@ _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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.test_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TESTREQEUST']._serialized_start=41
+  _globals['_TESTREQEUST']._serialized_end=68
+  _globals['_TESTRESPONSE']._serialized_start=70
+  _globals['_TESTRESPONSE']._serialized_end=98
+  _globals['_TESTSERVICE']._serialized_start=100
+  _globals['_TESTSERVICE']._serialized_end=168
 # @@protoc_insertion_point(module_scope)

generated/cmvr/api/test_service_pb2_grpc.py

@@ -1,9 +1,29 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
 from cmvr.api import test_service_pb2 as cmvr_dot_api_dot_test__service__pb2
 
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/test_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
 
 class TestServiceStub(object):
     """Missing associated documentation comment in .proto file."""
@@ -18,7 +38,7 @@ class TestServiceStub(object):
                 '/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,
-                )
+                _registered_method=True)
 
 
 class TestServiceServicer(object):
@@ -42,6 +62,7 @@ def add_TestServiceServicer_to_server(servicer, server):
     generic_handler = grpc.method_handlers_generic_handler(
             'cmvr.api.TestService', rpc_method_handlers)
     server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.TestService', rpc_method_handlers)
 
 
  # This class is part of an EXPERIMENTAL API.
@@ -59,8 +80,18 @@ class TestService(object):
             wait_for_ready=None,
             timeout=None,
             metadata=None):
-        return grpc.experimental.unary_unary(request, target, '/cmvr.api.TestService/Call',
+        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)
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

generated/cmvr/msgs/can_card_parameter_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/msgs/can_card_parameter.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/msgs/can_card_parameter.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -16,34 +26,21 @@ _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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.can_card_parameter_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_CANCARDPARAMETER']._serialized_start=50
+  _globals['_CANCARDPARAMETER']._serialized_end=970
+  _globals['_CANCARDPARAMETER_CANCARDBRAND']._serialized_start=410
+  _globals['_CANCARDPARAMETER_CANCARDBRAND']._serialized_end=487
+  _globals['_CANCARDPARAMETER_CANCARDTYPE']._serialized_start=489
+  _globals['_CANCARDPARAMETER_CANCARDTYPE']._serialized_end=530
+  _globals['_CANCARDPARAMETER_CANCHANNELID']._serialized_start=533
+  _globals['_CANCARDPARAMETER_CANCHANNELID']._serialized_end=714
+  _globals['_CANCARDPARAMETER_CANINTERFACE']._serialized_start=716
+  _globals['_CANCARDPARAMETER_CANINTERFACE']._serialized_end=766
+  _globals['_CANCARDPARAMETER_BAUDRATE']._serialized_start=768
+  _globals['_CANCARDPARAMETER_BAUDRATE']._serialized_end=895
 # @@protoc_insertion_point(module_scope)

generated/cmvr/msgs/can_card_parameter_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/can_card_parameter_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/msgs/canopen_pb2.py

@@ -1,13 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/msgs/canopen.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/msgs/canopen.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,139 +26,25 @@ _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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.canopen_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_PDOBASEID']._serialized_start=201
+  _globals['_PDOBASEID']._serialized_end=433
+  _globals['_TRANSMISSIONTYPE']._serialized_start=436
+  _globals['_TRANSMISSIONTYPE']._serialized_end=593
+  _globals['_COMMANDSPECIFIER']._serialized_start=596
+  _globals['_COMMANDSPECIFIER']._serialized_end=933
+  _globals['_NMTSTATE']._serialized_start=936
+  _globals['_NMTSTATE']._serialized_end=1097
+  _globals['_NMTCOMMAND']._serialized_start=1100
+  _globals['_NMTCOMMAND']._serialized_end=1277
+  _globals['_OBINDEX']._serialized_start=1280
+  _globals['_OBINDEX']._serialized_end=2382
+  _globals['_OBSUBINDEX']._serialized_start=2385
+  _globals['_OBSUBINDEX']._serialized_end=2533
+  _globals['_SDOFRAME']._serialized_start=39
+  _globals['_SDOFRAME']._serialized_end=198
 # @@protoc_insertion_point(module_scope)

generated/cmvr/msgs/canopen_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/canopen_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/msgs/error_code_pb2.py

@@ -1,13 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/msgs/error_code.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/msgs/error_code.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -17,32 +26,13 @@ _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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.error_code_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ERRORCODE']._serialized_start=109
+  _globals['_ERRORCODE']._serialized_end=365
+  _globals['_STATUSPB']._serialized_start=41
+  _globals['_STATUSPB']._serialized_end=106
 # @@protoc_insertion_point(module_scope)

generated/cmvr/msgs/error_code_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/error_code_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/msgs/geometry_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/msgs/geometry.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/msgs/geometry.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -16,79 +26,23 @@ _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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.geometry_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_VEC2']._serialized_start=39
+  _globals['_VEC2']._serialized_end=67
+  _globals['_VEC3']._serialized_start=69
+  _globals['_VEC3']._serialized_end=108
+  _globals['_QUAT']._serialized_start=110
+  _globals['_QUAT']._serialized_end=160
+  _globals['_POSITION']._serialized_start=162
+  _globals['_POSITION']._serialized_end=205
+  _globals['_EULER']._serialized_start=207
+  _globals['_EULER']._serialized_end=250
+  _globals['_POSE3D']._serialized_start=252
+  _globals['_POSE3D']._serialized_end=369
+  _globals['_POSE2D']._serialized_start=371
+  _globals['_POSE2D']._serialized_end=416
 # @@protoc_insertion_point(module_scope)

generated/cmvr/msgs/geometry_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/geometry_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/msgs/motor_pb2.py

@@ -1,13 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/msgs/motor.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/msgs/motor.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -18,33 +27,13 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.motor_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_RUNMODE']._serialized_start=1109
+  _globals['_RUNMODE']._serialized_end=1411
+  _globals['_MOTORSTATUS']._serialized_start=62
+  _globals['_MOTORSTATUS']._serialized_end=1106
 # @@protoc_insertion_point(module_scope)

generated/cmvr/msgs/motor_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/motor_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

generated/cmvr/msgs/robot_detail_pb2.py

@@ -1,12 +1,22 @@
 # -*- coding: utf-8 -*-
 # Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
 # source: cmvr/msgs/robot_detail.proto
+# Protobuf Python Version: 6.31.1
 """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 runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'cmvr/msgs/robot_detail.proto'
+)
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
@@ -18,32 +28,15 @@ 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
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.robot_detail_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ROBOTDETAIL_MOTORSENTRY']._loaded_options = None
+  _globals['_ROBOTDETAIL_MOTORSENTRY']._serialized_options = b'8\001'
+  _globals['_ROBOTDETAIL']._serialized_start=92
+  _globals['_ROBOTDETAIL']._serialized_end=228
+  _globals['_ROBOTDETAIL_MOTORSENTRY']._serialized_start=159
+  _globals['_ROBOTDETAIL_MOTORSENTRY']._serialized_end=228
 # @@protoc_insertion_point(module_scope)

generated/cmvr/msgs/robot_detail_pb2_grpc.py

@@ -1,4 +1,24 @@
 # Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
 """Client and server classes corresponding to protobuf-defined services."""
 import grpc
+import warnings
 
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/robot_detail_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )

protos/cmvr/api/humanoid_robot_command.proto

@@ -54,6 +54,19 @@ message MoveJ{
 
 }
 
+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;
+  }
+}
+
 message MoveL{
 
   message Request{
@@ -121,15 +134,27 @@ message JointRequest {
 }
 
 
-message GetPose{
+message CalibrateZeroQ {
+    message Request{
+        CommandHeader.Request header = 1;
+        string joint_name = 2;
+    }
+
+    message Response{
+        CommandHeader.Feedback header= 1;
+    }
+}
+
+
+message ServoJ{
   message Request{
     CommandHeader.Request header = 1;
-    string base_link = 2;
-    string ee_link = 3;
+    repeated JointCmd cmds = 2;
+    double vel = 3;
   }
 
   message Response{
     CommandHeader.Feedback header= 1;
-    Pose3D pose = 2;
   }
+
 }

protos/cmvr/api/humanoid_robot_service.proto

@@ -14,4 +14,6 @@ service HumanoidRobotService{
   rpc speedL(SpeedL.Request) returns (SpeedL.Response);
   rpc getJointState(JointRequest) returns (JointResponse);
   rpc getPose(GetPose.Request) returns (GetPose.Response);
+  rpc calibrateZeroQ(CalibrateZeroQ.Request) returns (CalibrateZeroQ.Response);
+  rpc servoJ(ServoJ.Request) returns (ServoJ.Response);
 }