136 lines
4.3 KiB
Protocol Buffer
136 lines
4.3 KiB
Protocol Buffer
syntax = "proto3";
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package cmvr.api;
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import "google/protobuf/timestamp.proto";
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enum CommandReasonCode {
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COMMAND_REASON_CODE_UNSPECIFIED = 0;
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COMMAND_REASON_CODE_NONE = 1;
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COMMAND_REASON_CODE_INVALID_ARGUMENT = 2;
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COMMAND_REASON_CODE_UNAUTHENTICATED = 3;
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COMMAND_REASON_CODE_PERMISSION_DENIED = 4;
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COMMAND_REASON_CODE_RECOVERY_RPC_DISABLED = 5;
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COMMAND_REASON_CODE_DEVICE_NOT_FOUND = 6;
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COMMAND_REASON_CODE_DEVICE_UNAVAILABLE = 7;
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COMMAND_REASON_CODE_UNSUPPORTED_COMMAND = 8;
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COMMAND_REASON_CODE_SYSTEM_STARTING = 9;
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COMMAND_REASON_CODE_SYSTEM_STOPPING = 10;
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COMMAND_REASON_CODE_SAFETY_LATCHED = 11;
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COMMAND_REASON_CODE_SAFETY_STATE_MISSING = 12;
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COMMAND_REASON_CODE_SAFETY_STATE_STALE = 13;
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COMMAND_REASON_CODE_HARDWARE_UNSAFE = 14;
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COMMAND_REASON_CODE_EMERGENCY_STOP_ACTIVE = 15;
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COMMAND_REASON_CODE_PROTECTIVE_STOP_ACTIVE = 16;
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COMMAND_REASON_CODE_DEVICE_DISCONNECTED = 17;
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COMMAND_REASON_CODE_DEVICE_FAULT = 18;
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COMMAND_REASON_CODE_DEVICE_NOT_READY = 19;
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COMMAND_REASON_CODE_DEVICE_STILL_MOVING = 20;
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COMMAND_REASON_CODE_CONTROL_BUSY = 21;
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COMMAND_REASON_CODE_GENERATION_MISMATCH = 22;
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COMMAND_REASON_CODE_COMMAND_ID_REQUIRED = 23;
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COMMAND_REASON_CODE_COMMAND_ID_CONFLICT = 24;
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COMMAND_REASON_CODE_RESULT_EVICTED = 25;
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COMMAND_REASON_CODE_LEDGER_EXHAUSTED = 26;
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COMMAND_REASON_CODE_BACKPRESSURE = 27;
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COMMAND_REASON_CODE_DEADLINE_EXCEEDED_BEFORE_DISPATCH = 28;
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COMMAND_REASON_CODE_OUTCOME_UNKNOWN = 29;
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COMMAND_REASON_CODE_PARTICIPANT_TIMEOUT = 30;
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COMMAND_REASON_CODE_STOP_UNCONFIRMED = 31;
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COMMAND_REASON_CODE_RECOVERY_EPOCH_MISMATCH = 32;
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COMMAND_REASON_CODE_RECOVERY_REASON_REQUIRED = 33;
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COMMAND_REASON_CODE_RECOVERY_AUDIT_FAILED = 34;
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COMMAND_REASON_CODE_INTERNAL_ERROR = 35;
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}
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enum CommandExecutionState {
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COMMAND_EXECUTION_STATE_UNSPECIFIED = 0;
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COMMAND_EXECUTION_STATE_RECEIVED = 1;
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COMMAND_EXECUTION_STATE_RESERVED = 2;
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COMMAND_EXECUTION_STATE_REJECTED_BEFORE_DISPATCH = 3;
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COMMAND_EXECUTION_STATE_ADMITTED = 4;
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COMMAND_EXECUTION_STATE_DISPATCHING = 5;
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COMMAND_EXECUTION_STATE_ACCEPTED_BY_HARDWARE = 6;
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COMMAND_EXECUTION_STATE_COMPLETED = 7;
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COMMAND_EXECUTION_STATE_FAILED = 8;
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COMMAND_EXECUTION_STATE_CANCELED_BEFORE_DISPATCH = 9;
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COMMAND_EXECUTION_STATE_OUTCOME_UNKNOWN = 10;
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}
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message DeviceLifecycle {
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enum Lifecycle {
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STATE_INIT = 0;
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STATE_READY = 1;
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STATE_RUNNING = 2;
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STATE_ERROR = 3;
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STATE_ESTOP = 4;
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STATE_STOP = 5;
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}
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Lifecycle state = 1;
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}
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message CommandHeader {
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message Request {
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string device_id = 1; // 目标设备名称
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google.protobuf.Timestamp timestamp = 2; // 请求时间
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string command_id = 3;
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string expected_service_instance_id = 4;
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optional uint64 expected_device_generation = 5;
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uint32 valid_for_ms = 6;
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}
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message Feedback {
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bool success = 1; // 是否成功
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string error_message = 2; // 错误信息（成功时为空）
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google.protobuf.Timestamp timestamp = 3; // 回复时间
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CommandReasonCode reason_code = 4;
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string command_id = 5;
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string service_instance_id = 6;
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uint64 safety_epoch = 7;
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uint64 device_generation = 8;
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CommandExecutionState execution_state = 9;
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}
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}
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message AudioData {
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enum AudioFormat {
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PCM = 0;
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MP3 = 1;
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AAC = 2;
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WAV = 3;
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OPUS = 4;
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}
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bytes data = 1;
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int32 sample_rate = 2;
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int32 channels = 3;
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AudioFormat format = 4;
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string codec = 5;
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int64 pts = 6;
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int32 nb_samples = 7;
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}
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message ConfigParam {
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string param_name = 1;
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oneof param_value {
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int32 int_value = 2; // 整数类型
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double double_value = 3; // 浮点数类型
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string string_value = 4; // 字符串类型
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bool bool_value = 5; // 布尔类型
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bytes bytes_value = 6; // 二进制数据类型
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}
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}
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message JsonDeviceCommand {
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message Request {
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CommandHeader.Request header = 1;
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string request_json = 2;
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}
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message Feedback {
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CommandHeader.Feedback header = 1;
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string response_json = 2;
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}
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}
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