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# cmvr-edge-ai
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`cmvr-edge-ai` 是部署在机器人边缘端的、配置驱动的 AI 流水线运行时。它把上游传感器、AI 算法和下游机器人/平台接口拆成可组合节点，通过 YAML 把节点连接成有向无环图（DAG）。协议只出现在边界连接器中，算法节点使用统一的内部消息，因此以后增加 HTTP、gRPC、UDP 或 QUIC 时不需要改动算法本身。
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当前版本已经包含可运行的检测链路和框架基础设施：
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- 严格 YAML 配置校验、环境变量展开和 DAG 编译检查；
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- `Source -> Operator -> Sink` 异步运行时；
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- 每条边独立的有界队列和明确的溢出策略；
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- 版本化插件注册表、检测模型注册表和 Python entry point 扩展机制；
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- cmvr-es RGB 相机 gRPC Source（带退避上限的指数重连）、AGV gRPC Sink；
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- PyAV H264/H265 有状态解码、通用检测模型节点和重复命中规则节点；
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- Construction PPE YOLOv8 与六类 PPE YOLOv8n 模型注册，以及按标签、置信度和最大 FPS 的部署配置；
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- 平台 HTTP JSON Sink，支持有限重试、`raise/log_and_drop` 失败策略，并使用告警
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`event_id` 作为幂等键；
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- `RobotCommand -> ApprovedRobotCommand` 安全门和无重试的类型化 AGV 命令映射；
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- 文本/JSON 日志、共享 gRPC Channel 与 HTTP Client；
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- 可直接执行的 smoke、PPE 检测和对话占位配置。
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`detect_server/pipeline.yaml` 当前只启用 Construction PPE 模型，并经过时间窗口规则向
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8081 上报告警。六类 PPE 模型及第二 HTTP 平台的实现仍保留在注册表和连接器中，但不在
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当前 Pipeline 图中实例化，因此不会加载第二份权重、执行第二次推理或访问 8082。
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VAD/ASR/LLM/TTS 尚未内置；`talk_server/pipeline.yaml` 仍使用模拟音频数据，等待
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cmvr-es 音频双向流 proto 落地。
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## 架构概览
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```mermaid
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flowchart LR
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A["cmvr-es / 平台<br/>gRPC、HTTP、未来 UDP/QUIC"] --> B["Source 连接器"]
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B --> C["每条边独立的有界队列"]
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C --> D["Operator DAG<br/>解码、检测、VAD、ASR、LLM、TTS、策略"]
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D --> E["Safety Gate"]
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D --> F["平台 Sink"]
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E --> G["机器人执行器 Sink"]
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```
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内部节点传递 `Envelope[T]`，其中包含载荷、`schema/version`、采集时间、序号、截止时间、`trace_id` 和 `session_id`。连接器负责 protobuf/HTTP JSON 与内部契约之间的转换，AI 插件不应直接依赖 cmvr-es protobuf。
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完整设计和配置字段见 [docs/architecture.md](docs/architecture.md)。
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## 目录
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```text
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cmvr_edge_ai/
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├── .python-version # uv 默认 Python 3.10
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├── uv.lock # 所有 profile 的可复现依赖锁
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├── configs/
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│ └── smoke.yaml # 不依赖外部服务的最小运行验证
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├── detect_server/
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│ └── pipeline.yaml # cmvr-es 相机 -> PPE 告警 -> HTTP 平台
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├── talk_server/
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│ ├── nodes/ # 对话插件预留目录
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│ └── pipeline.yaml # 模拟音频 -> 对话占位 -> 日志
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├── scripts/
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│ ├── bootstrap.sh # 一键创建 uv 环境、生成 bindings 并自检
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│ └── generate_cmvr_stubs.py # 从 cmvr-es proto 生成 Python bindings
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├── src/cmvr_edge_ai/
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│ ├── config/ # 配置模型、加载与环境变量展开
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│ ├── core/ # Envelope、组件接口、队列和 DAG 运行时
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│ ├── contracts/ # 协议无关的图像、音频、AI 和控制契约
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│ ├── detection/ # 模型注册、视频解码、推理与时间窗口规则
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│ ├── plugins/ # 插件注册、发现和内置基础插件
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│ ├── connectors/ # cmvr-es 与平台边界连接器
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│ ├── transports/ # gRPC/HTTP 连接池；UDP/QUIC 扩展位置
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│ ├── workers/ # 显式线程 offload 与常驻进程 Worker 工具
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│ ├── observability/ # 低开销文本/JSON 日志
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│ ├── application.py # 多 Pipeline 与共享网络客户端的所有者
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│ ├── compiler.py # 配置到可执行 DAG 的编译器
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│ └── cli.py # validate/run/plugins/models
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└── tests/
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```
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## 快速开始
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项目使用 `uv` 管理 Python、`.venv` 和锁定依赖。`.python-version` 默认选择
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Python 3.10，支持范围是 3.10～3.12；首次执行时，uv 会在本机没有合适解释器时
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自动安装。先确认已经安装 uv：
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```bash
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uv --version
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```
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未安装时可使用 uv 官方安装器：
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```bash
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curl -LsSf https://astral.sh/uv/install.sh | sh
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```
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只验证框架和模拟对话链路时，一条命令创建最小环境并自检：
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```bash
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cd /home/xtkuang/Projects/cmvr/cmvr_edge_ai
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bash scripts/bootstrap.sh --profile core
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```
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`uv.lock` 是安装的唯一版本来源；bootstrap 使用 `uv sync --locked`，不会在用户
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机器上重新选择依赖版本。无需 `source .venv/bin/activate`，统一通过
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`uv run --no-sync` 使用已经安装好的环境：
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```bash
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uv run --no-sync cmvr-edge-ai validate --config configs/smoke.yaml
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uv run --no-sync cmvr-edge-ai plugins
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uv run --no-sync cmvr-edge-ai run \
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--config configs/smoke.yaml \
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--log-level INFO \
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--log-format text
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```
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预期会看到两条日志，内容分别包含 `framework-ready` 和 `bounded-dag-running`。该 Source 是有限数据源，数据处理完后进程会自然退出。
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bootstrap 支持以下环境：
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| Profile | 安装内容 | 命令 |
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|---|---|---|
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| `core` | 框架核心和模拟 smoke/talk 链路 | `bash scripts/bootstrap.sh --profile core` |
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| `detection-cpu` | gRPC、HTTP、PyAV、Pillow 告警图片和固定版本 CPU YOLO；默认值 | `bash scripts/bootstrap.sh` |
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| `dev` | `detection-cpu` 加测试和 protobuf codegen 工具，并运行完整测试 | `bash scripts/bootstrap.sh --profile dev` |
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如果只希望安装、不执行自检，可加 `--skip-check`。完整参数通过以下命令查看：
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```bash
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bash scripts/bootstrap.sh --help
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```
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不要使用 `uv sync --all-extras`：`yolo` 与 `yolo-cpu` 是为不同 PyTorch 来源准备的
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互斥环境。请使用 bootstrap profile，或显式只选择其中一个 extra。
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告警图片的画框和 JPEG 编码由独立的 `image` extra 提供；默认的
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`detection-cpu`/`dev` profile 已安装它，手动组合检测环境时也必须选择
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`--extra image`。
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CLI 的四个子命令如下：
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| 命令 | 用途 |
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|---|---|
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| `validate -c FILE [--pipeline ID]` | 加载配置、展开环境变量、构造插件并校验 DAG；不启动 Pipeline |
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| `run -c FILE [--pipeline ID]` | 启动选中的 Pipeline；未指定时启动所有 `enabled: true` 的 Pipeline |
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| `plugins` | 列出内置插件和已安装 entry point 插件 |
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| `models` | 列出检测模型 ID、名称、backend 和注册的全部标签 |
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`--pipeline` 可以重复传入。`run` 还支持 `--log-level` 和 `--log-format text|json`。配置错误退出码为 `2`，运行错误为 `1`，键盘中断为 `130`。
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## 运行 PPE 检测链路
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默认 bootstrap 就是当前 YAML 使用的 CPU 检测环境。它会从相邻的
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`../cmvr-es` 读取 proto、用锁定的 `grpcio-tools` 生成 bindings，然后安装完整
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检测依赖并校验 smoke 和 PPE 配置：
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```bash
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cd /home/xtkuang/Projects/cmvr/cmvr_edge_ai
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bash scripts/bootstrap.sh
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```
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如果 cmvr-es 不在相邻目录，显式指定路径：
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```bash
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bash scripts/bootstrap.sh \
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--cmvr-es-root /home/xtkuang/Projects/cmvr/cmvr-es
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```
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bootstrap 默认使用 portable codegen，所以不要求 cmvr-es 已经编译出 `protoc`。
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要跳过生成（例如部署包已经包含匹配版本的 bindings），使用
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`--skip-codegen`。手动生成时可以执行：
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```bash
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uv sync --locked --only-group codegen
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.venv/bin/python scripts/generate_cmvr_stubs.py \
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--cmvr-es-root /home/xtkuang/Projects/cmvr/cmvr-es \
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--portable
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```
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生成文件默认写入 `src/cmvr/...`，使 `cmvr.api.*_pb2` 可以被连接器导入。
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生成后应再次执行目标 profile 的 `uv sync --locked`，让可编辑安装识别新包；bootstrap
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已经按这个顺序处理。
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在 `detect_server/pipeline.yaml` 中配置部署参数：
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```yaml
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endpoints:
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cmvr_es:
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target: 127.0.0.1:50052
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platform:
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base_url: http://127.0.0.1:8081
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pipelines:
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detection:
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nodes:
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camera:
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with:
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device_id: right_hand_cam
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stream_log_interval_s: 5
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detector:
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with:
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attach_frame: true
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inference_log_interval_s: 5
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model_options:
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weights: /home/xtkuang/Projects/cmvr/changan_robot/construction-ppe-yolov8/best.pt
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device: cpu
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repeat_gate:
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with:
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alert_image:
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enabled: true
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jpeg_quality: 85
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platform:
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with:
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failure_mode: log_and_drop
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```
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然后验证并运行检测链路，不再要求预先导出环境变量：
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```bash
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uv run --no-sync cmvr-edge-ai models
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uv run --no-sync cmvr-edge-ai validate \
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--config detect_server/pipeline.yaml \
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--pipeline detection
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uv run --no-sync cmvr-edge-ai run --config detect_server/pipeline.yaml \
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--pipeline detection \
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--log-level INFO \
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--log-format json
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```
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启动后，detector 会先输出一条 `detection model loaded`，表示对应权重已经成功
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加载。收到解码帧并完成真实 `predict` 后，会立即输出第一条 `detection inference`，之后
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按 `inference_log_interval_s` 聚合输出一次；其中 `window_frames` 是本周期推理帧数，
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`window_detections` 是检测框总数，`hit_labels` 是各标签的检测框累计数。持续只有 loaded 而没有
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inference，说明相机或 decoder 尚未把帧送到模型；inference 中 detection 为 0 只表示
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||||||
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当前阈值下没有命中。短时调试可设为 `1` 秒，生产环境可设为 `30`～`60` 秒，省略则关闭
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周期推理日志。这里使用标准日志而不是裸 `print`，因此与 `--log-format json` 兼容。
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||||||
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||||||
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相机连接器会在每次首次连接或重连时先发 `CameraService.StartCamera`，收到成功反馈后
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||||||
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才建立 `GetRGBImageStream`。终端会依次出现 `camera start requested/succeeded`、
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||||||
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`camera stream opening`、`camera stream first frame` 和周期性的 `camera stream progress`。
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||||||
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如果只有 opening 而没有 first frame，progress 中会持续显示
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||||||
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`first_frame_received=false window_frames=0`，用于区分“RPC 已建立但相机没有出帧”。
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||||||
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|
||||||
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运行前需要确认 Construction PPE 权重存在、cmvr-es 已启用 `right_hand_cam`，8081 平台的
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||||||
|
`/v1/detection-alerts` 可访问。默认 `yolo-cpu` profile 将 PyTorch 2.7.0 和
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torchvision 0.22.0 绑定到官方 CPU wheel，并固定 checkpoint 记录的 Ultralytics
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||||||
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8.4.31。`model_options.device` 在该环境中应保持 `cpu`，`half` 应保持 `false`。
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||||||
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||||||
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x86 CUDA 和 Jetson/JetPack 的 PyTorch wheel 与驱动强绑定，不能复用这个 CPU
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||||||
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profile。项目保留了不绑定 CPU index 的 `yolo` extra 作为设备专用环境的基础，但
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||||||
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GPU 部署前应为目标设备建立单独的 uv source/lock（或使用 NVIDIA 容器），再把 YAML
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||||||
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中的 `device` 改为 `cuda:0`；不要只改 YAML 就认为 CUDA 环境已经就绪。
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||||||
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||||||
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`detection.model@1` 根据 `model` 从 `DetectionModelRegistry` 解析模型。`detect_labels` 只选择需要检测的标签，省略时检测注册模型的全部标签；`confidence` 是全局阈值，也可以用 `label_confidence` 为个别标签覆盖。当前内置 `construction-ppe-yolov8@1` 的 19 个标签和 `ppe-6classes-yolov8n@1` 的 6 个标签都可以通过 `cmvr-edge-ai models` 查看。`attach_frame: true` 让检测结果临时携带对应的解码帧，供后续告警节点使用；因此原 detector 到 repeat gate 的队列应保持较小，避免堆积未压缩图像。
|
||||||
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|
||||||
|
六类模型的标签是 `Gloves`、`Vest`、`goggles`、`helmet`、`mask` 和 `safety_shoe`，
|
||||||
|
语义是“画面中检测到了该装备”，不是“人员缺少该装备”。它没有 `Person` 或 `No-*`
|
||||||
|
类，也没有人员与装备关联能力，因此不能只靠配置推断某个人未佩戴 PPE。该模型当前仅
|
||||||
|
注册、未被 `detect_server/pipeline.yaml` 引用；需要恢复第二分支时，应同时配置 detector、
|
||||||
|
8082 endpoint、HTTP Sink 和两条关联 edge。
|
||||||
|
|
||||||
|
若以后恢复双模型配置，应从 decoder 输出端口 fan-out，让两个 detector 共享同一个相机
|
||||||
|
订阅和 PyAV decoder；两个模型仍会分别加载和推理，并共享应用的有界线程池。
|
||||||
|
|
||||||
|
`detection.repeat_gate@1` 只在一个规则的 `window_ms` 内看到至少 `min_hits` 个不同帧后生成 `DetectionAlert/v1`。同一帧有多个同类框仍只算一次；触发后进入 `cooldown_ms`，冷却期间不累计，结束后必须重新满足次数。`scope: source` 按相机统计；`scope: track` 按 `track_id` 统计，但当前 YOLO adapter 只做逐帧检测，不产生 `track_id`，因此使用 track 规则前必须增加跟踪/关联节点。
|
||||||
|
|
||||||
|
启用 `alert_image` 后，repeat gate 只在规则真正触发时使用 Pillow 对阈值帧画框并编码 JPEG，不会给每一帧都生成图片。告警的 `detections` 和图片中的 bounding boxes 都来自达到 `min_hits` 的阈值帧；窗口内更早帧只参与 `hit_count`、时间范围和最大置信度统计。HTTP JSON 中图片位于 `payload.image`：
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"image": {
|
||||||
|
"media_type": "image/jpeg",
|
||||||
|
"width": 1280,
|
||||||
|
"height": 720,
|
||||||
|
"encoding": "base64",
|
||||||
|
"data": "..."
|
||||||
|
}
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
这里的外层对象是 `DetectionAlert` payload 的片段；HTTP JSON Sink 会把内部 JPEG
|
||||||
|
`bytes` 转成上述扁平 Base64 图片对象。未启用图片，或运行时因第三方结果未附带
|
||||||
|
帧、坏帧等原因渲染失败时，告警仍会发送且 `payload.image` 为 `null`。
|
||||||
|
同一阈值帧若同时触发多条规则或多个 track，只编码一次相关框的并集，并让这些
|
||||||
|
告警共享同一个不可变 JPEG 对象，以限制边缘端瞬时 CPU 和内存开销。
|
||||||
|
|
||||||
|
对话占位链路不依赖音频 proto：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
uv run --no-sync cmvr-edge-ai validate --config talk_server/pipeline.yaml
|
||||||
|
uv run --no-sync cmvr-edge-ai run --config talk_server/pipeline.yaml
|
||||||
|
```
|
||||||
|
|
||||||
|
## 配置最小示例
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
api_version: cmvr.edge.ai/v1
|
||||||
|
|
||||||
|
runtime:
|
||||||
|
thread_workers: 2
|
||||||
|
shutdown_timeout_s: 5
|
||||||
|
|
||||||
|
pipelines:
|
||||||
|
example:
|
||||||
|
enabled: true
|
||||||
|
nodes:
|
||||||
|
source:
|
||||||
|
uses: core.sequence_source@1
|
||||||
|
with:
|
||||||
|
items: [hello]
|
||||||
|
schema_name: TextEvent
|
||||||
|
schema_version: 1
|
||||||
|
sink:
|
||||||
|
uses: core.log_sink@1
|
||||||
|
edges:
|
||||||
|
- from: source.output
|
||||||
|
to: sink.input
|
||||||
|
qos:
|
||||||
|
profile: request
|
||||||
|
capacity: 4
|
||||||
|
overflow: block
|
||||||
|
```
|
||||||
|
|
||||||
|
配置模型是严格的，多余字段会报错。字符串支持以下环境变量形式：
|
||||||
|
|
||||||
|
- `${NAME}`：变量必须存在；
|
||||||
|
- `${NAME:-default}`：未设置或为空时使用默认值；
|
||||||
|
- `env://NAME`：整个字符串取自必填环境变量。
|
||||||
|
|
||||||
|
v1 支持五个 `qos.profile`，并在编译期约束其溢出策略：编码 H264/H265 在解码前必须使用 `video_contiguous`，只能阻塞或拒绝；解码后的完整图像可使用 `realtime_latest` 丢旧帧控制延迟；`audio_contiguous` 和 `request` 只能阻塞或拒绝；`telemetry` 支持全部策略。未填写 QoS 时使用无损的 `request + block + capacity=1`。`reject` 会抛异常，`error` 是它的兼容别名。`max_age_ms`、`put_timeout_ms` 已预留，设置后 `validate` 会拒绝配置。完整矩阵见架构文档。
|
||||||
|
|
||||||
|
## 注册新的检测模型
|
||||||
|
|
||||||
|
检测模型和 DAG 插件是两层注册：流水线固定使用通用的 `detection.model@1`，具体模型通过 `DetectionModelRegistry` 注册 `DetectionModelSpec`。每个 spec 必须给出版本化 `model_id`、面向运维的 `name`、有序且唯一的 `supported_labels`、`backend` 和 factory。factory 返回实现 `load/predict/close` 的 `DetectionModel`；部署 YAML 中的 `model_options` 原样交给它。第三方模型包可以使用 `cmvr_edge_ai.detection_models` entry point 发布 spec 或注册回调。安装后先执行 `cmvr-edge-ai models`，再让配置引用其中的精确模型 ID。
|
||||||
|
|
||||||
|
模型实际输出的标签仍会在通用 Operator 边界二次校验和过滤；模型返回未注册标签会让节点失败。直接相连的重复规则若引用了 detector 没有选择的标签，也会在 `validate` 阶段被编译器拒绝。
|
||||||
|
|
||||||
|
## 开发插件
|
||||||
|
|
||||||
|
插件必须使用带版本的稳定 ID，例如 `example.text_upper@1`，并声明节点种类、输入/输出端口及 schema。工厂签名固定为 `(node_id, params)`；组件分别继承 `Source`、`Operator` 或 `Sink`。
|
||||||
|
|
||||||
|
```python
|
||||||
|
from collections.abc import Mapping
|
||||||
|
from typing import Any
|
||||||
|
|
||||||
|
from cmvr_edge_ai.contracts import TextEvent
|
||||||
|
from cmvr_edge_ai.core import Emission, Envelope, Operator
|
||||||
|
from cmvr_edge_ai.plugins import PluginKind, PluginRegistry, PluginSpec
|
||||||
|
|
||||||
|
|
||||||
|
class UppercaseOperator(Operator):
|
||||||
|
def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
|
||||||
|
self.node_id = node_id
|
||||||
|
|
||||||
|
async def process(
|
||||||
|
self, envelope: Envelope[Any], input_port: str = "input"
|
||||||
|
) -> Emission:
|
||||||
|
event = envelope.payload
|
||||||
|
if not isinstance(event, TextEvent):
|
||||||
|
raise TypeError("expected TextEvent")
|
||||||
|
result = TextEvent(text=event.text.upper(), role=event.role, final=event.final)
|
||||||
|
return Emission(
|
||||||
|
"output",
|
||||||
|
envelope.with_payload(result, schema_name="TextEvent", schema_version=1),
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def register_plugins(registry: PluginRegistry) -> None:
|
||||||
|
registry.register(
|
||||||
|
PluginSpec(
|
||||||
|
plugin_id="example.text_upper@1",
|
||||||
|
kind=PluginKind.OPERATOR,
|
||||||
|
factory=UppercaseOperator,
|
||||||
|
inputs={"input": "TextEvent/v1"},
|
||||||
|
outputs={"output": "TextEvent/v1"},
|
||||||
|
description="Uppercase text events",
|
||||||
|
)
|
||||||
|
)
|
||||||
|
```
|
||||||
|
|
||||||
|
在插件包的 `pyproject.toml` 中注册：
|
||||||
|
|
||||||
|
```toml
|
||||||
|
[project.entry-points."cmvr_edge_ai.plugins"]
|
||||||
|
example = "my_cmvr_plugin.plugins:register_plugins"
|
||||||
|
```
|
||||||
|
|
||||||
|
安装插件包后，用下面的命令确认发现成功：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
uv run --no-sync cmvr-edge-ai plugins
|
||||||
|
```
|
||||||
|
|
||||||
|
配置文件不能通过 `module:Class` 任意导入代码；只会使用内置或已安装 entry point 注册的插件。插件完整生命周期、返回值规范和连接器开发约定见 [docs/architecture.md](docs/architecture.md#5-插件开发约定)。
|
||||||
|
|
||||||
|
## 机器人控制安全边界
|
||||||
|
|
||||||
|
控制链固定为：
|
||||||
|
|
||||||
|
```text
|
||||||
|
Policy -> RobotCommand/v1
|
||||||
|
-> safety.robot_command_gate@1
|
||||||
|
-> ApprovedRobotCommand/v1
|
||||||
|
-> cmvr.grpc.agv_command_sink@1
|
||||||
|
```
|
||||||
|
|
||||||
|
AGV Sink 只接受 `ApprovedRobotCommand`，原始 `RobotCommand` 会在运行时被拒绝。配置编译器还要求安全门是执行器的直接前驱；安全门与 actuator 之间不能插入其他节点，也不能增加绕过安全门的输入边。内置安全门负责过期检查和默认 5 秒的最大 TTL、动作/设备白名单、参数范围、最小发送间隔及默认开启的单调序号检查；不合格命令会被丢弃并记录 warning，不会因为一条业务拒绝停止整条 Pipeline。
|
||||||
|
|
||||||
|
AGV Sink 必须绑定固定的非空 `device_id`。`set_velocity` 默认禁用；`unsafe_allow_unleased_velocity: true` 只是面向隔离测试场景的显式逃生开关，并且仍要求 Sink 配置 `vx/vy/wz` 的 `velocity_limits`。它只能限制当前客户端发出的数值，并在正常关闭时尽力调用 `stopVelocityControl`；进程崩溃、`SIGKILL`、断电或网络分区时无法保证停车。
|
||||||
|
|
||||||
|
真实机器人要启用持续速度控制，必须先在 cmvr-es 服务端实现带过期时间的 lease/deadman：客户端停止续租后，由 cmvr-es 在独立于 edge-ai 进程的安全路径中自动清零速度并停车。客户端的安全门、TTL 和 shutdown hook 不能替代这项服务端保护。
|
||||||
|
|
||||||
|
## 当前实现边界
|
||||||
|
|
||||||
|
- 音频内部契约 `AudioChunk/v1` 已定义，但 cmvr-es 麦克风/扬声器双向流 proto 和连接器尚未落地。
|
||||||
|
- UDP 与 QUIC 目录目前是扩展占位，没有可用传输实现。
|
||||||
|
- 运行时 v1 只支持 `execution.mode: async|inline`，两者当前都是单 task、单并发执行。`thread`、`process`、`model_worker` 是保留值；`concurrency != 1`、非空 `max_in_flight/timeout_s`、`ordered: false` 也是保留配置，都会在编译期被拒绝。插件仍可在组件内部显式使用 `workers.run_blocking()`、`PersistentProcessWorker` 或自有模型 Worker，但不能把 `execution` 声明误当作自动调度。
|
||||||
|
- v1 对未实现的声明采取 fail-closed：显式设置 `runtime.max_processes/process_start_method/health_bind/reserved_memory_mb`、非默认 pipeline `priority` 或任何非空 `resources` 都会在编译期被拒绝。健康状态和队列统计目前只能通过 Python API 获取。
|
||||||
|
- 当前没有配置热更新、配置 overlay、持久化 outbox/spool 或共享内存图像池。HTTP Sink
|
||||||
|
只有当前进程内的有限重试；默认 `failure_mode: raise` 会终止 Pipeline，当前检测配置的
|
||||||
|
`log_and_drop` 则在重试耗尽后记录 WARNING 并丢弃该告警。两种模式在进程退出或断电时
|
||||||
|
都可能丢失未上报数据。
|
||||||
|
- 相机 Source 可以重连，但 cmvr-es 当前服务端通过 `getLatestEncodedFrame` 获取最新编码数据；如果上游在 edge-ai 收到之前已跳过 H264/H265 参考包，`video_contiguous` 无法补回数据，解码器只能在错误后重置并等待关键帧。正式部署应验证 cmvr-es 输出的是连续 access unit 流，或改为对 AI 友好的原始/JPEG/可检测不连续性的接口。
|
||||||
|
- 内置 YOLO adapter 不运行 tracker，所有检测的 `track_id` 都为空；当前示例因此使用 `scope: source`。
|
||||||
|
- PPE 权重仓库对权重的许可说明与 Ultralytics runtime/checkpoint 中的 AGPL 信息需要在商业交付前核对，并同时确认训练数据和权重分发许可。
|
||||||
|
- 端口 schema 在编译期按字符串匹配；运行时不会自动验证 Python payload 类型，插件必须在边界处主动检查。
|
||||||
|
- AGV 执行器不会自动重试。安全门已提供动作/设备白名单、TTL、参数范围、最小间隔和单调序号检查，但设备状态、command ID 去重、来源仲裁、服务端 lease/deadman 和急停优先级仍需按机器人型号补齐。服务端 deadman 未完成前，禁止把 `set_velocity` 用于真实机器人持续运动。
|
||||||
|
|
||||||
|
这些限制及推荐演进顺序在 [docs/architecture.md](docs/architecture.md#9-当前限制与演进顺序) 中有更详细说明。
|
||||||
41
configs/smoke.yaml
Normal file
41
configs/smoke.yaml
Normal file
@ -0,0 +1,41 @@
|
|||||||
|
api_version: cmvr.edge.ai/v1
|
||||||
|
|
||||||
|
runtime:
|
||||||
|
thread_workers: 2
|
||||||
|
shutdown_timeout_s: 5
|
||||||
|
|
||||||
|
pipelines:
|
||||||
|
smoke:
|
||||||
|
enabled: true
|
||||||
|
nodes:
|
||||||
|
source:
|
||||||
|
uses: core.sequence_source@1
|
||||||
|
with:
|
||||||
|
items:
|
||||||
|
- framework-ready
|
||||||
|
- bounded-dag-running
|
||||||
|
schema_name: TextEvent
|
||||||
|
schema_version: 1
|
||||||
|
|
||||||
|
operator:
|
||||||
|
uses: core.passthrough@1
|
||||||
|
|
||||||
|
sink:
|
||||||
|
uses: core.log_sink@1
|
||||||
|
with:
|
||||||
|
logger: cmvr_edge_ai.smoke
|
||||||
|
|
||||||
|
edges:
|
||||||
|
- from: source.output
|
||||||
|
to: operator.input
|
||||||
|
qos:
|
||||||
|
profile: request
|
||||||
|
capacity: 4
|
||||||
|
overflow: block
|
||||||
|
|
||||||
|
- from: operator.output
|
||||||
|
to: sink.input
|
||||||
|
qos:
|
||||||
|
profile: telemetry
|
||||||
|
capacity: 4
|
||||||
|
overflow: block
|
||||||
293
detect_server/README.md
Normal file
293
detect_server/README.md
Normal file
@ -0,0 +1,293 @@
|
|||||||
|
# PPE 检测流水线
|
||||||
|
|
||||||
|
`pipeline.yaml` 是当前可运行的园区施工安全装备检测链路。当前只启用 Construction
|
||||||
|
PPE 模型和 8081 告警平台；六类模型与 8082 模拟平台的实现保留但不实例化：
|
||||||
|
|
||||||
|
```text
|
||||||
|
cmvr-es CameraService
|
||||||
|
-> H264/H265 ImageFrame/v1
|
||||||
|
-> media.video_decoder.pyav@1
|
||||||
|
-> BGR8 ImageFrame/v1
|
||||||
|
-> construction-ppe-yolov8@1 -> DetectionResult/v1
|
||||||
|
-> detection.repeat_gate@1 -> DetectionAlert/v1
|
||||||
|
-> POST 127.0.0.1:8081/v1/detection-alerts
|
||||||
|
```
|
||||||
|
|
||||||
|
## 安装与启动
|
||||||
|
|
||||||
|
从仓库根目录执行一键安装。默认 profile 安装锁定的 CPU 检测环境、生成 cmvr-es
|
||||||
|
bindings，并验证 smoke 与本检测配置：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
cd /home/xtkuang/Projects/cmvr/cmvr_edge_ai
|
||||||
|
bash scripts/bootstrap.sh
|
||||||
|
```
|
||||||
|
|
||||||
|
cmvr-es 不在相邻的 `../cmvr-es` 时指定实际路径：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
bash scripts/bootstrap.sh \
|
||||||
|
--cmvr-es-root /home/xtkuang/Projects/cmvr/cmvr-es
|
||||||
|
```
|
||||||
|
|
||||||
|
环境固定 Python 3.10、Ultralytics 8.4.31、PyTorch 2.7.0 CPU 和 torchvision
|
||||||
|
0.22.0，并通过 `image` extra 安装 Pillow 以生成告警图片；所有具体包版本记录在
|
||||||
|
仓库的 `uv.lock` 中。GPU/Jetson 需要单独适配与驱动或 JetPack 匹配的 PyTorch
|
||||||
|
wheel，不能直接复用 `detection-cpu` profile。手动组合依赖时必须显式增加
|
||||||
|
`--extra image`，不能只依赖 YOLO 间接安装 Pillow。
|
||||||
|
|
||||||
|
直接编辑 `detect_server/pipeline.yaml` 中的部署参数：
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
endpoints:
|
||||||
|
cmvr_es:
|
||||||
|
target: 127.0.0.1:50052
|
||||||
|
platform:
|
||||||
|
base_url: http://127.0.0.1:8081
|
||||||
|
|
||||||
|
pipelines:
|
||||||
|
detection:
|
||||||
|
nodes:
|
||||||
|
camera:
|
||||||
|
with:
|
||||||
|
device_id: right_hand_cam
|
||||||
|
stream_log_interval_s: 5
|
||||||
|
detector:
|
||||||
|
with:
|
||||||
|
attach_frame: true
|
||||||
|
inference_log_interval_s: 5
|
||||||
|
model_options:
|
||||||
|
weights: /home/xtkuang/Projects/cmvr/changan_robot/construction-ppe-yolov8/best.pt
|
||||||
|
device: cpu
|
||||||
|
repeat_gate:
|
||||||
|
with:
|
||||||
|
alert_image:
|
||||||
|
enabled: true
|
||||||
|
jpeg_quality: 85
|
||||||
|
platform:
|
||||||
|
with:
|
||||||
|
failure_mode: log_and_drop
|
||||||
|
```
|
||||||
|
|
||||||
|
完成配置后启动，不需要再通过 shell `export` 传入这些值：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
uv run --no-sync cmvr-edge-ai models
|
||||||
|
uv run --no-sync cmvr-edge-ai validate \
|
||||||
|
-c detect_server/pipeline.yaml \
|
||||||
|
--pipeline detection
|
||||||
|
uv run --no-sync cmvr-edge-ai run -c detect_server/pipeline.yaml \
|
||||||
|
--pipeline detection \
|
||||||
|
--log-level INFO \
|
||||||
|
--log-format json
|
||||||
|
```
|
||||||
|
|
||||||
|
运行时会看到类似下面两类 JSON 日志：
|
||||||
|
|
||||||
|
```json
|
||||||
|
{"level":"INFO","logger":"cmvr_edge_ai.detection.operator","message":"detection model loaded node=detector model=construction-ppe-yolov8@1 ..."}
|
||||||
|
{"level":"INFO","logger":"cmvr_edge_ai.detection.operator","message":"detection inference node=detector model=construction-ppe-yolov8@1 total_frames=1 window_frames=1 window_detections=2 hit_labels=No-Helmet:2 ..."}
|
||||||
|
```
|
||||||
|
|
||||||
|
- `detection model loaded`：checkpoint 已成功加载并完成标签顺序校验；当前 detector
|
||||||
|
应出现一条；
|
||||||
|
- `detection inference`：模型确实收到解码帧并执行了 `predict`；第一帧立即输出，
|
||||||
|
后续按配置周期聚合；
|
||||||
|
- `window_detections=0 hit_labels=none`：模型在工作，但本周期没有高于配置阈值的命中；
|
||||||
|
- 只有 loaded、长期没有 inference：优先检查 cmvr-es 相机流、decoder 和关键帧；
|
||||||
|
- 短时观察可把 `inference_log_interval_s` 改为 `1` 秒，长期运行建议 `30`～`60` 秒，
|
||||||
|
省略该字段会关闭周期推理日志。
|
||||||
|
|
||||||
|
运行前确认 cmvr-es 已启用 `right_hand_cam`、Construction PPE 权重存在，并且 8081
|
||||||
|
平台接受 `POST /v1/detection-alerts`。默认 profile 下 `model_options.device` 应设为
|
||||||
|
`cpu`；只有完成设备专用的 CUDA/Jetson PyTorch 环境适配后，才能改为 `cuda:0` 等值。
|
||||||
|
|
||||||
|
## 模型与标签
|
||||||
|
|
||||||
|
`detection.model@1` 不绑定某一个框架；它通过 `DetectionModelRegistry` 查找配置中的
|
||||||
|
`model`。每个 `DetectionModelSpec` 注册版本化模型 ID、模型名称、backend 和有序
|
||||||
|
`supported_labels`。注册表当前包含两个内置模型，但 Pipeline 只引用第一个：
|
||||||
|
|
||||||
|
- `construction-ppe-yolov8@1`：19 类，包含原分支用于违规告警的 `No-*` 标签；
|
||||||
|
- `ppe-6classes-yolov8n@1`：`Gloves`、`Vest`、`goggles`、`helmet`、`mask`、
|
||||||
|
`safety_shoe` 六个正向装备标签。
|
||||||
|
|
||||||
|
可用 `cmvr-edge-ai models` 核对 ID、名称、backend 和标签顺序。六类模型只表达
|
||||||
|
“检测到某件装备”，不包含 `Person` 或 `No-*` 类，也不执行人员/PPE 关联；所以它
|
||||||
|
不能直接判断某个人缺少装备。需要这种语义时，仍应增加人员检测、空间关联和缺失
|
||||||
|
判定节点，不能把“没有检测到 helmet”直接当成“人员未戴安全帽”。
|
||||||
|
|
||||||
|
检测节点的关键参数：
|
||||||
|
|
||||||
|
| 参数 | 语义 |
|
||||||
|
|---|---|
|
||||||
|
| `model` | 必须是已注册的精确模型 ID |
|
||||||
|
| `detect_labels` | 本次部署需要的标签；省略表示模型的全部注册标签 |
|
||||||
|
| `confidence` | 所有选中标签的默认置信度阈值 |
|
||||||
|
| `label_confidence` | 可选的逐标签阈值覆盖 |
|
||||||
|
| `max_fps` | 推理启动频率上限；过密的解码帧会被跳过 |
|
||||||
|
| `inference_log_interval_s` | 可选推理摘要周期（秒）；首帧立即输出，省略表示关闭周期日志 |
|
||||||
|
| `attach_frame` | 是否让 `DetectionResult` 临时附带对应解码帧；生成告警图片时必须为 `true` |
|
||||||
|
| `model_options` | backend 私有选项；当前 YOLO 支持 weights、device、imgsz、iou、half、max_det、agnostic_nms |
|
||||||
|
|
||||||
|
配置阶段会拒绝未知模型、模型不支持的 `detect_labels`、重复标签和非法阈值。YOLO 加载 checkpoint 时还会严格比较 checkpoint 的实际标签及顺序与注册信息，避免类别编号静默错位。
|
||||||
|
|
||||||
|
## 六类逐推理结果分支
|
||||||
|
|
||||||
|
这一分支当前默认关闭。恢复后，六类 detector 不连接 repeat gate，而是把每次完成推理产生的
|
||||||
|
`DetectionResult/v1` 直接交给第二个 HTTP Sink。其 POST Envelope 的
|
||||||
|
`schema` 为 `DetectionResult/v1`，`payload` 示例为：
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"detections": [
|
||||||
|
{
|
||||||
|
"label": "helmet",
|
||||||
|
"confidence": 0.91,
|
||||||
|
"box": {"x_min": 120.0, "y_min": 60.0, "x_max": 250.0, "y_max": 220.0},
|
||||||
|
"track_id": null
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"model_id": "ppe-6classes-yolov8n@1",
|
||||||
|
"inference_ms": 34.2,
|
||||||
|
"model_name": "PPE Detection YOLOv8n (6 Classes)"
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
该结构刻意不同于原分支的 `DetectionAlert/v1`：它没有 `rule_id`、`hit_count`、
|
||||||
|
`event_id` 或 `image`，空检测帧也会以空 `detections` 数组上报。`cooldown_ms` 是
|
||||||
|
repeat gate 的内部规则配置，不属于 `DetectionAlert` payload。由于
|
||||||
|
payload 没有 event ID，HTTP Sink 的 `Idempotency-Key` 回退使用 Envelope
|
||||||
|
`trace_id`。这只是模拟的逐结果接口；若平台要求另一套字段命名或嵌套，需要增加
|
||||||
|
平台专用转换节点/Sink，而不是仅修改 endpoint。
|
||||||
|
|
||||||
|
## 重复触发规则
|
||||||
|
|
||||||
|
`detection.repeat_gate@1` 按规则维护滑动时间窗口。规则字段如下：
|
||||||
|
|
||||||
|
| 参数 | 语义 |
|
||||||
|
|---|---|
|
||||||
|
| `id` | 唯一规则 ID，写入告警 |
|
||||||
|
| `labels` | 任一标签匹配即视为该规则在当前帧命中 |
|
||||||
|
| `min_confidence` | 规则侧最低置信度，可高于 detector 阈值 |
|
||||||
|
| `min_hits` | 触发所需的不同帧数 |
|
||||||
|
| `window_ms` | 上述命中必须落入的时间窗口 |
|
||||||
|
| `cooldown_ms` | 告警后的静默期；期间不累计，结束后重新计数 |
|
||||||
|
| `scope` | `source` 按相机统计；`track` 按相机内的 `track_id` 分别统计 |
|
||||||
|
|
||||||
|
一次命中按 `(source_id, sequence)` 的不同视频帧计算：同一帧出现多个相同标签框只算一次，重复投递同一帧也不会增加计数。一个规则即使配置多个标签，同一 scope 在一帧内仍只增加一次。`time_source` 可选 `captured`、`received` 或优先采集时间的 `auto`；当前 cmvr-es 成功帧通常没有 `header.timestamp`，示例显式使用 `received`。
|
||||||
|
|
||||||
|
`alert_image.enabled` 默认为 `false`；启用后要求 detector 同时配置
|
||||||
|
`attach_frame: true`。`jpeg_quality` 是 `1..95` 的整数，默认 85。repeat gate
|
||||||
|
只在规则达到 `min_hits`、准备输出告警时，才用 Pillow 在当前阈值帧上绘制匹配的
|
||||||
|
bounding boxes、标签和置信度并编码 JPEG，不会为每个推理结果都渲染。告警里的
|
||||||
|
`detections` 和图片框均来自阈值帧；窗口内更早的命中只参与次数、时间范围和
|
||||||
|
`max_confidence` 统计。
|
||||||
|
|
||||||
|
同一阈值帧同时触发多条规则或多个 track 时，repeat gate 对这些告警相关框取并集，
|
||||||
|
只画框并编码一次，然后让本帧产生的告警共享该 JPEG，避免在边缘端重复编码。
|
||||||
|
非有限坐标、反向/退化框、非法置信度等 detection 会在规则计数前被忽略，并记录在
|
||||||
|
`invalid_detections` 健康指标中，避免 `NaN/Inf` 令整个 HTTP JSON 告警无法发送。
|
||||||
|
|
||||||
|
当前 YOLO adapter 是逐帧检测，不执行人员跟踪，输出的 `track_id` 为 `None`。因此示例使用 `scope: source`；如果业务要求“同一个人连续多次违规”，必须在 detector 和 repeat gate 之间加入 tracker 及人员/PPE 关联节点，之后才能使用 `scope: track`。
|
||||||
|
|
||||||
|
## 相机启动与视频流日志
|
||||||
|
|
||||||
|
cmvr-es 的 `StartCamera` 和 `GetRGBImageStream` 是两个不同阶段：前者打开物理相机，
|
||||||
|
后者只启动编码和流式传输。连接器在每个首次连接或重连 session 中严格执行：
|
||||||
|
|
||||||
|
```text
|
||||||
|
StartCamera -> 检查 feedback.header.success -> GetRGBImageStream -> 等待首帧
|
||||||
|
```
|
||||||
|
|
||||||
|
`StartCamera` 使用 `cmvr_es.timeout_s`；RPC 异常或 `header.success=false` 都进入同一套
|
||||||
|
指数退避重连。正常关闭只取消当前 stream，不自动调用设备级 `StopCamera`，避免影响
|
||||||
|
同一相机的其他客户端。
|
||||||
|
|
||||||
|
使用 `--log-level INFO --log-format json` 时，按顺序关注：
|
||||||
|
|
||||||
|
- `camera source configured`：endpoint、device 和超时配置完成；
|
||||||
|
- `camera start requested/succeeded`：StartCamera 已被调用并成功；
|
||||||
|
- `camera stream opening`：流请求已创建，正在等待第一帧；
|
||||||
|
- `camera stream first frame`：已经收到真实编码帧，包含 codec、尺寸、字节数和远程序号；
|
||||||
|
- `camera stream progress`：每 `stream_log_interval_s` 秒输出帧数、FPS、bitrate、关键帧、
|
||||||
|
最后序号和 `last_frame_age_s`；即使完全没帧也会输出 `first_frame_received=false`；
|
||||||
|
- `camera stream disconnected`：包含错误类型、重连次数和退避时间；
|
||||||
|
- `camera stream closed`、`camera source stopped`：当前 session 和本地 Source 已清理。
|
||||||
|
|
||||||
|
INFO 日志不会打印帧二进制。示例设置 `stream_log_interval_s: 5` 便于联调，正式部署
|
||||||
|
可改为 30～60 秒。
|
||||||
|
|
||||||
|
## 视频连续性和背压
|
||||||
|
|
||||||
|
H264/H265 是有参考关系的编码流，解码前不能任意丢包：
|
||||||
|
|
||||||
|
- `camera -> decoder` 使用 `video_contiguous + block`，保持 edge-ai 内部已经接受的数据连续；
|
||||||
|
- decoder 在新 session、编码参数变化、sequence gap 或解码错误后释放上下文，等待下一个关键帧；
|
||||||
|
- `decoder -> detector` 已经是完整 BGR 图像，使用 `realtime_latest + drop_oldest` 和容量 1，以有限内存换取较低实时延迟；
|
||||||
|
- `detector -> repeat_gate` 在 `attach_frame: true` 时携带未压缩图像，示例把队列容量限制为 2，避免排队的 `DetectionResult` 长时间占用大量内存。
|
||||||
|
|
||||||
|
该边使用 `drop_oldest` 偏向低延迟；持续过载时，被丢弃的推理结果不会计入
|
||||||
|
`min_hits`。如果业务更重视每次推理结果都参与计数，可改为 `overflow: block`，但要
|
||||||
|
接受延迟向上游传播，并继续保持很小的队列容量。
|
||||||
|
|
||||||
|
恢复第二模型时，应从 decoder 输出端口 fan-out，以避免第二次相机订阅和第二次
|
||||||
|
H264/H265 解码；这不会复用模型计算，两个 YOLO 实例仍会分别加载权重并共享应用的
|
||||||
|
有界线程池。
|
||||||
|
|
||||||
|
这个保证只覆盖 edge-ai 内部。当前 cmvr-es 服务端通过 `getLatestEncodedFrame` 读取最新编码数据；如果它在负载或时序竞争下已经跳过参考包，`video_contiguous` 无法恢复丢失内容，而且当前 edge-ai 的本地 sequence 不能可靠暴露这种上游跳包。此时 PyAV 可能报错，decoder 会重置并等待关键帧。上线前必须用真实摄像头长时间验证连续性；更稳妥的方案是让 cmvr-es 提供连续 access unit 流，或额外提供原始/JPEG/带显式 discontinuity 的 AI 接口。
|
||||||
|
|
||||||
|
相机 Source 默认启用指数退避重连；每次重新订阅生成新的 `session_id`，使 decoder 主动重置。`reconnect_initial_s`、`reconnect_max_s` 和可选 `max_reconnect_attempts` 可配置；省略最大次数表示持续重连直到进程关闭。
|
||||||
|
|
||||||
|
## HTTP 输出可靠性
|
||||||
|
|
||||||
|
每次规则触发会产生带唯一 `event_id` 的 `DetectionAlert/v1`。HTTP Sink 优先把该
|
||||||
|
`event_id` 放入 `Idempotency-Key`，没有事件 ID 时才回退到 `trace_id`。它对连接/超时
|
||||||
|
错误和配置的临时 HTTP 状态执行有限指数退避，示例最多尝试 3 次。
|
||||||
|
|
||||||
|
`failure_mode` 支持两种明确语义：默认 `raise` 在最终投递失败时让 Pipeline 失败；当前
|
||||||
|
检测配置使用 `log_and_drop`，最终连接失败、超时或非 2xx 时输出
|
||||||
|
`HTTP report dropped ... action=drop` WARNING，丢弃当前告警并继续处理后续视频帧。
|
||||||
|
`CancelledError`、序列化错误和未知本地程序异常不会被吞掉。
|
||||||
|
|
||||||
|
当前唯一 HTTP 输出将告警发送到
|
||||||
|
`http://127.0.0.1:8081/v1/detection-alerts`。8082 六类逐推理结果 endpoint 当前未配置。
|
||||||
|
|
||||||
|
启用告警图片后，POST JSON 的 `payload.image` 结构如下：
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"media_type": "image/jpeg",
|
||||||
|
"width": 1280,
|
||||||
|
"height": 720,
|
||||||
|
"encoding": "base64",
|
||||||
|
"data": "/9j/4AAQSk..."
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
`width/height` 是 JPEG 的像素尺寸；HTTP JSON Sink 将内部 JPEG `bytes` 特判为
|
||||||
|
上述扁平对象，`encoding` 固定为 `base64`。关闭 `alert_image`，或运行时因第三方
|
||||||
|
结果未附带帧、坏帧等原因渲染失败时，告警仍会发送且该字段为 `null`。Base64 会
|
||||||
|
额外增加约三分之一的体积，平台和反向代理需要配置足够的请求体上限。
|
||||||
|
|
||||||
|
这不是持久化 outbox：`log_and_drop` WARNING 表示该告警已经永久丢失，不会自动补发；
|
||||||
|
每次告警在放弃前仍会完成有限重试，因此平台离线时 Sink 队列会短暂阻塞。进程崩溃、
|
||||||
|
断电或告警仍在内存队列中时也可能丢失。平台必须按幂等键去重；对“不可丢告警”的
|
||||||
|
部署，还需要后续增加有界磁盘 outbox、投递确认和恢复发送。
|
||||||
|
|
||||||
|
## 部署风险
|
||||||
|
|
||||||
|
- 模型 README 报告某些小样本类别存在漏检，实际园区需要按相机角度、光照、遮挡和距离重新标定置信度与 `min_hits`；规则降噪不能补偿模型系统性漏检。
|
||||||
|
- 权重目录对权重许可的描述与 Ultralytics runtime/checkpoint 中的 AGPL 信息需要在商业部署前核对；同时确认训练数据来源和权重再分发权利。
|
||||||
|
- `.pt` 使用 PyTorch checkpoint loader，只加载可信构建和受控分发的权重，并固定、验证实际 Ultralytics 8.x 版本。
|
||||||
|
|
||||||
|
如果检测结果还要驱动机器人，控制路径必须保持：
|
||||||
|
|
||||||
|
```text
|
||||||
|
DetectionResult -> policy -> RobotCommand/v1
|
||||||
|
-> safety.robot_command_gate@1
|
||||||
|
-> ApprovedRobotCommand/v1
|
||||||
|
-> cmvr.grpc.agv_command_sink@1
|
||||||
|
```
|
||||||
|
|
||||||
|
编译器要求 actuator 的每个直接前驱都是安全门，安全门和执行器之间不能插入普通变换节点，也不能存在绕过路径。
|
||||||
180
detect_server/pipeline.yaml
Normal file
180
detect_server/pipeline.yaml
Normal file
@ -0,0 +1,180 @@
|
|||||||
|
api_version: cmvr.edge.ai/v1
|
||||||
|
|
||||||
|
runtime:
|
||||||
|
thread_workers: 3
|
||||||
|
shutdown_timeout_s: 8
|
||||||
|
|
||||||
|
endpoints:
|
||||||
|
cmvr_es:
|
||||||
|
transport: grpc
|
||||||
|
# cmvr-es gRPC address. Change this value for each deployed robot.
|
||||||
|
target: 192.168.0.102:50052
|
||||||
|
tls: false
|
||||||
|
timeout_s: 5
|
||||||
|
options:
|
||||||
|
max_receive_mb: 32
|
||||||
|
|
||||||
|
platform:
|
||||||
|
transport: http
|
||||||
|
# Violation-alert platform HTTP base URL.
|
||||||
|
base_url: http://127.0.0.1:8081
|
||||||
|
timeout_s: 3
|
||||||
|
|
||||||
|
pipelines:
|
||||||
|
detection:
|
||||||
|
enabled: true
|
||||||
|
nodes:
|
||||||
|
camera:
|
||||||
|
uses: cmvr.grpc.camera_rgb_stream@1
|
||||||
|
with:
|
||||||
|
endpoint: cmvr_es
|
||||||
|
device_id: wrist_cam
|
||||||
|
pixel_format: BGR8
|
||||||
|
reconnect: true
|
||||||
|
reconnect_initial_s: 0.5
|
||||||
|
reconnect_max_s: 10
|
||||||
|
# Log stream state immediately on first frame and emit a periodic
|
||||||
|
# progress/stall heartbeat without printing every encoded frame.
|
||||||
|
stream_log_interval_s: 5
|
||||||
|
|
||||||
|
decoder:
|
||||||
|
uses: media.video_decoder.pyav@1
|
||||||
|
|
||||||
|
detector:
|
||||||
|
uses: detection.model@1
|
||||||
|
with:
|
||||||
|
model: construction-ppe-yolov8@1
|
||||||
|
# Omitting detect_labels means all registered labels. This example
|
||||||
|
# asks the backend to return only PPE violations used by the rules.
|
||||||
|
detect_labels:
|
||||||
|
- No-Boots
|
||||||
|
- No-Ear-Protection
|
||||||
|
- No-Glass
|
||||||
|
- No-Glove
|
||||||
|
- No-Helmet
|
||||||
|
- No-Mask
|
||||||
|
- No-Vest
|
||||||
|
confidence: 0.50
|
||||||
|
max_fps: 10
|
||||||
|
# Log the first completed inference immediately, then aggregate one
|
||||||
|
# heartbeat every 5 seconds so model activity is visible without
|
||||||
|
# printing every frame. Set to 1 for one-second debugging, or omit to disable.
|
||||||
|
inference_log_interval_s: 5
|
||||||
|
# Keep the decoded threshold frame available to repeat_gate so an
|
||||||
|
# annotated alert image can be rendered only when a rule triggers.
|
||||||
|
attach_frame: true
|
||||||
|
model_options:
|
||||||
|
# Model artifact and inference device are deployment configuration,
|
||||||
|
# not process environment requirements.
|
||||||
|
weights: /home/xtkuang/Projects/cmvr/changan_robot/construction-ppe-yolov8/best.pt
|
||||||
|
device: cpu
|
||||||
|
imgsz: 640
|
||||||
|
iou: 0.70
|
||||||
|
half: false
|
||||||
|
max_det: 100
|
||||||
|
|
||||||
|
repeat_gate:
|
||||||
|
uses: detection.repeat_gate@1
|
||||||
|
with:
|
||||||
|
# cmvr-es currently omits capture timestamps on successful stream
|
||||||
|
# frames, so received time is the deterministic deployment default.
|
||||||
|
time_source: received
|
||||||
|
alert_image:
|
||||||
|
enabled: true
|
||||||
|
jpeg_quality: 85
|
||||||
|
rules:
|
||||||
|
- id: no-boots
|
||||||
|
labels: [No-Boots]
|
||||||
|
min_hits: 3
|
||||||
|
window_ms: 2000
|
||||||
|
cooldown_ms: 30000
|
||||||
|
min_confidence: 0.50
|
||||||
|
scope: source
|
||||||
|
- id: no-ear-protection
|
||||||
|
labels: [No-Ear-Protection]
|
||||||
|
min_hits: 3
|
||||||
|
window_ms: 2000
|
||||||
|
cooldown_ms: 30000
|
||||||
|
min_confidence: 0.50
|
||||||
|
scope: source
|
||||||
|
- id: no-glass
|
||||||
|
labels: [No-Glass]
|
||||||
|
min_hits: 3
|
||||||
|
window_ms: 2000
|
||||||
|
cooldown_ms: 30000
|
||||||
|
min_confidence: 0.50
|
||||||
|
scope: source
|
||||||
|
- id: no-glove
|
||||||
|
labels: [No-Glove]
|
||||||
|
min_hits: 3
|
||||||
|
window_ms: 2000
|
||||||
|
cooldown_ms: 30000
|
||||||
|
min_confidence: 0.50
|
||||||
|
scope: source
|
||||||
|
- id: no-helmet
|
||||||
|
labels: [No-Helmet]
|
||||||
|
min_hits: 3
|
||||||
|
window_ms: 2000
|
||||||
|
cooldown_ms: 30000
|
||||||
|
min_confidence: 0.50
|
||||||
|
scope: source
|
||||||
|
- id: no-mask
|
||||||
|
labels: [No-Mask]
|
||||||
|
min_hits: 3
|
||||||
|
window_ms: 2000
|
||||||
|
cooldown_ms: 30000
|
||||||
|
min_confidence: 0.50
|
||||||
|
scope: source
|
||||||
|
- id: no-vest
|
||||||
|
labels: [No-Vest]
|
||||||
|
min_hits: 3
|
||||||
|
window_ms: 2000
|
||||||
|
cooldown_ms: 30000
|
||||||
|
min_confidence: 0.50
|
||||||
|
scope: source
|
||||||
|
|
||||||
|
platform:
|
||||||
|
uses: platform.http_json_sink@1
|
||||||
|
with:
|
||||||
|
endpoint: platform
|
||||||
|
path: /v1/detection-alerts
|
||||||
|
# Platform outages must not stop camera capture or inference. After
|
||||||
|
# bounded retries, log a WARNING and drop only this report.
|
||||||
|
failure_mode: log_and_drop
|
||||||
|
max_attempts: 3
|
||||||
|
retry_initial_s: 0.25
|
||||||
|
retry_max_s: 2
|
||||||
|
|
||||||
|
edges:
|
||||||
|
# Encoded H264/H265 packets must remain contiguous before decode.
|
||||||
|
- from: camera.frames
|
||||||
|
to: decoder.frames
|
||||||
|
qos:
|
||||||
|
profile: video_contiguous
|
||||||
|
capacity: 8
|
||||||
|
overflow: block
|
||||||
|
|
||||||
|
# Once frames are decoded, keeping only the newest frame bounds latency.
|
||||||
|
- from: decoder.frames
|
||||||
|
to: detector.frames
|
||||||
|
qos:
|
||||||
|
profile: realtime_latest
|
||||||
|
capacity: 1
|
||||||
|
overflow: drop_oldest
|
||||||
|
|
||||||
|
- from: detector.detections
|
||||||
|
to: repeat_gate.detections
|
||||||
|
qos:
|
||||||
|
profile: telemetry
|
||||||
|
# DetectionResult carries a decoded frame when attach_frame is enabled;
|
||||||
|
# keep this queue short so raw image buffers cannot accumulate. Under
|
||||||
|
# sustained overload drop_oldest also means dropped results do not count.
|
||||||
|
capacity: 2
|
||||||
|
overflow: drop_oldest
|
||||||
|
|
||||||
|
- from: repeat_gate.alerts
|
||||||
|
to: platform.input
|
||||||
|
qos:
|
||||||
|
profile: telemetry
|
||||||
|
capacity: 64
|
||||||
|
overflow: block
|
||||||
812
docs/architecture.md
Normal file
812
docs/architecture.md
Normal file
@ -0,0 +1,812 @@
|
|||||||
|
# cmvr-edge-ai 架构与开发指南
|
||||||
|
|
||||||
|
本文描述当前代码已经实现的架构、配置语义和扩展边界。文中的“当前”指运行时 v1；规划能力会明确标注，避免把配置字段误认为已经具备的调度能力。
|
||||||
|
|
||||||
|
## 1. 目标与边界
|
||||||
|
|
||||||
|
`cmvr-edge-ai` 负责在单台机器人边缘计算设备上，把三类模块可靠地连接起来：
|
||||||
|
|
||||||
|
1. 上游数据：cmvr-es 的相机、未来的麦克风音频流，以及平台下发的数据；
|
||||||
|
2. 中间 AI：视频解码、检测、VAD、ASR、LLM、TTS、决策和策略；
|
||||||
|
3. 下游输出：cmvr-es 的 AGV/机械臂/扬声器控制，以及平台 HTTP/gRPC 接口。
|
||||||
|
|
||||||
|
框架刻意保持轻量：默认不依赖 Kafka、Redis、Celery 或 Kubernetes。一个进程内使用 `asyncio` 管理 I/O 和 DAG；需要 CPU/GPU 隔离的插件自行接入有限线程池或常驻 Worker。这样可以在算力、内存和显存有限的边缘端按需增加复杂度。
|
||||||
|
|
||||||
|
核心设计约束：
|
||||||
|
|
||||||
|
- **配置驱动**：YAML 只选择已注册插件、连接端口并声明 QoS/资源，不执行任意 Python 导入；
|
||||||
|
- **协议隔离**：protobuf、HTTP JSON、未来 QUIC 包只在连接器中出现；
|
||||||
|
- **内部契约稳定**：算法通过 `Envelope` 和版本化 schema 交流；
|
||||||
|
- **有界资源**：所有边都有固定容量，满载行为必须显式配置；
|
||||||
|
- **故障显式**：节点异常默认终止 Pipeline；只有连接器显式配置的有界重试和
|
||||||
|
`log_and_drop` 等降级策略可以改变该行为；
|
||||||
|
- **控制失效安全**：执行器只接收已批准命令，且其每个直接前驱都必须是安全门；持续运动还依赖 cmvr-es 服务端 lease/deadman。
|
||||||
|
|
||||||
|
## 2. 分层架构
|
||||||
|
|
||||||
|
```mermaid
|
||||||
|
flowchart TB
|
||||||
|
subgraph External["外部系统"]
|
||||||
|
CE["cmvr-es<br/>gRPC / future QUIC"]
|
||||||
|
PLAT["业务平台<br/>HTTP / gRPC"]
|
||||||
|
end
|
||||||
|
|
||||||
|
subgraph Boundary["协议边界"]
|
||||||
|
SRC["Source Connectors"]
|
||||||
|
SNK["Sink Connectors"]
|
||||||
|
POOL["共享 gRPC Channel / HTTP Client"]
|
||||||
|
end
|
||||||
|
|
||||||
|
subgraph Runtime["单进程 asyncio 运行时"]
|
||||||
|
ENV["Envelope + 内部契约"]
|
||||||
|
QUEUE["每条 Edge 的有界队列"]
|
||||||
|
OPS["Operator DAG"]
|
||||||
|
SAFE["Safety Gate"]
|
||||||
|
LIFE["生命周期 / 健康状态 / 优雅退出"]
|
||||||
|
end
|
||||||
|
|
||||||
|
CFG["严格 YAML + 插件注册表 + DAG 编译器"] --> Runtime
|
||||||
|
CE --> SRC
|
||||||
|
PLAT --> SRC
|
||||||
|
SRC --> ENV
|
||||||
|
ENV --> QUEUE --> OPS
|
||||||
|
OPS --> SAFE --> SNK
|
||||||
|
OPS --> SNK
|
||||||
|
SNK --> CE
|
||||||
|
SNK --> PLAT
|
||||||
|
POOL --- SRC
|
||||||
|
POOL --- SNK
|
||||||
|
LIFE --- SRC
|
||||||
|
LIFE --- OPS
|
||||||
|
LIFE --- SNK
|
||||||
|
```
|
||||||
|
|
||||||
|
### 2.1 配置层
|
||||||
|
|
||||||
|
`config/loader.py` 使用 `yaml.safe_load` 读取文件并递归展开环境变量，随后由 Pydantic 严格模型校验。所有模型均设置 `extra="forbid"`，拼错字段会立即失败。
|
||||||
|
|
||||||
|
`compiler.py` 继续完成无法只靠字段类型判断的检查：
|
||||||
|
|
||||||
|
- `api_version` 必须等于 `cmvr.edge.ai/v1`；
|
||||||
|
- 插件必须存在，工厂创建的对象必须与声明的 Source/Operator/Sink 种类一致；
|
||||||
|
- Source 不能有入边，Sink 不能有出边，Operator/Sink 至少有一条入边；
|
||||||
|
- 端口必须存在，schema 必须相同或其中一端为通配符 `*`；
|
||||||
|
- 图必须无环，不能存在重复边；
|
||||||
|
- 带 `transport:<name>` 标签的连接器只能引用相同 transport 的 endpoint；
|
||||||
|
- 活跃 Pipeline 中不能包含 `enabled: false` 的节点；
|
||||||
|
- 每个带 `actuator` 标签 Sink 的直接前驱都必须是带 `safety_gate` 标签的节点，安全门和执行器之间不能插入其他节点；
|
||||||
|
- v1 只接受 `execution.mode: async|inline` 和默认单并发语义；保留的 mode/并发字段会在编译期被拒绝；
|
||||||
|
- 显式保留 runtime 字段、非 `normal` priority 和非空 resources 会被拒绝，不会被静默忽略；
|
||||||
|
- QoS profile 必须是 v1 支持的五种之一，且 overflow 必须符合该 profile 的语义；
|
||||||
|
- 直接连接的 `detection.model@1 -> detection.repeat_gate@1` 会检查规则标签确实包含在 detector 本次选择的标签中；
|
||||||
|
- 当前未实现的 `max_age_ms` 和 `put_timeout_ms` 不能设置。
|
||||||
|
|
||||||
|
`validate` 会实际调用插件工厂，因此也会检查构造函数所需参数、已注册模型 ID 和标签选择；但不会执行组件的 `setup()`。YOLO 权重是否存在、网络连通性、cmvr protobuf 是否存在、PyAV/Ultralytics/Pillow 可选依赖是否可导入，以及 checkpoint 内部标签是否与注册信息一致，要到 `run` 的 setup 或首个编码帧时才检查；启用 `alert_image` 后 Pillow 会在 repeat gate 的 setup 阶段提前检查。
|
||||||
|
|
||||||
|
### 2.2 内部契约层
|
||||||
|
|
||||||
|
协议边界进入运行时后统一变为：
|
||||||
|
|
||||||
|
```text
|
||||||
|
Envelope[T]
|
||||||
|
├── payload: T
|
||||||
|
├── schema_name + schema_version
|
||||||
|
├── source_id + sequence
|
||||||
|
├── captured_at_ns + received_at_ns
|
||||||
|
├── deadline_ns
|
||||||
|
├── trace_id + session_id
|
||||||
|
└── attributes
|
||||||
|
```
|
||||||
|
|
||||||
|
`Envelope` 是冻结 dataclass，`attributes` 被复制为只读 mapping。它只保证浅层不可变：如果 payload 是 NumPy 数组等可变对象，发布后必须把它当作只读数据，才能安全地 fan-out 并为以后零拷贝/共享内存保留空间。
|
||||||
|
|
||||||
|
当前稳定内部 payload：
|
||||||
|
|
||||||
|
| Schema | Python 类型 | 用途 |
|
||||||
|
|---|---|---|
|
||||||
|
| `ImageFrame/v1` | `ImageFrame` | 编码视频包或解码后的图像 buffer |
|
||||||
|
| `AudioChunk/v1` | `AudioChunk` | 连续音频块，包含格式、采样率和 discontinuity 标记 |
|
||||||
|
| `DetectionResult/v1` | `DetectionResult` | 检测框、标签、置信度和推理时间；可临时附带对应解码帧供告警节点使用 |
|
||||||
|
| `DetectionAlert/v1` | `DetectionAlert` | 规则 ID、模型、scope、时间窗口、命中数、置信度、阈值帧检测框、可选 JPEG 告警图和唯一 event ID |
|
||||||
|
| `TextEvent/v1` | `TextEvent` | ASR/LLM/TTS 链路中的文本事件 |
|
||||||
|
| `ChatTurn/v1` | `ChatTurn` | 带 session 和历史的对话输入 |
|
||||||
|
| `RobotCommand/v1` | `RobotCommand` | 带 TTL、序号和 command ID 的协议无关控制命令 |
|
||||||
|
| `ApprovedRobotCommand/v1` | `ApprovedRobotCommand` | 由可信安全门批准后交给执行器的控制命令 |
|
||||||
|
|
||||||
|
`PluginSpec` 中的 schema 是编译期契约字符串。当前运行时不会反射检查 payload 的 Python 类型；连接器和算法插件仍应使用 `isinstance` 或自己的严格模型在边界处失败。
|
||||||
|
|
||||||
|
### 2.3 组件层
|
||||||
|
|
||||||
|
运行时只有三类组件：
|
||||||
|
|
||||||
|
| 组件 | 输入/输出 | 核心方法 |
|
||||||
|
|---|---|---|
|
||||||
|
| `Source` | 无输入，一个或多个输出端口 | `messages()` 返回 async iterator |
|
||||||
|
| `Operator` | 一个或多个输入/输出端口 | `process(envelope, input_port)` |
|
||||||
|
| `Sink` | 一个或多个输入端口，无输出 | `consume(envelope, input_port)` |
|
||||||
|
|
||||||
|
所有组件共享以下生命周期：
|
||||||
|
|
||||||
|
```text
|
||||||
|
setup(context) -> start() -> 执行 -> health() -> stop()
|
||||||
|
```
|
||||||
|
|
||||||
|
建议在 `__init__` 只解析轻量参数，在 `setup` 建立网络连接或加载模型，在 `stop` 释放资源并保证幂等。`ComponentContext` 提供 `pipeline_id`、`node_id`、全局 shutdown event，以及 endpoint、共享连接池和节点配置等 metadata。
|
||||||
|
|
||||||
|
Operator 可以返回：
|
||||||
|
|
||||||
|
- `None`：过滤该消息；
|
||||||
|
- `Envelope`：从默认 `output` 端口发送；
|
||||||
|
- `Emission(port, envelope)`：从指定端口发送；
|
||||||
|
- 上述对象的同步或异步 iterable：一进多出。
|
||||||
|
|
||||||
|
Source 也可以直接 yield `Envelope` 或 `Emission`。返回原始 bytes、模型对象或其他未包装值会在产生该值的节点附近报错。
|
||||||
|
|
||||||
|
### 2.4 DAG 运行时
|
||||||
|
|
||||||
|
当前每个 Pipeline 在一个 asyncio event loop 中运行，每个节点一个 task。`execution.mode: async` 和 `inline` 在 v1 中都由该 task await 组件方法，Operator 和 Sink 每次只处理一个消息。v1 不会复制节点 task，也不提供配置驱动的并行调度。
|
||||||
|
|
||||||
|
每条有向边拥有独立队列。一个输出端口 fan-out 到多条边时，同一个只读 Envelope 会送入每个队列；队列之间的容量和丢弃计数独立。注意：路由会等待所有边的 `put()`，因此任意 fan-out 分支使用 `overflow: block` 且消费变慢时，仍会对共同生产者产生背压。希望“平台慢但控制链不停”时，平台分支必须选择合适的丢弃策略，或在后续加入独立 spool。
|
||||||
|
|
||||||
|
多个入边到同一节点时，运行时处理最先就绪的边，不保证不同边之间的全局顺序。单条边内部保持 FIFO（`drop_*` 导致的丢弃除外）。
|
||||||
|
|
||||||
|
节点自然结束后，其全部出边会关闭；消费者会读完已接受的数据后结束。收到 SIGINT/SIGTERM 时：
|
||||||
|
|
||||||
|
1. 设置全局 shutdown event；
|
||||||
|
2. 取消 Source task，并先调用 Source 的 `stop()`；
|
||||||
|
3. 让 Operator/Sink 在 `shutdown_timeout_s` 内排空队列；
|
||||||
|
4. 超时后取消剩余 task、丢弃未处理消息；
|
||||||
|
5. 按 setup 的反序释放组件和共享网络客户端。
|
||||||
|
|
||||||
|
任何未被组件显式处理的节点执行异常都会包装为带 node ID 的 `NodeExecutionError`，停止
|
||||||
|
Pipeline，并由 CLI 以运行错误退出。相机 Source 和平台 HTTP Sink 内部实现了各自明确、
|
||||||
|
有界的重连/重试语义；HTTP Sink 还可显式选择 `log_and_drop`，但框架仍不提供通用节点级
|
||||||
|
supervisor 或 retry policy。
|
||||||
|
|
||||||
|
## 3. 配置参考
|
||||||
|
|
||||||
|
### 3.1 根字段
|
||||||
|
|
||||||
|
| 字段 | 必填 | 说明 |
|
||||||
|
|---|---:|---|
|
||||||
|
| `api_version` | 是 | 当前只能是 `cmvr.edge.ai/v1` |
|
||||||
|
| `runtime` | 否 | 进程级运行参数 |
|
||||||
|
| `endpoints` | 否 | 命名的外部服务连接信息 |
|
||||||
|
| `pipelines` | 是 | 至少一个命名 Pipeline |
|
||||||
|
|
||||||
|
endpoint、pipeline 和 node 名称只能包含字母、数字、`_`、`-`，且不能以数字开头。端口引用固定使用 `node.port`。
|
||||||
|
|
||||||
|
### 3.2 `runtime`
|
||||||
|
|
||||||
|
| 字段 | 默认值 | 当前语义 |
|
||||||
|
|---|---:|---|
|
||||||
|
| `thread_workers` | `4` | 创建共享 `ThreadPoolExecutor`，并通过 ComponentContext 提供给插件 |
|
||||||
|
| `max_processes` | `1` | 保留；v1 配置中必须省略，显式设置（即使写默认值）也会被拒绝 |
|
||||||
|
| `process_start_method` | `spawn` | 保留；v1 配置中必须省略 |
|
||||||
|
| `shutdown_timeout_s` | `10.0` | 优雅排空的最长等待时间 |
|
||||||
|
| `health_bind` | `null` | 保留；v1 配置中必须省略，当前不监听健康检查端口 |
|
||||||
|
| `reserved_memory_mb` | `0` | 保留；v1 配置中必须省略，当前不执行内存仲裁 |
|
||||||
|
|
||||||
|
v1 可配置的 runtime 字段只有 `thread_workers` 和 `shutdown_timeout_s`。边缘端应保持较小的 `thread_workers`；第三方推理库本身还可能创建线程，应同时限制 OpenMP/MKL/模型运行时线程数，避免过度订阅 CPU。
|
||||||
|
|
||||||
|
### 3.3 `endpoints.<id>`
|
||||||
|
|
||||||
|
| 字段 | 默认值 | 说明 |
|
||||||
|
|---|---:|---|
|
||||||
|
| `transport` | 无 | 必填，转为小写；当前连接器支持 `grpc`、`http` |
|
||||||
|
| `target` | `null` | gRPC 地址，例如 `127.0.0.1:50052` |
|
||||||
|
| `base_url` | `null` | HTTP 基础 URL |
|
||||||
|
| `bind` | `null` | 为未来 ingress/server 连接器预留 |
|
||||||
|
| `tls` | `false` | 仅用于 gRPC channel 是否使用 TLS；HTTP endpoint 禁止设置该字段 |
|
||||||
|
| `timeout_s` | `5.0` | 连接器请求超时；流式相机订阅不使用该 unary timeout |
|
||||||
|
| `metadata` | `{}` | gRPC metadata 预留；当前 HTTP 连接器把它作为默认 header |
|
||||||
|
| `options` | `{}` | 传输私有参数 |
|
||||||
|
|
||||||
|
当前 gRPC options 支持：
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
options:
|
||||||
|
root_certificates: /path/to/ca.pem
|
||||||
|
max_receive_mb: 32
|
||||||
|
max_send_mb: 8
|
||||||
|
channel_options:
|
||||||
|
grpc.keepalive_time_ms: 20000
|
||||||
|
```
|
||||||
|
|
||||||
|
HTTP 是否使用 TLS 由 `base_url` 的 `https://` scheme 决定，证书验证默认开启；只有隔离测试环境才可显式设置 `options.verify_tls: false`。当前 gRPC `metadata` 尚未自动附加到 RPC，若需要鉴权应在连接器中显式实现。
|
||||||
|
|
||||||
|
### 3.4 `pipelines.<id>`
|
||||||
|
|
||||||
|
| 字段 | 默认值 | 说明 |
|
||||||
|
|---|---:|---|
|
||||||
|
| `enabled` | `true` | 未指定 `--pipeline` 时是否启动 |
|
||||||
|
| `priority` | `normal` | v1 必须为 `normal`；`low/high` 或数值优先级会因无调度器而被拒绝 |
|
||||||
|
| `nodes` | 无 | 至少一个节点 |
|
||||||
|
| `edges` | `[]` | 有向连接列表 |
|
||||||
|
|
||||||
|
不要在活跃 Pipeline 中保留 `enabled: false` 节点；当前编译器会直接拒绝。要暂时关闭逻辑，请禁用整个 Pipeline 或从图和配置中移除该节点。
|
||||||
|
|
||||||
|
### 3.5 `nodes.<id>`
|
||||||
|
|
||||||
|
| 字段 | 默认值 | 说明 |
|
||||||
|
|---|---:|---|
|
||||||
|
| `uses` | 无 | 版本化插件 ID，例如 `cmvr.grpc.camera_rgb_stream@1` |
|
||||||
|
| `with` | `{}` | 原样传给插件工厂的参数；Python 模型内字段名为 `params` |
|
||||||
|
| `execution` | 见下表 | 调度意图声明 |
|
||||||
|
| `resources` | `{}` | 预留资源需求字段；v1 必须保持为空/默认值 |
|
||||||
|
| `enabled` | `true` | 当前只允许活跃 Pipeline 中为 `true` |
|
||||||
|
|
||||||
|
`execution` 字段：
|
||||||
|
|
||||||
|
| 字段 | 默认值 | 允许值/限制 |
|
||||||
|
|---|---:|---|
|
||||||
|
| `mode` | `async` | v1 支持 `async`、`inline`；`thread/process/model_worker` 为保留值并被编译器拒绝 |
|
||||||
|
| `concurrency` | `1` | v1 必须为 `1`，其他值被编译器拒绝 |
|
||||||
|
| `max_in_flight` | `null` | 预留；非空值被编译器拒绝 |
|
||||||
|
| `timeout_s` | `null` | 预留；非空值被编译器拒绝 |
|
||||||
|
| `ordered` | `true` | v1 必须为 `true`，`false` 被编译器拒绝 |
|
||||||
|
|
||||||
|
`async` 与 `inline` 当前没有调度差异，都是 event loop 中的单 task、单 in-flight 调用。配置模型保留其他枚举值是为了后续版本演进，不代表 v1 能执行它们；`validate` 会 fail closed，而不是静默退化到 async。
|
||||||
|
|
||||||
|
`resources` 模型预留了 `cpu_cores`、`memory_mb`、`gpu_device`、`gpu_memory_mb`、`exclusive_gpu`，但 v1 无法强制执行资源隔离，因此任何非空/非默认声明都会被编译器拒绝。不要依赖“只写说明但不生效”的资源配置；当前应在部署层和插件实现中限制 CPU/GPU。
|
||||||
|
|
||||||
|
### 3.6 `edges[]` 与 QoS
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
- from: camera.frames
|
||||||
|
to: decoder.frames
|
||||||
|
qos:
|
||||||
|
profile: video_contiguous
|
||||||
|
capacity: 8
|
||||||
|
overflow: block
|
||||||
|
- from: decoder.frames
|
||||||
|
to: detector.frames
|
||||||
|
qos:
|
||||||
|
profile: realtime_latest
|
||||||
|
capacity: 1
|
||||||
|
overflow: drop_oldest
|
||||||
|
```
|
||||||
|
|
||||||
|
| 字段 | 默认值 | 当前语义 |
|
||||||
|
|---|---:|---|
|
||||||
|
| `profile` | `request` | v1 支持 `realtime_latest`、`video_contiguous`、`audio_contiguous`、`request`、`telemetry` |
|
||||||
|
| `capacity` | `1` | 队列最大消息数 |
|
||||||
|
| `overflow` | `block` | `drop_oldest`、`drop_newest`、`block`、`reject`；`error` 是 `reject` 的兼容别名 |
|
||||||
|
| `max_age_ms` | `null` | 已预留；设置后编译失败 |
|
||||||
|
| `put_timeout_ms` | `null` | 已预留；设置后编译失败 |
|
||||||
|
|
||||||
|
溢出行为：
|
||||||
|
|
||||||
|
| 策略 | 队列满时行为 | 适合场景 |
|
||||||
|
|---|---|---|
|
||||||
|
| `drop_oldest` | 丢掉最旧消息，再接受新消息 | 实时视频，优先处理最新画面 |
|
||||||
|
| `drop_newest` | 保留已有消息，拒收这次新消息但不抛异常 | 需要保留已排队批次的低优先级数据 |
|
||||||
|
| `block` | 生产者等待空位 | 必须连续的视频编码包、音频或请求；会传播背压 |
|
||||||
|
| `reject` / `error` | 抛出队列满异常，Pipeline 失败 | 不能静默丢失且希望监督器介入的控制链 |
|
||||||
|
|
||||||
|
v1 强制执行的 profile/overflow 矩阵：
|
||||||
|
|
||||||
|
| profile | 允许的 overflow | 典型用途与注意事项 |
|
||||||
|
|---|---|---|
|
||||||
|
| `realtime_latest` | `drop_oldest`、`drop_newest` | 已解码的完整视频帧；常用容量 `1..2`，优先限制推理延迟 |
|
||||||
|
| `video_contiguous` | `block`、`reject`、`error` | H264/H265 等 inter-frame 编码流在解码前不能静默丢包；此保证不覆盖上游在发送前已经丢失的数据 |
|
||||||
|
| `audio_contiguous` | `block`、`reject`、`error` | 连续音频不能静默丢弃；阻塞预算必须明确，拒绝时应重建连续性 |
|
||||||
|
| `request` | `block`、`reject`、`error` | 请求/控制；使用有限容量和消息 TTL，禁止执行积压旧动作 |
|
||||||
|
| `telemetry` | 所有五种策略 | 平台上报；当前无磁盘 spool，按数据重要性选择阻塞、丢弃或失败 |
|
||||||
|
|
||||||
|
队列记录入队、出队、水位、丢弃、拒绝和强制关闭丢弃计数，当前可通过 Python `PipelineRuntime.edge_stats()` 获取，尚未暴露为服务指标。
|
||||||
|
|
||||||
|
## 4. 内置插件与连接器
|
||||||
|
|
||||||
|
运行 `cmvr-edge-ai plugins` 可查看当前实际注册结果。
|
||||||
|
|
||||||
|
### 4.1 基础插件
|
||||||
|
|
||||||
|
| 插件 ID | 类型 | 端口 | 用途 |
|
||||||
|
|---|---|---|---|
|
||||||
|
| `core.sequence_source@1` | Source | `output: *` | 有限模拟数据源，用于 smoke/replay |
|
||||||
|
| `core.passthrough@1` | Operator | `input: * -> output: *` | 占位和协议无关透传 |
|
||||||
|
| `core.log_sink@1` | Sink | `input: *` | 把 Envelope 摘要和 payload 写日志 |
|
||||||
|
| `safety.robot_command_gate@1` | Operator | `RobotCommand/v1 -> ApprovedRobotCommand/v1` | TTL、白名单、参数限值、序号与限频，并建立批准边界 |
|
||||||
|
|
||||||
|
安全门参数：
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
with:
|
||||||
|
allowed_actions: [set_velocity, emergency_stop]
|
||||||
|
allowed_devices: [src1100]
|
||||||
|
min_interval_ms: 100
|
||||||
|
max_ttl_ms: 5000
|
||||||
|
enforce_monotonic_sequence: true
|
||||||
|
argument_limits:
|
||||||
|
set_velocity:
|
||||||
|
vx: {min: -0.3, max: 0.3}
|
||||||
|
vy: {min: -0.2, max: 0.2}
|
||||||
|
wz: {min: -0.5, max: 0.5}
|
||||||
|
```
|
||||||
|
|
||||||
|
`allowed_actions` 必须非空；`allowed_devices` 为空表示不额外限定设备。`max_ttl_ms` 默认 5000，拒绝有效期异常长的命令。`require_limits_for` 可以列出还必须配置参数范围的 action；`set_velocity` 无条件要求 `argument_limits.set_velocity` 同时定义 `vx/vy/wz`。范围边界必须是有限数且 `min <= max`。过期、过快、重放、乱序、未授权、缺少参数或越界命令都会 fail-closed 丢弃并写审计 warning，不会因一条业务拒绝停止整条控制 Pipeline。通过检查后，安全门把原始 `RobotCommand` 包装为带 `approved_by/approved_at_ns` 的 `ApprovedRobotCommand`。
|
||||||
|
|
||||||
|
### 4.2 检测模型、解码与触发规则
|
||||||
|
|
||||||
|
检测流水线内置三个模型无关插件：
|
||||||
|
|
||||||
|
| 插件 ID | 输入 -> 输出 | 语义 |
|
||||||
|
|---|---|---|
|
||||||
|
| `media.video_decoder.pyav@1` | `ImageFrame/v1 -> ImageFrame/v1` | 用可选 PyAV 保持 H264/H265 decoder context，输出 packed `BGR8`；stream/session/codec/尺寸变化、sequence gap 或解码错误后重置并等待关键帧 |
|
||||||
|
| `detection.model@1` | `ImageFrame/v1 -> DetectionResult/v1` | 加载一个已注册模型，在线程池中推理，按部署标签和阈值二次过滤；可附带对应解码帧 |
|
||||||
|
| `detection.repeat_gate@1` | `DetectionResult/v1 -> DetectionAlert/v1` | 按不同帧、时间窗口、scope 和 cooldown 把逐帧检测转换为平台告警，仅在规则触发时按需画框并编码 JPEG |
|
||||||
|
|
||||||
|
核心包不会强制安装大型视觉运行时。使用解码器安装 `video` extra；告警图的画框和 JPEG 编码由 Pillow 提供，安装独立的 `image` extra；内置 YOLO adapter 提供通用 `yolo` 和固定 CPU wheel 的 `yolo-cpu` 两个互斥 extra。当前 PPE CPU 链路通过 `bash scripts/bootstrap.sh` 一键生成 cmvr-es bindings，并按 `uv.lock` 安装 `grpc + http + video + image + yolo-cpu`。开发环境使用 `bash scripts/bootstrap.sh --profile dev`。PyAV、Pillow 和 Ultralytics 都延迟导入，因此不运行对应检测能力的对话服务不会加载它们。不要依赖 Ultralytics 间接带入 Pillow；手动组合告警图片环境时必须显式选择 `--extra image`。CUDA/Jetson 必须按目标驱动或 JetPack 建立独立依赖源和锁文件。
|
||||||
|
|
||||||
|
具体模型不再各自注册一套 DAG 插件。`DetectionModelRegistry` 保存 `DetectionModelSpec`：
|
||||||
|
|
||||||
|
| 字段 | 说明 |
|
||||||
|
|---|---|
|
||||||
|
| `model_id` | 版本化稳定 ID，例如 `construction-ppe-yolov8@1` |
|
||||||
|
| `name` | 日志、CLI 和告警中的可读模型名称 |
|
||||||
|
| `supported_labels` | 有序、非空、无重复的标签；顺序必须与 backend 类别编号一致 |
|
||||||
|
| `backend` | backend 标识，例如 `ultralytics-yolo` |
|
||||||
|
| `factory` | 接收 `model_options` 并返回 `DetectionModel` 的工厂 |
|
||||||
|
|
||||||
|
`cmvr-edge-ai models` 输出当前 model registry 的 ID、name、backend 和 labels。第三方包可在 `cmvr_edge_ai.detection_models` entry point 中暴露一个 `DetectionModelSpec` 或注册回调。当前内置 `construction-ppe-yolov8@1`（19 类）和 `ppe-6classes-yolov8n@1`（`Gloves/Vest/goggles/helmet/mask/safety_shoe`）；YOLO adapter 在加载时严格比较 checkpoint `model.names` 与各自注册的标签及顺序，避免错误的类别编号继续运行。
|
||||||
|
|
||||||
|
`detection.model@1` 参数：
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
with:
|
||||||
|
model: construction-ppe-yolov8@1
|
||||||
|
detect_labels: [No-Helmet, No-Vest]
|
||||||
|
confidence: 0.5
|
||||||
|
label_confidence:
|
||||||
|
No-Helmet: 0.6
|
||||||
|
max_fps: 10
|
||||||
|
inference_log_interval_s: 5
|
||||||
|
attach_frame: true
|
||||||
|
model_options:
|
||||||
|
weights: /home/xtkuang/Projects/cmvr/changan_robot/construction-ppe-yolov8/best.pt
|
||||||
|
device: cpu
|
||||||
|
imgsz: 640
|
||||||
|
```
|
||||||
|
|
||||||
|
- `detect_labels` 省略时选择模型注册的全部标签；显式空列表、重复或未知标签会失败；
|
||||||
|
- `confidence` 是全局阈值，`label_confidence` 可逐标签覆盖；backend 接收所有选中标签中的最低阈值，通用 Operator 再逐框做严格后过滤；
|
||||||
|
- `max_fps` 是推理启动频率上限，跳过的帧不会产生 `DetectionResult`；
|
||||||
|
- `inference_log_interval_s` 省略时不输出周期推理日志；配置后第一帧立即输出，之后按
|
||||||
|
周期聚合 `window_frames/window_detections/hit_labels/avg_inference_ms`。模型加载成功
|
||||||
|
始终输出一次 INFO。这样可以区分“权重已加载但没有输入帧”“持续推理但没有命中”与
|
||||||
|
“检测到目标”，同时避免逐帧日志拖慢边缘端；
|
||||||
|
- `attach_frame` 默认 `false`；启用时 `DetectionResult` 临时引用对应的解码帧，供 repeat gate 在阈值帧上生成告警图片。由于它携带未压缩图像，detector 到 repeat gate 的队列容量必须保持较小；
|
||||||
|
- `model_options` 属于 backend；内置 YOLO 支持 `weights/device/imgsz/iou/half/max_det/agnostic_nms`；
|
||||||
|
- YOLO 只接受解码后的 `BGR8/RGB8` packed buffer，并把 `RGB8` 转为 backend 使用的 BGR 顺序；它不运行 tracker，返回的 `track_id` 为 `None`。
|
||||||
|
|
||||||
|
示例 detector 到 repeat gate 使用小容量 `drop_oldest` 队列以控制延迟和原始帧内存；
|
||||||
|
持续过载时丢弃的推理结果不会参与 `min_hits`。需要每个已完成推理都参与计数时可改
|
||||||
|
为 `block`，代价是背压和延迟向上游传播。
|
||||||
|
|
||||||
|
如果恢复六类模型，可把同一个 decoder 输出 fan-out 到两个 detector，而不是创建两个
|
||||||
|
独立 Pipeline：
|
||||||
|
|
||||||
|
```text
|
||||||
|
camera -> decoder -> construction detector -> repeat gate -> 8081 alert API
|
||||||
|
`-> six-class detector -----------------> 8082 result API
|
||||||
|
```
|
||||||
|
|
||||||
|
该可选双分支方案的两条 `decoder.frames` 出边使用独立的
|
||||||
|
`realtime_latest + drop_oldest` 容量 1 队列，
|
||||||
|
路由的是同一个只读 `ImageFrame` 引用。这样只建立一个相机 gRPC stream 和一个 PyAV
|
||||||
|
decoder；如果把两个分支拆成两个 Pipeline，即使 gRPC channel 可以复用，也会创建
|
||||||
|
两个订阅 RPC 和两个 decoder 实例。fan-out 只复用输入，两个 YOLO 模型仍分别加载并
|
||||||
|
执行推理，共享进程级有界线程池。示例把六类 YOLOv8n 限制为 5 FPS，避免在尚未完成
|
||||||
|
目标硬件测量前让两个 CPU 模型都追赶相机帧率。
|
||||||
|
|
||||||
|
六类模型只包含正向装备类，没有 `Person` 或 `No-*` 标签；它的
|
||||||
|
`DetectionResult/v1` 表示当前推理帧中“检测到了哪些装备”，不能单独推断某个人
|
||||||
|
缺少装备。该分支保持 `attach_frame: false`，绕过 repeat gate，把每个完成推理的
|
||||||
|
结果直接发送到 `/v1/ppe-detections`，所以不会生成 `DetectionAlert` 的 `rule_id`、
|
||||||
|
`hit_count`、event ID 或告警图字段；`cooldown_ms` 只是 repeat gate 的内部规则配置，
|
||||||
|
不属于告警 payload。输出边使用容量 16 的 `telemetry + drop_oldest`，模拟
|
||||||
|
平台持续变慢时会优先保留较新的结果；要求逐条可靠送达时应改用可接受背压的策略或
|
||||||
|
增加持久 outbox。
|
||||||
|
|
||||||
|
`detection.repeat_gate@1` 的 `rules` 每项包含 `id/labels/min_hits/window_ms/cooldown_ms/min_confidence/scope`。一个规则/scope 在同一 `(source_id, sequence)` 帧最多增加一次 hit，不按框数量累加；`window_ms` 内达到 `min_hits` 才输出告警。触发后清空命中窗口，`cooldown_ms` 内的帧不累计，冷却结束后重新计数。`time_source` 支持 `captured/received/auto`；`captured` 缺失会失败，`auto` 优先 captured 后回退 received。
|
||||||
|
|
||||||
|
告警图片是 repeat gate 的全局配置，不需要在每条 rule 中重复：
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
with:
|
||||||
|
time_source: received
|
||||||
|
alert_image:
|
||||||
|
enabled: true
|
||||||
|
jpeg_quality: 85
|
||||||
|
rules:
|
||||||
|
- id: no-helmet
|
||||||
|
labels: [No-Helmet]
|
||||||
|
min_hits: 3
|
||||||
|
window_ms: 2000
|
||||||
|
```
|
||||||
|
|
||||||
|
`alert_image.enabled` 默认 `false`；启用时上游 detector 必须设置
|
||||||
|
`attach_frame: true`。`jpeg_quality` 默认 85，只接受 `1..95` 的整数。Pillow 只在
|
||||||
|
规则达到阈值并准备发出告警时绘制 bounding boxes、标签和置信度并编码 JPEG，
|
||||||
|
不会为每个 `DetectionResult` 产生图片。
|
||||||
|
|
||||||
|
`scope: source` 按相机和规则隔离状态；`scope: track` 还按 `track_id` 隔离，同一 track ID 在不同相机之间不会混合。没有 track ID 的检测会被 track 规则忽略。当前 Construction PPE 告警分支必须使用 `source`；要判断同一个人，需要先增加 tracker 和人员/PPE 关联节点。
|
||||||
|
|
||||||
|
每次触发创建 `DetectionAlert.event_id`。告警的 `detections` 和图片中的 bounding boxes 只来自达到 `min_hits` 的阈值帧，以控制内存和 HTTP payload；窗口内更早帧只参与 `labels/max_confidence/first_seen/last_seen/hit_count` 的聚合。内部可选图片为 JPEG bytes；HTTP wire 中 `payload.image` 被序列化为扁平对象：
|
||||||
|
|
||||||
|
```json
|
||||||
|
{
|
||||||
|
"media_type": "image/jpeg",
|
||||||
|
"width": 1280,
|
||||||
|
"height": 720,
|
||||||
|
"encoding": "base64",
|
||||||
|
"data": "/9j/4AAQSk..."
|
||||||
|
}
|
||||||
|
```
|
||||||
|
|
||||||
|
关闭图片，或因第三方结果未附带帧、坏帧等原因渲染失败时，告警仍会发送且
|
||||||
|
`payload.image` 为 `null`；证据图失败不能阻断结构化告警。Base64 比原始 JPEG
|
||||||
|
额外增加约三分之一体积，平台入口和反向代理必须设置相应的请求体上限。
|
||||||
|
同一阈值帧同时触发多条规则或多个 track 时，节点对所有相关告警框取并集并只编码
|
||||||
|
一次，再让这些告警共享同一个不可变 JPEG，从而限制瞬时 CPU 与内存开销。
|
||||||
|
非有限坐标、反向/退化框、非法置信度或 track ID 的 detection 会在规则计数前被
|
||||||
|
忽略并增加 `invalid_detections` 健康计数，防止 `NaN/Inf` 破坏整个 HTTP JSON。
|
||||||
|
|
||||||
|
### 4.3 cmvr-es gRPC 连接器
|
||||||
|
|
||||||
|
`cmvr.grpc.camera_rgb_stream@1`：
|
||||||
|
|
||||||
|
- 参数：`endpoint`、必填 `device_id`、可选 `pixel_format`（默认 `BGR8`）、
|
||||||
|
`stream_log_interval_s`（默认 30 秒），以及
|
||||||
|
`reconnect/reconnect_initial_s/reconnect_max_s/max_reconnect_attempts`；
|
||||||
|
- 每个首次连接和重连 session 都先调用 unary `CameraService.StartCamera`，复用 endpoint
|
||||||
|
的 `timeout_s`，并检查业务反馈 `header.success/error_message`；只有成功后才调用
|
||||||
|
`CameraService.GetRGBImageStream`。这两步不能省略：前者打开物理相机，后者在服务端
|
||||||
|
启动编码流；
|
||||||
|
- 发送一次订阅请求并保持 request side，兼容当前 cmvr-es 行为和未来真正双向协议；
|
||||||
|
- 把 `color_frame` 转为 `ImageFrame/v1`，保留 codec、关键帧、内参、序号和时间戳；
|
||||||
|
- 默认在 Start RPC、断流、流 RPC 或业务失败后指数退避重连；每次尝试使用新的
|
||||||
|
`session_id`，收到一帧后重置连续失败计数；`max_reconnect_attempts` 省略表示持续尝试；
|
||||||
|
- INFO 日志覆盖 source configured、StartCamera 请求/成功、stream opening、首帧、周期
|
||||||
|
progress、stream close 和 source stop；WARNING/ERROR 覆盖业务反馈错误、断流、重连与
|
||||||
|
重试耗尽。progress 即使尚未收到首帧也会定时输出，并报告帧数、吞吐、关键帧、
|
||||||
|
codec、尺寸和最后一帧年龄，但不会输出图像 bytes；
|
||||||
|
- stop 时主动 cancel stream，并且等待重连期间也能被 shutdown event 立即打断。默认
|
||||||
|
不调用设备级 `StopCamera`，避免中断同一相机的其他客户端；
|
||||||
|
- 不做 H264 解码，编码包必须交给有状态解码器插件。
|
||||||
|
|
||||||
|
重连不能修复 cmvr-es 生产端已经丢失的编码包。当前 cmvr-es 服务端使用 `getLatestEncodedFrame` 取得最新数据，负载或时序竞争可能在 edge-ai 看到数据之前跳过 H264/H265 参考包；本地 `video_contiguous` 只保护已经入队的数据，而且 camera Source 的本地 sequence 不能可靠表示这种上游跳包。decoder 遇到 FFmpeg 错误会重置并等待关键帧，但上线前仍应验证服务端提供连续 access unit，或增加原始/JPEG/显式 discontinuity 的 AI 接口。
|
||||||
|
|
||||||
|
`cmvr.grpc.agv_command_sink@1`：
|
||||||
|
|
||||||
|
- 参数：`endpoint` 和固定、非空的 `device_id`；一个 Sink 只绑定一台设备；
|
||||||
|
- 输入必须为 `ApprovedRobotCommand/v1`，直接传入原始 `RobotCommand` 会被拒绝；
|
||||||
|
- 支持 `emergency_stop`、`clear_fault`、`pause_navigation`、`resume_navigation`、`cancel_navigation`、`stop_velocity_control`、`stop_mapping` 和 `set_velocity`；
|
||||||
|
- `set_velocity` 默认禁用；只有显式设置 `unsafe_allow_unleased_velocity: true`，并在 Sink 再配置完整 `velocity_limits.vx/vy/wz` 后才会发出；
|
||||||
|
- `set_velocity` 的 `vx/vy/wz` 必须是有限数，并同时通过安全门和 Sink 两层范围校验；
|
||||||
|
- 同时检查 gRPC 调用异常与响应 `header.success`，并把 RPC timeout 限制在命令剩余 TTL 内；
|
||||||
|
- 不自动重试运动命令；正常关闭时若曾成功发送速度，会尽力调用 `stopVelocityControl`。
|
||||||
|
|
||||||
|
下面只展示 actuator 节点的危险参数；该节点仍必须直接连接前述安全门。此开关只应用于架空轮、受控台架等隔离环境：
|
||||||
|
|
||||||
|
```yaml
|
||||||
|
actuator:
|
||||||
|
uses: cmvr.grpc.agv_command_sink@1
|
||||||
|
with:
|
||||||
|
endpoint: cmvr_es
|
||||||
|
device_id: src1100
|
||||||
|
unsafe_allow_unleased_velocity: true
|
||||||
|
velocity_limits:
|
||||||
|
vx: {min: -0.3, max: 0.3}
|
||||||
|
vy: {min: -0.2, max: 0.2}
|
||||||
|
wz: {min: -0.5, max: 0.5}
|
||||||
|
```
|
||||||
|
|
||||||
|
`unsafe_allow_unleased_velocity` 必须是 YAML 布尔字面量，字符串 `"true"/"false"` 会被拒绝。该 override 不是 crash-safety：edge-ai 被 `SIGKILL`、崩溃、断电或与 cmvr-es 网络分区时，Python `stop()` 没有机会可靠执行。真实机器人必须由 cmvr-es 服务端持有速度 lease，并在 lease/heartbeat 超时后独立执行清零和停车。
|
||||||
|
|
||||||
|
### 4.4 平台 HTTP 连接器
|
||||||
|
|
||||||
|
`platform.http_json_sink@1` 接收任意 schema：
|
||||||
|
|
||||||
|
- 参数：`endpoint`、`path`（默认 `/`）、`max_attempts`（默认 3）、`retry_initial_s`、`retry_max_s` 和 `retry_statuses`；
|
||||||
|
- POST Envelope 元数据、输入端口、attributes 和 payload；
|
||||||
|
- bytes 转换为 `{encoding: base64, data: ...}`；
|
||||||
|
- `EncodedImage` 特判为 `media_type/width/height/encoding/data` 同层的扁平对象，避免 `payload.image.data` 再嵌套一层；
|
||||||
|
- payload 有非空 `event_id` 时以它作为 `Idempotency-Key`，否则使用 `trace_id`；平台仍必须真正实现按键去重；
|
||||||
|
- 对连接/超时类错误以及默认 `408/425/429/500/502/503/504` 执行有限指数退避；不在
|
||||||
|
allowlist 的状态不会重试；最终失败由 `failure_mode` 决定：`raise` 抛异常，
|
||||||
|
`log_and_drop` 输出 WARNING、丢弃当前报告并继续；
|
||||||
|
- 没有持久化 outbox/spool。有限重试只存在于当前进程内，崩溃、断电或重启不会恢复尚未投递的告警。
|
||||||
|
|
||||||
|
同一个通用 Sink 可以按节点配置不同的 endpoint 和 path。当前检测配置只把
|
||||||
|
`DetectionAlert/v1` 发到 `http://127.0.0.1:8081/v1/detection-alerts`。若恢复六类模型，
|
||||||
|
可把每次推理的 `DetectionResult/v1` 发到独立 endpoint；它与告警复用 Envelope JSON
|
||||||
|
外层，但 payload 契约不同，且没有 event ID，幂等键会回退为 `trace_id`。Sink 不支持
|
||||||
|
通过 YAML 重命名或重排 payload 字段，如果目标平台要求自定义 wire contract，应增加
|
||||||
|
平台专用转换节点或 Sink。
|
||||||
|
|
||||||
|
运行时对未处理异常采用 fail-fast。HTTP Sink 默认 `failure_mode: raise`，最终发送失败
|
||||||
|
会终止它所在的 Pipeline；当前 8081 告警 Sink 显式使用 `log_and_drop`，所以平台离线只会
|
||||||
|
产生 WARNING 并丢弃对应告警，不会停止相机和检测。该模式不是可靠投递机制。
|
||||||
|
|
||||||
|
## 5. 插件开发约定
|
||||||
|
|
||||||
|
### 5.1 创建组件
|
||||||
|
|
||||||
|
插件工厂固定接收 `node_id: str` 与 `params: Mapping[str, Any]`，应在构造阶段检查无需 I/O 的必填参数。下面展示一个最小 Operator：
|
||||||
|
|
||||||
|
```python
|
||||||
|
from collections.abc import Mapping
|
||||||
|
from typing import Any
|
||||||
|
|
||||||
|
from cmvr_edge_ai.contracts import TextEvent
|
||||||
|
from cmvr_edge_ai.core import Emission, Envelope, Operator
|
||||||
|
|
||||||
|
|
||||||
|
class UppercaseOperator(Operator):
|
||||||
|
def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
|
||||||
|
self._node_id = node_id
|
||||||
|
self._prefix = str(params.get("prefix", ""))
|
||||||
|
|
||||||
|
async def process(
|
||||||
|
self,
|
||||||
|
envelope: Envelope[Any],
|
||||||
|
input_port: str = "input",
|
||||||
|
) -> Emission:
|
||||||
|
del input_port
|
||||||
|
event = envelope.payload
|
||||||
|
if not isinstance(event, TextEvent):
|
||||||
|
raise TypeError(
|
||||||
|
f"{self._node_id} expected TextEvent, got {type(event).__name__}"
|
||||||
|
)
|
||||||
|
result = TextEvent(
|
||||||
|
text=self._prefix + event.text.upper(),
|
||||||
|
role=event.role,
|
||||||
|
final=event.final,
|
||||||
|
)
|
||||||
|
return Emission(
|
||||||
|
"output",
|
||||||
|
envelope.with_payload(
|
||||||
|
result,
|
||||||
|
schema_name="TextEvent",
|
||||||
|
schema_version=1,
|
||||||
|
),
|
||||||
|
)
|
||||||
|
```
|
||||||
|
|
||||||
|
使用 `with_payload()` 可以保留 trace、session、sequence、采集时间和 deadline，只更新载荷与接收时间。除非开始了一次新的独立请求，不要随意生成新的 `trace_id`。
|
||||||
|
|
||||||
|
### 5.2 注册 PluginSpec
|
||||||
|
|
||||||
|
```python
|
||||||
|
from cmvr_edge_ai.plugins import PluginKind, PluginRegistry, PluginSpec
|
||||||
|
|
||||||
|
|
||||||
|
def register_plugins(registry: PluginRegistry) -> None:
|
||||||
|
registry.register(
|
||||||
|
PluginSpec(
|
||||||
|
plugin_id="example.text_upper@1",
|
||||||
|
kind=PluginKind.OPERATOR,
|
||||||
|
factory=UppercaseOperator,
|
||||||
|
inputs={"input": "TextEvent/v1"},
|
||||||
|
outputs={"output": "TextEvent/v1"},
|
||||||
|
description="Uppercase a text event",
|
||||||
|
tags=frozenset({"domain:dialogue"}),
|
||||||
|
)
|
||||||
|
)
|
||||||
|
```
|
||||||
|
|
||||||
|
规则：
|
||||||
|
|
||||||
|
- ID 必须包含版本，例如 `@1`；不兼容的端口或参数变更发布新版本；
|
||||||
|
- Source 不能声明 input，Sink 不能声明 output；
|
||||||
|
- 端口名必须与组件实际发送/接收的端口一致；
|
||||||
|
- 使用精确 schema；只在真正协议无关的调试/路由节点使用 `*`；
|
||||||
|
- 执行器 Sink 加 `actuator` 标签，并只声明/接受 `ApprovedRobotCommand/v1`；安全节点加 `safety_gate` 标签并完成 `RobotCommand -> ApprovedRobotCommand` 转换；不要为了通过编译给普通变换节点冒充安全标签；连接器加 `transport:grpc` 等标签；
|
||||||
|
- 同一个 ID 重复注册会失败。
|
||||||
|
|
||||||
|
### 5.3 通过 entry point 发布
|
||||||
|
|
||||||
|
第三方插件包的 `pyproject.toml`：
|
||||||
|
|
||||||
|
```toml
|
||||||
|
[project]
|
||||||
|
name = "cmvr-edge-ai-example-plugin"
|
||||||
|
version = "0.1.0"
|
||||||
|
dependencies = ["cmvr-edge-ai>=0.1,<0.2"]
|
||||||
|
|
||||||
|
[project.entry-points."cmvr_edge_ai.plugins"]
|
||||||
|
example = "my_cmvr_plugin.plugins:register_plugins"
|
||||||
|
```
|
||||||
|
|
||||||
|
entry point 可以直接导出一个 `PluginSpec`，也可以像示例一样导出接收 registry 的回调。安装包后，默认 registry 会在 CLI 启动时发现它。只安装可信插件：entry point 是 Python 可执行代码，虽然 YAML 本身不能任意导入模块，已安装插件仍拥有当前进程权限。
|
||||||
|
|
||||||
|
### 5.4 阻塞计算与模型
|
||||||
|
|
||||||
|
禁止直接在 `process()` 中执行长时间阻塞 I/O 或 Python/模型推理，否则整个 event loop 的 gRPC、HTTP、队列和其他 Pipeline 都会停顿。
|
||||||
|
|
||||||
|
框架提供 `workers.run_blocking()`。插件在 `setup()` 中取得应用共享的有界线程池，再显式 offload：
|
||||||
|
|
||||||
|
```python
|
||||||
|
from cmvr_edge_ai.workers import run_blocking
|
||||||
|
|
||||||
|
async def setup(self, context):
|
||||||
|
self._thread_executor = context.metadata["thread_executor"]
|
||||||
|
|
||||||
|
async def process(self, envelope, input_port="input"):
|
||||||
|
result = await run_blocking(
|
||||||
|
self._blocking_infer,
|
||||||
|
envelope.payload,
|
||||||
|
executor=self._thread_executor,
|
||||||
|
)
|
||||||
|
return envelope.with_payload(
|
||||||
|
result,
|
||||||
|
schema_name="DetectionResult",
|
||||||
|
schema_version=1,
|
||||||
|
)
|
||||||
|
```
|
||||||
|
|
||||||
|
线程 offload 适合释放 GIL 的推理库或阻塞 SDK。不要省略 `executor` 后假定 `runtime.thread_workers` 仍然生效；未指定 executor 时会落到宿主 event loop 的默认 executor。
|
||||||
|
|
||||||
|
纯 Python CPU 密集任务、大模型或需要故障隔离的模型应由插件维护常驻进程/模型 Worker；不要每帧创建进程或重复加载模型。框架提供 `PersistentProcessWorker` 作为小型基础设施：它使用一个常驻子进程、有界请求/结果队列、串行关联和可选超时，并把子进程异常还原为 `RemoteWorkerError`。请求一旦超时或在途取消，Worker 会标记为 `poisoned` 并拒绝后续 submit，避免迟到结果被误配；插件必须 stop 后新建 Worker。插件仍负责在 `setup/start` 创建和启动它、在 `stop` 回收它，并确保 `spawn` 模式下 factory/payload 可序列化。
|
||||||
|
|
||||||
|
在 v1 配置中，节点仍必须使用 `execution.mode: async`（默认）或 `inline`，且保持默认单并发字段。`thread|process|model_worker` 以及非默认并发字段会在编译期被拒绝。上面的线程/进程 helper 是组件内部显式调用的实现细节，框架不会根据 YAML 自动 offload。插件需要自行限制 in-flight 数量并在 `stop()` 回收 Worker。若跨进程发送大图像，优先传编码数据；确认复制成为瓶颈后再实现固定大小共享内存池，并只通过 IPC 传 slot/shape/dtype/时间戳。
|
||||||
|
|
||||||
|
### 5.5 开发新协议连接器
|
||||||
|
|
||||||
|
新增 gRPC、HTTP、UDP 或 QUIC 支持时，应把 wire format 的解析和错误映射放在 `connectors/`/`transports/`，对 DAG 只暴露内部契约：
|
||||||
|
|
||||||
|
```text
|
||||||
|
wire message -> 校验 -> 内部 payload -> Envelope -> AI Operators
|
||||||
|
AI result -> typed command/event -> wire message -> external service
|
||||||
|
```
|
||||||
|
|
||||||
|
不要让算法插件导入 `*_pb2`。连接器应：
|
||||||
|
|
||||||
|
- 在 `setup` 获取/建立连接，在 `stop` 取消 stream 并释放资源；
|
||||||
|
- 为每条消息保留设备 ID、序号、采集时间、trace/session；
|
||||||
|
- 区分 transport failure 与业务响应失败；
|
||||||
|
- 明确超时、重连、幂等和背压策略；
|
||||||
|
- 对流式编码数据保持状态，不能把任意 H264 packet 当作独立图片；
|
||||||
|
- 为音频丢包/重连产生 `discontinuity`，不能静默拼接不连续 PCM；
|
||||||
|
- 对控制接口使用显式 action 到 RPC 的白名单映射，禁止从配置反射任意方法名。
|
||||||
|
- 新增控制 Sink 时只接受 `ApprovedRobotCommand`，并要求安全门成为图上的直接前驱；不要兼容接收原始 `RobotCommand`。
|
||||||
|
|
||||||
|
gRPC transport 已提供有界的 `BidiRequestStream` 请求迭代器，可供未来真正的双向音频 RPC 使用。它限制为单消费者，正常 close 会排空已接受请求并原子唤醒被背压阻塞的 producer；若 gRPC 放弃迭代器则丢弃无法再发送的请求。它只解决 request side 的背压与关闭，不包含任何音频 proto、重连、响应解析或扬声器策略；这些仍属于具体连接器。
|
||||||
|
|
||||||
|
## 6. 并发和资源模型
|
||||||
|
|
||||||
|
当前真实执行关系如下：
|
||||||
|
|
||||||
|
```mermaid
|
||||||
|
flowchart LR
|
||||||
|
MAIN["一个 Python 进程"] --> LOOP["一个 asyncio event loop"]
|
||||||
|
LOOP --> P1["Pipeline A: 每节点一个 task"]
|
||||||
|
LOOP --> P2["Pipeline B: 每节点一个 task"]
|
||||||
|
LOOP --> TP["共享有界 ThreadPoolExecutor"]
|
||||||
|
P1 -. "插件显式 workers.run_blocking" .-> TP
|
||||||
|
P2 -. "插件显式 workers.run_blocking" .-> TP
|
||||||
|
P1 -. "插件自行实现" .-> MW["可选常驻进程/Model Worker"]
|
||||||
|
```
|
||||||
|
|
||||||
|
多个 Pipeline 共用同一 event loop、gRPC ChannelPool、HttpClientPool 和应用线程池。同名 endpoint 会复用客户端；同一 endpoint ID 如果请求了冲突的 settings 会报错。线程池只通过 `ComponentContext.metadata["thread_executor"]` 提供；`execution.mode: thread` 在 v1 是非法保留值，不会自动调用线程池。
|
||||||
|
|
||||||
|
共享 gRPC channel 不等于共享流式 RPC 或 Source 实例。两个 Pipeline 各自配置同一
|
||||||
|
camera node 时会建立两个订阅并重复解码；同一物理输入需要供多个模型使用时，应优先
|
||||||
|
在一个 Pipeline 内从 decoder 的输出端口 fan-out。每个 fan-out 分支仍应使用独立的
|
||||||
|
小容量队列，避免慢模型把实时图像积压在内存中。
|
||||||
|
|
||||||
|
边缘端容量规划建议：
|
||||||
|
|
||||||
|
- 优先减少输入帧率、分辨率和队列容量，不用无界缓存换吞吐；
|
||||||
|
- 同一 GPU 上尽量复用一个常驻模型实例，避免每 Pipeline 重复加载；
|
||||||
|
- 编码视频在 decoder 前使用 `video_contiguous`，不能用 latest-frame 丢包；只有 decoder 输出完整图像后，才能在推理前使用 `realtime_latest` 主动丢旧帧；当前运行时不会根据 deadline 自动丢弃；
|
||||||
|
- 音频需要连续性，不能照搬视频的 `drop_oldest`；
|
||||||
|
- 平台上报与机器人控制使用不同边，并为非关键遥测选择非阻塞溢出策略；
|
||||||
|
- 通过实际端到端延迟、queue high watermark、drop counter 和显存峰值决定是否引入进程/共享内存。
|
||||||
|
|
||||||
|
## 7. 控制安全模型
|
||||||
|
|
||||||
|
机器人控制链必须保持以下形态：
|
||||||
|
|
||||||
|
```text
|
||||||
|
AI 结果 -> Policy -> RobotCommand/v1
|
||||||
|
-> Safety Gate
|
||||||
|
-> ApprovedRobotCommand/v1
|
||||||
|
-> 类型化执行器 Sink
|
||||||
|
```
|
||||||
|
|
||||||
|
这里有四层进程内防线：
|
||||||
|
|
||||||
|
1. 编译器要求 `actuator` 的每个直接前驱都带 `safety_gate` 标签；安全门与 Sink 之间不能插入转换/透传节点，也不能增加旁路输入；
|
||||||
|
2. 安全门只接收 `RobotCommand/v1`，检查通过后才输出 `ApprovedRobotCommand/v1`；
|
||||||
|
3. AGV Sink 的端口 schema 和运行时类型检查都只接受 `ApprovedRobotCommand`；
|
||||||
|
4. AGV Sink 只支持明确列出的 action，不会根据配置字符串反射调用任意 gRPC 方法，也不会自动重试运动命令。
|
||||||
|
|
||||||
|
`ApprovedRobotCommand` 是进程内类型边界，不是加密签名。只有可信插件可以被安装并赋予 `safety_gate` 标签；恶意或被篡改的 Python 插件仍拥有当前进程权限，因此插件供应链、包版本锁定和文件完整性属于安全模型的一部分。
|
||||||
|
|
||||||
|
当前安全门已经检查：
|
||||||
|
|
||||||
|
- payload 必须是 `RobotCommand`；
|
||||||
|
- Envelope deadline 和 `RobotCommand.valid_until_ns`；
|
||||||
|
- action 白名单；
|
||||||
|
- 可选 device 白名单；
|
||||||
|
- 为 action 配置的每个参数必须存在、是有限数并位于 `[min, max]`；
|
||||||
|
- `set_velocity` 必须为 `vx/vy/wz` 配置完整范围；`require_limits_for` 可把同一规则扩展到其他 action；
|
||||||
|
- 默认按 `(device, action)` 拒绝 sequence 重放和乱序；
|
||||||
|
- 同一 `(device, action)` 的最小发送间隔。
|
||||||
|
|
||||||
|
投入真实机器人前仍必须由机器人型号相关 Policy/Safety 插件补齐：
|
||||||
|
|
||||||
|
- 除已配置参数范围外的速度、位置、加速度和 jerk 联合约束；
|
||||||
|
- 当前模式、故障、急停、定位质量、电量及障碍物状态；
|
||||||
|
- command ID 去重和多来源优先级仲裁；
|
||||||
|
- 急停独立高优先级路径和权限控制；
|
||||||
|
- 审计日志、认证、TLS 和密钥管理。
|
||||||
|
|
||||||
|
最重要的边界位于进程外：持续速度命令必须由 cmvr-es 服务端发放短期 lease，并由独立 deadman 在续租/heartbeat 超时后清零速度。当前 Sink 会在调用前检查 TTL，并把客户端 RPC timeout 截断到剩余 TTL，但当前 cmvr-es 请求没有承载 `valid_until/command_id/sequence`，服务端无法据此拒绝网络中迟到的命令。`unsafe_allow_unleased_velocity`、客户端 TTL、安全门以及 Sink `stop()` 都不能覆盖进程崩溃、`SIGKILL`、断电或网络分区。cmvr-es 未实现 server-side lease/deadman 前，`set_velocity` 只允许在隔离测试环境使用，禁止用于真实机器人持续运动。
|
||||||
|
|
||||||
|
运动命令默认不重试。只有外部 API 提供明确幂等契约，并完成 command ID 去重后，才能为特定 action 增加有界重试。
|
||||||
|
|
||||||
|
## 8. 运维流程
|
||||||
|
|
||||||
|
推荐发布/启动顺序：
|
||||||
|
|
||||||
|
1. 安装固定版本的核心包和可信插件包；
|
||||||
|
2. 如果使用 cmvr-es gRPC 连接器，安装匹配 cmvr-es proto 版本的 `cmvr-api` wheel，或运行 stub 生成脚本；
|
||||||
|
3. 在部署 YAML 中配置 endpoint、证书引用、模型路径和推理设备；凭据应通过部署平台的 secret 机制注入；
|
||||||
|
4. 执行 `cmvr-edge-ai plugins` 和 `cmvr-edge-ai models`，保存实际插件、模型及标签清单；
|
||||||
|
5. 执行 `cmvr-edge-ai validate -c ...`；
|
||||||
|
6. 确认 cmvr-es 设备启用、设备 ID 正确、平台接口可达；
|
||||||
|
7. 先运行回放/smoke，再连接真实传感器；
|
||||||
|
8. 控制链先使用空载/限速/人工急停条件验证；
|
||||||
|
9. 使用 SIGTERM 停止并给 `shutdown_timeout_s` 留出排空时间。
|
||||||
|
|
||||||
|
示例命令：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
uv run --no-sync cmvr-edge-ai models
|
||||||
|
uv run --no-sync cmvr-edge-ai validate -c detect_server/pipeline.yaml --pipeline detection
|
||||||
|
uv run --no-sync cmvr-edge-ai run -c detect_server/pipeline.yaml \
|
||||||
|
--pipeline detection \
|
||||||
|
--log-level INFO \
|
||||||
|
--log-format json
|
||||||
|
```
|
||||||
|
|
||||||
|
当前日志可输出文本或单行 JSON。日志中不要写入音频原始数据、图像 base64、认证 metadata 或用户隐私内容；生产插件应只记录 trace ID、schema、耗时、尺寸、丢弃计数和经过脱敏的错误信息。
|
||||||
|
|
||||||
|
## 9. 当前限制与演进顺序
|
||||||
|
|
||||||
|
### 9.1 当前限制
|
||||||
|
|
||||||
|
- cmvr-es 音频双向流 proto 尚未实现；框架只有 `AudioChunk` 契约和对话占位配置；
|
||||||
|
- 检测链路已经提供 PyAV H264/H265 解码、双 PPE YOLO 注册/推理、单次解码 fan-out 和重复触发规则；VAD、ASR、LLM、TTS 仍需插件提供；
|
||||||
|
- UDP/QUIC 只有扩展目录，无 transport/connector；
|
||||||
|
- execution v1 只支持 `async/inline` 默认单并发；其他 mode 和非默认并发字段会在编译期拒绝，线程/进程/模型 offload 必须由插件显式实现；
|
||||||
|
- 非空 resources、非 `normal` priority 和显式保留 runtime 字段都会被拒绝；`health_bind` 未启动服务，队列指标也未导出；
|
||||||
|
- 无热更新、overlay、通用节点级 supervisor/restart、持久化 outbox/spool；相机和 HTTP 的重连/重试是 connector 内部的局部策略；
|
||||||
|
- 无自动 deadline 丢弃、`max_age_ms`、`put_timeout_ms`；
|
||||||
|
- 无共享内存池；跨进程 Worker 由插件负责；
|
||||||
|
- 配置只支持单个 YAML 加环境变量，不支持 include/merge；
|
||||||
|
- 当前 cmvr-es 相机成功响应通常未填写 `header.timestamp`，因此连接器的 `captured_at_ns` 可能为 `null`；精确采集时延需要后续在帧协议中增加设备采集时钟，不能用客户端接收时间冒充；
|
||||||
|
- cmvr-es 当前通过 `getLatestEncodedFrame` 取得最新编码数据，可能在 edge-ai 收到之前跳过 inter-frame 参考包；本地连续队列和重连无法补回上游丢失内容，必须验证/改造服务端流语义；
|
||||||
|
- HTTP Sink 对告警使用 `event_id`、对普通逐帧结果回退使用 `trace_id` 作为幂等键，并
|
||||||
|
提供有限退避和 `raise/log_and_drop` 终态策略，但没有持久投递；`log_and_drop` 的
|
||||||
|
WARNING 即表示该报告已丢失，进程崩溃或断电也可能丢失内存中的输出；
|
||||||
|
- 内置 YOLO adapter 不产生 `track_id`，所以 `scope: track` 需要外部 tracker 及人员/PPE 关联节点；
|
||||||
|
- PPE `.pt` 只能来自可信制品源；商业部署还需核对权重说明、Ultralytics runtime/checkpoint 的 AGPL/商业许可，以及训练数据和权重分发权利；
|
||||||
|
- AGV `set_velocity` 默认禁用；unsafe override 和正常 shutdown stop 都不具备崩溃安全性，不能替代 cmvr-es server-side lease/deadman、机器人本体限位、急停和功能安全系统。
|
||||||
|
|
||||||
|
### 9.2 推荐演进顺序
|
||||||
|
|
||||||
|
1. **真实流与模型验收**：用录制数据和目标边缘设备验证 cmvr-es 编码连续性、PyAV 长时间恢复、PPE 精度/FPS/内存/显存和端到端告警；
|
||||||
|
2. **可靠告警投递**：在现有 event ID 和有限重试之上增加有界持久 outbox、确认、恢复发送和容量/保留策略；
|
||||||
|
3. **同人违规语义**：增加 tracker 与 Worker/PPE 空间关联，验证 ID switch 后再启用 `scope: track`；
|
||||||
|
4. **补齐可观测性**：导出 health、队列水位/丢弃、重连/重试、节点延迟和模型资源指标；
|
||||||
|
5. **控制安全闭环**：先在 cmvr-es 实现速度 lease/server-side deadman，再补齐设备状态输入、机器人型号限值、优先级与审计，然后才启用真实 AGV/机械臂动作；
|
||||||
|
6. **接入音频双向流**：proto 落地后实现麦克风 Source/扬声器 Sink，严格处理 chunk 顺序、背压和 discontinuity；
|
||||||
|
7. **按测量结果优化并发**：先使用现有显式 thread offload，再按测量结果增加常驻 model/process worker；确认复制瓶颈后才加入共享内存；
|
||||||
|
8. **扩展协议**：用相同内部契约实现 QUIC/UDP connector，不修改算法插件。
|
||||||
|
|
||||||
|
每一步都应先通过 `validate`、smoke、录制数据 replay 和资源峰值检查，再接入真实设备。
|
||||||
91
pyproject.toml
Normal file
91
pyproject.toml
Normal file
@ -0,0 +1,91 @@
|
|||||||
|
[build-system]
|
||||||
|
requires = ["setuptools>=68", "wheel"]
|
||||||
|
build-backend = "setuptools.build_meta"
|
||||||
|
|
||||||
|
[project]
|
||||||
|
name = "cmvr-edge-ai"
|
||||||
|
version = "0.1.0"
|
||||||
|
description = "Configuration-driven AI pipeline runtime for CMVR robot edge devices"
|
||||||
|
readme = "README.md"
|
||||||
|
requires-python = ">=3.10,<3.13"
|
||||||
|
dependencies = [
|
||||||
|
"pydantic>=2.8,<3",
|
||||||
|
"PyYAML>=6,<7",
|
||||||
|
]
|
||||||
|
|
||||||
|
[project.optional-dependencies]
|
||||||
|
grpc = [
|
||||||
|
"grpcio>=1.76,<2",
|
||||||
|
"protobuf>=6.31.1,<7",
|
||||||
|
]
|
||||||
|
http = [
|
||||||
|
"httpx>=0.27,<1",
|
||||||
|
]
|
||||||
|
video = [
|
||||||
|
"av>=12,<17",
|
||||||
|
]
|
||||||
|
image = [
|
||||||
|
"Pillow>=10,<13",
|
||||||
|
]
|
||||||
|
yolo = [
|
||||||
|
"numpy>=1.24,<3",
|
||||||
|
"ultralytics==8.4.31",
|
||||||
|
]
|
||||||
|
yolo-cpu = [
|
||||||
|
"numpy>=1.24,<3",
|
||||||
|
"torch==2.7.0",
|
||||||
|
"torchvision==0.22.0",
|
||||||
|
"ultralytics==8.4.31",
|
||||||
|
]
|
||||||
|
|
||||||
|
[dependency-groups]
|
||||||
|
test = [
|
||||||
|
"pytest>=7.4,<9",
|
||||||
|
"pytest-asyncio>=0.23,<1",
|
||||||
|
]
|
||||||
|
codegen = [
|
||||||
|
"grpcio-tools>=1.76,<2",
|
||||||
|
]
|
||||||
|
dev = [
|
||||||
|
{ include-group = "test" },
|
||||||
|
{ include-group = "codegen" },
|
||||||
|
]
|
||||||
|
|
||||||
|
[project.scripts]
|
||||||
|
cmvr-edge-ai = "cmvr_edge_ai.cli:main"
|
||||||
|
|
||||||
|
[tool.setuptools]
|
||||||
|
package-dir = {"" = "src"}
|
||||||
|
|
||||||
|
[tool.setuptools.packages.find]
|
||||||
|
where = ["src"]
|
||||||
|
|
||||||
|
[tool.uv]
|
||||||
|
required-version = ">=0.11.16"
|
||||||
|
default-groups = []
|
||||||
|
conflicts = [
|
||||||
|
[
|
||||||
|
{ extra = "yolo" },
|
||||||
|
{ extra = "yolo-cpu" },
|
||||||
|
],
|
||||||
|
]
|
||||||
|
required-environments = [
|
||||||
|
"sys_platform == 'linux' and platform_machine == 'x86_64' and python_version == '3.10'",
|
||||||
|
]
|
||||||
|
|
||||||
|
[tool.uv.sources]
|
||||||
|
torch = [
|
||||||
|
{ index = "pytorch-cpu", extra = "yolo-cpu", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
|
||||||
|
]
|
||||||
|
torchvision = [
|
||||||
|
{ index = "pytorch-cpu", extra = "yolo-cpu", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
|
||||||
|
]
|
||||||
|
|
||||||
|
[[tool.uv.index]]
|
||||||
|
name = "pytorch-cpu"
|
||||||
|
url = "https://download.pytorch.org/whl/cpu"
|
||||||
|
explicit = true
|
||||||
|
|
||||||
|
[tool.pytest.ini_options]
|
||||||
|
testpaths = ["tests"]
|
||||||
|
addopts = "-q"
|
||||||
BIN
scripts/__pycache__/generate_cmvr_stubs.cpython-312.pyc
Normal file
BIN
scripts/__pycache__/generate_cmvr_stubs.cpython-312.pyc
Normal file
Binary file not shown.
161
scripts/bootstrap.sh
Executable file
161
scripts/bootstrap.sh
Executable file
@ -0,0 +1,161 @@
|
|||||||
|
#!/usr/bin/env bash
|
||||||
|
set -euo pipefail
|
||||||
|
|
||||||
|
SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
|
||||||
|
PROJECT_ROOT="$(cd -- "${SCRIPT_DIR}/.." && pwd)"
|
||||||
|
|
||||||
|
profile="detection-cpu"
|
||||||
|
cmvr_es_root="${PROJECT_ROOT}/../cmvr-es"
|
||||||
|
skip_codegen=false
|
||||||
|
skip_check=false
|
||||||
|
|
||||||
|
usage() {
|
||||||
|
cat <<'EOF'
|
||||||
|
Usage: bash scripts/bootstrap.sh [options]
|
||||||
|
|
||||||
|
Create the locked uv environment, optionally generate cmvr-es Python bindings,
|
||||||
|
and run basic health checks.
|
||||||
|
|
||||||
|
Options:
|
||||||
|
--profile PROFILE core, detection-cpu (default), or dev
|
||||||
|
--cmvr-es-root PATH cmvr-es checkout (default: sibling ../cmvr-es)
|
||||||
|
--skip-codegen do not generate cmvr-es protobuf/gRPC bindings
|
||||||
|
--skip-check install only; skip validation and tests
|
||||||
|
-h, --help show this help
|
||||||
|
|
||||||
|
Profiles:
|
||||||
|
core framework and simulated talk/smoke pipeline only
|
||||||
|
detection-cpu gRPC + HTTP + PyAV + locked CPU YOLO runtime
|
||||||
|
dev detection-cpu plus tests and portable protobuf codegen tools
|
||||||
|
EOF
|
||||||
|
}
|
||||||
|
|
||||||
|
while (($#)); do
|
||||||
|
case "$1" in
|
||||||
|
--profile)
|
||||||
|
if (($# < 2)); then
|
||||||
|
echo "error: --profile requires a value" >&2
|
||||||
|
exit 2
|
||||||
|
fi
|
||||||
|
profile="$2"
|
||||||
|
shift 2
|
||||||
|
;;
|
||||||
|
--cmvr-es-root)
|
||||||
|
if (($# < 2)); then
|
||||||
|
echo "error: --cmvr-es-root requires a path" >&2
|
||||||
|
exit 2
|
||||||
|
fi
|
||||||
|
cmvr_es_root="$2"
|
||||||
|
shift 2
|
||||||
|
;;
|
||||||
|
--skip-codegen)
|
||||||
|
skip_codegen=true
|
||||||
|
shift
|
||||||
|
;;
|
||||||
|
--skip-check)
|
||||||
|
skip_check=true
|
||||||
|
shift
|
||||||
|
;;
|
||||||
|
-h|--help)
|
||||||
|
usage
|
||||||
|
exit 0
|
||||||
|
;;
|
||||||
|
*)
|
||||||
|
echo "error: unknown argument: $1" >&2
|
||||||
|
usage >&2
|
||||||
|
exit 2
|
||||||
|
;;
|
||||||
|
esac
|
||||||
|
done
|
||||||
|
|
||||||
|
case "${profile}" in
|
||||||
|
core)
|
||||||
|
sync_args=(--locked --no-default-groups)
|
||||||
|
needs_cmvr_bindings=false
|
||||||
|
;;
|
||||||
|
detection-cpu)
|
||||||
|
sync_args=(
|
||||||
|
--locked
|
||||||
|
--no-default-groups
|
||||||
|
--extra grpc
|
||||||
|
--extra http
|
||||||
|
--extra video
|
||||||
|
--extra image
|
||||||
|
--extra yolo-cpu
|
||||||
|
)
|
||||||
|
needs_cmvr_bindings=true
|
||||||
|
;;
|
||||||
|
dev)
|
||||||
|
sync_args=(
|
||||||
|
--locked
|
||||||
|
--no-default-groups
|
||||||
|
--group dev
|
||||||
|
--extra grpc
|
||||||
|
--extra http
|
||||||
|
--extra video
|
||||||
|
--extra image
|
||||||
|
--extra yolo-cpu
|
||||||
|
)
|
||||||
|
needs_cmvr_bindings=true
|
||||||
|
;;
|
||||||
|
*)
|
||||||
|
echo "error: unsupported profile '${profile}'" >&2
|
||||||
|
echo "expected one of: core, detection-cpu, dev" >&2
|
||||||
|
exit 2
|
||||||
|
;;
|
||||||
|
esac
|
||||||
|
|
||||||
|
if ! command -v uv >/dev/null 2>&1; then
|
||||||
|
echo "error: uv is not installed or not available on PATH" >&2
|
||||||
|
echo "see https://docs.astral.sh/uv/getting-started/installation/" >&2
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
cd "${PROJECT_ROOT}"
|
||||||
|
echo "==> project: ${PROJECT_ROOT}"
|
||||||
|
echo "==> profile: ${profile}"
|
||||||
|
|
||||||
|
if [[ "${needs_cmvr_bindings}" == true && "${skip_codegen}" == false ]]; then
|
||||||
|
if [[ ! -d "${cmvr_es_root}/protos/cmvr" ]]; then
|
||||||
|
echo "error: cmvr-es protos were not found under: ${cmvr_es_root}" >&2
|
||||||
|
echo "pass --cmvr-es-root PATH or use --skip-codegen with existing bindings" >&2
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo "==> installing the locked protobuf codegen environment"
|
||||||
|
uv sync --locked --only-group codegen
|
||||||
|
echo "==> generating cmvr-es Python bindings from ${cmvr_es_root}"
|
||||||
|
.venv/bin/python scripts/generate_cmvr_stubs.py \
|
||||||
|
--cmvr-es-root "${cmvr_es_root}" \
|
||||||
|
--portable
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo "==> installing the locked ${profile} environment"
|
||||||
|
uv sync "${sync_args[@]}"
|
||||||
|
|
||||||
|
if [[ "${skip_check}" == true ]]; then
|
||||||
|
echo "==> installation complete (checks skipped)"
|
||||||
|
exit 0
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo "==> validating the smoke pipeline"
|
||||||
|
.venv/bin/cmvr-edge-ai validate --config configs/smoke.yaml
|
||||||
|
|
||||||
|
if [[ "${needs_cmvr_bindings}" == true ]]; then
|
||||||
|
echo "==> checking detection runtime imports"
|
||||||
|
.venv/bin/python -c \
|
||||||
|
"import av, grpc, httpx, PIL, torch, ultralytics; import cmvr.api.camera_service_pb2_grpc; print(f'torch={torch.__version__} cuda={torch.cuda.is_available()} ultralytics={ultralytics.__version__} pillow={PIL.__version__}')"
|
||||||
|
echo "==> validating the PPE detection pipeline"
|
||||||
|
.venv/bin/cmvr-edge-ai validate \
|
||||||
|
--config detect_server/pipeline.yaml \
|
||||||
|
--pipeline detection
|
||||||
|
.venv/bin/cmvr-edge-ai models
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [[ "${profile}" == dev ]]; then
|
||||||
|
echo "==> running tests"
|
||||||
|
.venv/bin/pytest
|
||||||
|
fi
|
||||||
|
|
||||||
|
echo "==> bootstrap complete"
|
||||||
|
echo "run commands with: uv run --no-sync cmvr-edge-ai ..."
|
||||||
117
scripts/generate_cmvr_stubs.py
Normal file
117
scripts/generate_cmvr_stubs.py
Normal file
@ -0,0 +1,117 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""Generate Python protobuf/gRPC bindings from the cmvr-es source tree."""
|
||||||
|
|
||||||
|
from __future__ import annotations
|
||||||
|
|
||||||
|
import argparse
|
||||||
|
import platform
|
||||||
|
import subprocess
|
||||||
|
import sys
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
|
||||||
|
DEFAULT_CMVR_ES_ROOT = Path("/home/xtkuang/Projects/cmvr/cmvr-es")
|
||||||
|
|
||||||
|
|
||||||
|
def parse_args() -> argparse.Namespace:
|
||||||
|
parser = argparse.ArgumentParser(description=__doc__)
|
||||||
|
parser.add_argument(
|
||||||
|
"--cmvr-es-root",
|
||||||
|
type=Path,
|
||||||
|
default=DEFAULT_CMVR_ES_ROOT,
|
||||||
|
help="cmvr-es checkout containing protos/ and output/bin/",
|
||||||
|
)
|
||||||
|
parser.add_argument(
|
||||||
|
"--output",
|
||||||
|
type=Path,
|
||||||
|
default=Path("src"),
|
||||||
|
help="output root; generated imports require a top-level cmvr package",
|
||||||
|
)
|
||||||
|
parser.add_argument(
|
||||||
|
"--portable",
|
||||||
|
action="store_true",
|
||||||
|
help="use python -m grpc_tools.protoc instead of cmvr-es bundled tools",
|
||||||
|
)
|
||||||
|
return parser.parse_args()
|
||||||
|
|
||||||
|
|
||||||
|
def build_command(args: argparse.Namespace, proto_files: list[Path]) -> list[str]:
|
||||||
|
proto_root = args.cmvr_es_root.resolve() / "protos"
|
||||||
|
output = args.output.resolve()
|
||||||
|
relative_files = [str(path.relative_to(proto_root)) for path in proto_files]
|
||||||
|
|
||||||
|
if args.portable:
|
||||||
|
try:
|
||||||
|
import grpc_tools
|
||||||
|
except ImportError as exc:
|
||||||
|
raise RuntimeError(
|
||||||
|
"portable generation requires grpcio-tools; install the dev extra"
|
||||||
|
) from exc
|
||||||
|
well_known = Path(grpc_tools.__file__).resolve().parent / "_proto"
|
||||||
|
return [
|
||||||
|
sys.executable,
|
||||||
|
"-m",
|
||||||
|
"grpc_tools.protoc",
|
||||||
|
f"-I{proto_root}",
|
||||||
|
f"-I{well_known}",
|
||||||
|
f"--python_out={output}",
|
||||||
|
f"--pyi_out={output}",
|
||||||
|
f"--grpc_python_out={output}",
|
||||||
|
*relative_files,
|
||||||
|
]
|
||||||
|
|
||||||
|
protoc = args.cmvr_es_root.resolve() / "output/bin/protoc"
|
||||||
|
grpc_plugin = args.cmvr_es_root.resolve() / "output/bin/grpc_python_plugin"
|
||||||
|
if not protoc.is_file() or not grpc_plugin.is_file():
|
||||||
|
raise FileNotFoundError(
|
||||||
|
"cmvr-es protobuf tools are missing; build cmvr-es first or pass --portable"
|
||||||
|
)
|
||||||
|
well_known = _bundled_well_known_proto_root(args.cmvr_es_root.resolve())
|
||||||
|
return [
|
||||||
|
str(protoc),
|
||||||
|
f"-I{proto_root}",
|
||||||
|
f"-I{well_known}",
|
||||||
|
f"--python_out={output}",
|
||||||
|
f"--pyi_out={output}",
|
||||||
|
f"--grpc_python_out={output}",
|
||||||
|
f"--plugin=protoc-gen-grpc_python={grpc_plugin}",
|
||||||
|
*relative_files,
|
||||||
|
]
|
||||||
|
|
||||||
|
|
||||||
|
def _bundled_well_known_proto_root(cmvr_es_root: Path) -> Path:
|
||||||
|
architecture = (
|
||||||
|
"arm" if platform.machine().lower() in {"aarch64", "arm64"} else "x86"
|
||||||
|
)
|
||||||
|
candidates = (
|
||||||
|
cmvr_es_root / "dependency" / architecture / "third_party/grpc/v1.76.0/include",
|
||||||
|
cmvr_es_root / "dependency/x86/third_party/grpc/v1.76.0/include",
|
||||||
|
cmvr_es_root / "dependency/arm/third_party/grpc/v1.76.0/include",
|
||||||
|
)
|
||||||
|
for candidate in candidates:
|
||||||
|
if (candidate / "google/protobuf/timestamp.proto").is_file():
|
||||||
|
return candidate
|
||||||
|
raise FileNotFoundError(
|
||||||
|
"google/protobuf/timestamp.proto was not found in the cmvr-es toolchain"
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
|
def main() -> int:
|
||||||
|
args = parse_args()
|
||||||
|
proto_root = args.cmvr_es_root.resolve() / "protos"
|
||||||
|
if not proto_root.is_dir():
|
||||||
|
raise FileNotFoundError(f"proto root does not exist: {proto_root}")
|
||||||
|
|
||||||
|
proto_files = sorted((proto_root / "cmvr").rglob("*.proto"))
|
||||||
|
if not proto_files:
|
||||||
|
raise FileNotFoundError(f"no cmvr proto files found under {proto_root}")
|
||||||
|
|
||||||
|
args.output.mkdir(parents=True, exist_ok=True)
|
||||||
|
command = build_command(args, proto_files)
|
||||||
|
subprocess.run(command, cwd=proto_root, check=True)
|
||||||
|
print(f"generated {len(proto_files)} proto files into {args.output.resolve()}")
|
||||||
|
return 0
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
raise SystemExit(main())
|
||||||
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src/cmvr/api/__pycache__/agv_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/arm_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/arm_command_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/arm_command_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/arm_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/arm_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/arm_service_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/arm_service_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/arm_service_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/biohead_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/biohead_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/biohead_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/biohead_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/camera_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/camera_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/camera_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/camera_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/camera_command_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/camera_command_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/camera_command_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/camera_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/camera_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/camera_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/camera_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/camera_service_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/camera_service_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/camera_service_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/common_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/common_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/common_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/common_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/common_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/common_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/dexhand_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/dexhand_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/dexhand_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/dexhand_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/dexhand_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/hlc_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/hlc_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/hlc_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/hlc_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/hlc_command_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/hlc_command_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/hlc_command_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/hlc_command_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/hlc_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/hlc_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/hlc_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/hlc_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/hlc_service_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/hlc_service_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/hlc_service_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/hlc_service_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/microphone_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/microphone_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/microphone_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/microphone_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/microphone_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/microphone_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/microphone_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/microphone_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/speaker_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/speaker_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/speaker_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/speaker_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/speaker_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/speaker_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/speaker_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/speaker_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/system_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/system_command_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/system_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/system_command_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/system_command_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/system_command_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/system_command_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/system_command_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/system_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/system_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/system_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/system_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/system_service_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/system_service_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/system_service_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/system_service_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/test_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/test_service_pb2.cpython-310.pyc
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src/cmvr/api/__pycache__/test_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/test_service_pb2.cpython-312.pyc
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src/cmvr/api/__pycache__/test_service_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/test_service_pb2_grpc.cpython-310.pyc
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src/cmvr/api/__pycache__/test_service_pb2_grpc.cpython-312.pyc
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src/cmvr/api/__pycache__/test_service_pb2_grpc.cpython-312.pyc
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102
src/cmvr/api/agv_command_pb2.py
Normal file
102
src/cmvr/api/agv_command_pb2.py
Normal file
@ -0,0 +1,102 @@
|
|||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
# Generated by the protocol buffer compiler. DO NOT EDIT!
|
||||||
|
# NO CHECKED-IN PROTOBUF GENCODE
|
||||||
|
# source: cmvr/api/agv_command.proto
|
||||||
|
# Protobuf Python Version: 6.33.5
|
||||||
|
"""Generated protocol buffer code."""
|
||||||
|
from google.protobuf import descriptor as _descriptor
|
||||||
|
from google.protobuf import descriptor_pool as _descriptor_pool
|
||||||
|
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,
|
||||||
|
33,
|
||||||
|
5,
|
||||||
|
'',
|
||||||
|
'cmvr/api/agv_command.proto'
|
||||||
|
)
|
||||||
|
# @@protoc_insertion_point(imports)
|
||||||
|
|
||||||
|
_sym_db = _symbol_database.Default()
|
||||||
|
|
||||||
|
|
||||||
|
from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
|
||||||
|
from cmvr.msgs import agv_pb2 as cmvr_dot_msgs_dot_agv__pb2
|
||||||
|
|
||||||
|
|
||||||
|
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/agv_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\x1a\x13\x63mvr/msgs/agv.proto\"\xbd\x01\n\x16\x41gvRuntimeStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1ag\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\x1a.cmvr.msgs.AgvRuntimeState\"\xc6\x01\n\x1a\x41gvNavigationStatusCommand\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.\n\x06status\x18\x02 \x01(\x0b\x32\x1e.cmvr.msgs.AgvNavigationStatus\"\x9c\x02\n\x18\x41gvNavigateToPoseCommand\x1a\xc1\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\"\n\x04pose\x18\x02 \x01(\x0b\x32\x14.cmvr.msgs.AgvPose2d\x12,\n\x07options\x18\x03 \x01(\x0b\x32\x1b.cmvr.msgs.AgvMotionOptions\x12\x33\n\x0e\x61\x64\x61pter_params\x18\x04 \x01(\x0b\x32\x1b.cmvr.msgs.AgvAdapterParams\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8f\x02\n\x1b\x41gvNavigateToStationCommand\x1a\xb1\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\nstation_id\x18\x02 \x01(\t\x12,\n\x07options\x18\x03 \x01(\x0b\x32\x1b.cmvr.msgs.AgvMotionOptions\x12\x33\n\x0e\x61\x64\x61pter_params\x18\x04 \x01(\x0b\x32\x1b.cmvr.msgs.AgvAdapterParams\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xb9\x01\n\x14\x41gvFollowPathCommand\x1a\x63\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\'\n\x04path\x18\x02 \x03(\x0b\x32\x19.cmvr.msgs.AgvPathSegment\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\x15\x41gvSetVelocityCommand\x1a\x64\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12(\n\x08velocity\x18\x02 \x01(\x0b\x32\x16.cmvr.msgs.AgvVelocity\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x9c\x01\n\x12\x41gvListMapsCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1aJ\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x0c\n\x04maps\x18\x02 \x03(\t\"\xbb\x01\n\x16\x41gvListStationsCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x65\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\'\n\x08stations\x18\x02 \x03(\x0b\x32\x15.cmvr.msgs.AgvStation\"\xbd\x01\n\rAgvMapCommand\x1a]\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x10\n\x08map_name\x18\x02 \x01(\t\x12\x0f\n\x07\x63ontent\x18\x03 \x01(\t\x1aM\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x0f\n\x07\x63ontent\x18\x02 \x01(\t\"\xfb\x01\n\x16\x41gvStartMappingCommand\x1a\x8e\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12-\n\tdimension\x18\x02 \x01(\x0e\x32\x1a.cmvr.msgs.AgvMapDimension\x12\x10\n\x08map_name\x18\x03 \x01(\t\x12\x11\n\treal_time\x18\x04 \x01(\x08\x1aP\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x12\n\nsession_id\x18\x02 \x01(\t\"\xd7\x02\n\x13\x41gvMapStreamCommand\x1a\xd1\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12-\n\tdimension\x18\x02 \x01(\x0e\x32\x1a.cmvr.msgs.AgvMapDimension\x12\x10\n\x08map_name\x18\x03 \x01(\t\x12\x14\n\x0cresume_token\x18\x04 \x01(\t\x12\x10\n\x08snapshot\x18\x05 \x01(\x08\x12\x13\n\x0bincremental\x18\x06 \x01(\x08\x12\x17\n\x0fmax_chunk_bytes\x18\x07 \x01(\x05\x1al\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12.\n\x06update\x18\x02 \x01(\x0b\x32\x1e.cmvr.msgs.AgvUnifiedMapUpdateb\x06proto3')
|
||||||
|
|
||||||
|
_globals = globals()
|
||||||
|
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
|
||||||
|
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.agv_command_pb2', _globals)
|
||||||
|
if not _descriptor._USE_C_DESCRIPTORS:
|
||||||
|
DESCRIPTOR._loaded_options = None
|
||||||
|
_globals['_AGVRUNTIMESTATECOMMAND']._serialized_start=85
|
||||||
|
_globals['_AGVRUNTIMESTATECOMMAND']._serialized_end=274
|
||||||
|
_globals['_AGVRUNTIMESTATECOMMAND_REQUEST']._serialized_start=111
|
||||||
|
_globals['_AGVRUNTIMESTATECOMMAND_REQUEST']._serialized_end=169
|
||||||
|
_globals['_AGVRUNTIMESTATECOMMAND_FEEDBACK']._serialized_start=171
|
||||||
|
_globals['_AGVRUNTIMESTATECOMMAND_FEEDBACK']._serialized_end=274
|
||||||
|
_globals['_AGVNAVIGATIONSTATUSCOMMAND']._serialized_start=277
|
||||||
|
_globals['_AGVNAVIGATIONSTATUSCOMMAND']._serialized_end=475
|
||||||
|
_globals['_AGVNAVIGATIONSTATUSCOMMAND_REQUEST']._serialized_start=111
|
||||||
|
_globals['_AGVNAVIGATIONSTATUSCOMMAND_REQUEST']._serialized_end=169
|
||||||
|
_globals['_AGVNAVIGATIONSTATUSCOMMAND_FEEDBACK']._serialized_start=367
|
||||||
|
_globals['_AGVNAVIGATIONSTATUSCOMMAND_FEEDBACK']._serialized_end=475
|
||||||
|
_globals['_AGVNAVIGATETOPOSECOMMAND']._serialized_start=478
|
||||||
|
_globals['_AGVNAVIGATETOPOSECOMMAND']._serialized_end=762
|
||||||
|
_globals['_AGVNAVIGATETOPOSECOMMAND_REQUEST']._serialized_start=507
|
||||||
|
_globals['_AGVNAVIGATETOPOSECOMMAND_REQUEST']._serialized_end=700
|
||||||
|
_globals['_AGVNAVIGATETOPOSECOMMAND_FEEDBACK']._serialized_start=171
|
||||||
|
_globals['_AGVNAVIGATETOPOSECOMMAND_FEEDBACK']._serialized_end=231
|
||||||
|
_globals['_AGVNAVIGATETOSTATIONCOMMAND']._serialized_start=765
|
||||||
|
_globals['_AGVNAVIGATETOSTATIONCOMMAND']._serialized_end=1036
|
||||||
|
_globals['_AGVNAVIGATETOSTATIONCOMMAND_REQUEST']._serialized_start=797
|
||||||
|
_globals['_AGVNAVIGATETOSTATIONCOMMAND_REQUEST']._serialized_end=974
|
||||||
|
_globals['_AGVNAVIGATETOSTATIONCOMMAND_FEEDBACK']._serialized_start=171
|
||||||
|
_globals['_AGVNAVIGATETOSTATIONCOMMAND_FEEDBACK']._serialized_end=231
|
||||||
|
_globals['_AGVFOLLOWPATHCOMMAND']._serialized_start=1039
|
||||||
|
_globals['_AGVFOLLOWPATHCOMMAND']._serialized_end=1224
|
||||||
|
_globals['_AGVFOLLOWPATHCOMMAND_REQUEST']._serialized_start=1063
|
||||||
|
_globals['_AGVFOLLOWPATHCOMMAND_REQUEST']._serialized_end=1162
|
||||||
|
_globals['_AGVFOLLOWPATHCOMMAND_FEEDBACK']._serialized_start=171
|
||||||
|
_globals['_AGVFOLLOWPATHCOMMAND_FEEDBACK']._serialized_end=231
|
||||||
|
_globals['_AGVSETVELOCITYCOMMAND']._serialized_start=1227
|
||||||
|
_globals['_AGVSETVELOCITYCOMMAND']._serialized_end=1414
|
||||||
|
_globals['_AGVSETVELOCITYCOMMAND_REQUEST']._serialized_start=1252
|
||||||
|
_globals['_AGVSETVELOCITYCOMMAND_REQUEST']._serialized_end=1352
|
||||||
|
_globals['_AGVSETVELOCITYCOMMAND_FEEDBACK']._serialized_start=171
|
||||||
|
_globals['_AGVSETVELOCITYCOMMAND_FEEDBACK']._serialized_end=231
|
||||||
|
_globals['_AGVLISTMAPSCOMMAND']._serialized_start=1417
|
||||||
|
_globals['_AGVLISTMAPSCOMMAND']._serialized_end=1573
|
||||||
|
_globals['_AGVLISTMAPSCOMMAND_REQUEST']._serialized_start=111
|
||||||
|
_globals['_AGVLISTMAPSCOMMAND_REQUEST']._serialized_end=169
|
||||||
|
_globals['_AGVLISTMAPSCOMMAND_FEEDBACK']._serialized_start=1499
|
||||||
|
_globals['_AGVLISTMAPSCOMMAND_FEEDBACK']._serialized_end=1573
|
||||||
|
_globals['_AGVLISTSTATIONSCOMMAND']._serialized_start=1576
|
||||||
|
_globals['_AGVLISTSTATIONSCOMMAND']._serialized_end=1763
|
||||||
|
_globals['_AGVLISTSTATIONSCOMMAND_REQUEST']._serialized_start=111
|
||||||
|
_globals['_AGVLISTSTATIONSCOMMAND_REQUEST']._serialized_end=169
|
||||||
|
_globals['_AGVLISTSTATIONSCOMMAND_FEEDBACK']._serialized_start=1662
|
||||||
|
_globals['_AGVLISTSTATIONSCOMMAND_FEEDBACK']._serialized_end=1763
|
||||||
|
_globals['_AGVMAPCOMMAND']._serialized_start=1766
|
||||||
|
_globals['_AGVMAPCOMMAND']._serialized_end=1955
|
||||||
|
_globals['_AGVMAPCOMMAND_REQUEST']._serialized_start=1783
|
||||||
|
_globals['_AGVMAPCOMMAND_REQUEST']._serialized_end=1876
|
||||||
|
_globals['_AGVMAPCOMMAND_FEEDBACK']._serialized_start=1878
|
||||||
|
_globals['_AGVMAPCOMMAND_FEEDBACK']._serialized_end=1955
|
||||||
|
_globals['_AGVSTARTMAPPINGCOMMAND']._serialized_start=1958
|
||||||
|
_globals['_AGVSTARTMAPPINGCOMMAND']._serialized_end=2209
|
||||||
|
_globals['_AGVSTARTMAPPINGCOMMAND_REQUEST']._serialized_start=1985
|
||||||
|
_globals['_AGVSTARTMAPPINGCOMMAND_REQUEST']._serialized_end=2127
|
||||||
|
_globals['_AGVSTARTMAPPINGCOMMAND_FEEDBACK']._serialized_start=2129
|
||||||
|
_globals['_AGVSTARTMAPPINGCOMMAND_FEEDBACK']._serialized_end=2209
|
||||||
|
_globals['_AGVMAPSTREAMCOMMAND']._serialized_start=2212
|
||||||
|
_globals['_AGVMAPSTREAMCOMMAND']._serialized_end=2555
|
||||||
|
_globals['_AGVMAPSTREAMCOMMAND_REQUEST']._serialized_start=2236
|
||||||
|
_globals['_AGVMAPSTREAMCOMMAND_REQUEST']._serialized_end=2445
|
||||||
|
_globals['_AGVMAPSTREAMCOMMAND_FEEDBACK']._serialized_start=2447
|
||||||
|
_globals['_AGVMAPSTREAMCOMMAND_FEEDBACK']._serialized_end=2555
|
||||||
|
# @@protoc_insertion_point(module_scope)
|
||||||
215
src/cmvr/api/agv_command_pb2.pyi
Normal file
215
src/cmvr/api/agv_command_pb2.pyi
Normal file
@ -0,0 +1,215 @@
|
|||||||
|
from cmvr.api import common_pb2 as _common_pb2
|
||||||
|
from cmvr.msgs import agv_pb2 as _agv_pb2
|
||||||
|
from google.protobuf.internal import containers as _containers
|
||||||
|
from google.protobuf import descriptor as _descriptor
|
||||||
|
from google.protobuf import message as _message
|
||||||
|
from collections.abc import Iterable as _Iterable, Mapping as _Mapping
|
||||||
|
from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
|
||||||
|
|
||||||
|
DESCRIPTOR: _descriptor.FileDescriptor
|
||||||
|
|
||||||
|
class AgvRuntimeStateCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header", "state")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
STATE_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
state: _agv_pb2.AgvRuntimeState
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., state: _Optional[_Union[_agv_pb2.AgvRuntimeState, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvNavigationStatusCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header", "status")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
STATUS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
status: _agv_pb2.AgvNavigationStatus
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., status: _Optional[_Union[_agv_pb2.AgvNavigationStatus, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvNavigateToPoseCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "pose", "options", "adapter_params")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
POSE_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
OPTIONS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
ADAPTER_PARAMS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
pose: _agv_pb2.AgvPose2d
|
||||||
|
options: _agv_pb2.AgvMotionOptions
|
||||||
|
adapter_params: _agv_pb2.AgvAdapterParams
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., pose: _Optional[_Union[_agv_pb2.AgvPose2d, _Mapping]] = ..., options: _Optional[_Union[_agv_pb2.AgvMotionOptions, _Mapping]] = ..., adapter_params: _Optional[_Union[_agv_pb2.AgvAdapterParams, _Mapping]] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvNavigateToStationCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "station_id", "options", "adapter_params")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
STATION_ID_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
OPTIONS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
ADAPTER_PARAMS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
station_id: str
|
||||||
|
options: _agv_pb2.AgvMotionOptions
|
||||||
|
adapter_params: _agv_pb2.AgvAdapterParams
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., station_id: _Optional[str] = ..., options: _Optional[_Union[_agv_pb2.AgvMotionOptions, _Mapping]] = ..., adapter_params: _Optional[_Union[_agv_pb2.AgvAdapterParams, _Mapping]] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvFollowPathCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "path")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
PATH_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
path: _containers.RepeatedCompositeFieldContainer[_agv_pb2.AgvPathSegment]
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., path: _Optional[_Iterable[_Union[_agv_pb2.AgvPathSegment, _Mapping]]] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvSetVelocityCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "velocity")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
VELOCITY_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
velocity: _agv_pb2.AgvVelocity
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., velocity: _Optional[_Union[_agv_pb2.AgvVelocity, _Mapping]] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvListMapsCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header", "maps")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
MAPS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
maps: _containers.RepeatedScalarFieldContainer[str]
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., maps: _Optional[_Iterable[str]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvListStationsCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header", "stations")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
STATIONS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
stations: _containers.RepeatedCompositeFieldContainer[_agv_pb2.AgvStation]
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., stations: _Optional[_Iterable[_Union[_agv_pb2.AgvStation, _Mapping]]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvMapCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "map_name", "content")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
MAP_NAME_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
CONTENT_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
map_name: str
|
||||||
|
content: str
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., map_name: _Optional[str] = ..., content: _Optional[str] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header", "content")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
CONTENT_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
content: str
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., content: _Optional[str] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvStartMappingCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "dimension", "map_name", "real_time")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
DIMENSION_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
MAP_NAME_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
REAL_TIME_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
dimension: _agv_pb2.AgvMapDimension
|
||||||
|
map_name: str
|
||||||
|
real_time: bool
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., dimension: _Optional[_Union[_agv_pb2.AgvMapDimension, str]] = ..., map_name: _Optional[str] = ..., real_time: _Optional[bool] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header", "session_id")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
SESSION_ID_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
session_id: str
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., session_id: _Optional[str] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class AgvMapStreamCommand(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "dimension", "map_name", "resume_token", "snapshot", "incremental", "max_chunk_bytes")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
DIMENSION_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
MAP_NAME_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
RESUME_TOKEN_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
SNAPSHOT_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
INCREMENTAL_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
MAX_CHUNK_BYTES_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
dimension: _agv_pb2.AgvMapDimension
|
||||||
|
map_name: str
|
||||||
|
resume_token: str
|
||||||
|
snapshot: bool
|
||||||
|
incremental: bool
|
||||||
|
max_chunk_bytes: int
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., dimension: _Optional[_Union[_agv_pb2.AgvMapDimension, str]] = ..., map_name: _Optional[str] = ..., resume_token: _Optional[str] = ..., snapshot: _Optional[bool] = ..., incremental: _Optional[bool] = ..., max_chunk_bytes: _Optional[int] = ...) -> None: ...
|
||||||
|
class Feedback(_message.Message):
|
||||||
|
__slots__ = ("header", "update")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
UPDATE_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
update: _agv_pb2.AgvUnifiedMapUpdate
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., update: _Optional[_Union[_agv_pb2.AgvUnifiedMapUpdate, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
24
src/cmvr/api/agv_command_pb2_grpc.py
Normal file
24
src/cmvr/api/agv_command_pb2_grpc.py
Normal file
@ -0,0 +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 = '1.81.1'
|
||||||
|
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/agv_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}.'
|
||||||
|
)
|
||||||
38
src/cmvr/api/agv_service_pb2.py
Normal file
38
src/cmvr/api/agv_service_pb2.py
Normal file
@ -0,0 +1,38 @@
|
|||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
# Generated by the protocol buffer compiler. DO NOT EDIT!
|
||||||
|
# NO CHECKED-IN PROTOBUF GENCODE
|
||||||
|
# source: cmvr/api/agv_service.proto
|
||||||
|
# Protobuf Python Version: 6.33.5
|
||||||
|
"""Generated protocol buffer code."""
|
||||||
|
from google.protobuf import descriptor as _descriptor
|
||||||
|
from google.protobuf import descriptor_pool as _descriptor_pool
|
||||||
|
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,
|
||||||
|
33,
|
||||||
|
5,
|
||||||
|
'',
|
||||||
|
'cmvr/api/agv_service.proto'
|
||||||
|
)
|
||||||
|
# @@protoc_insertion_point(imports)
|
||||||
|
|
||||||
|
_sym_db = _symbol_database.Default()
|
||||||
|
|
||||||
|
|
||||||
|
from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
|
||||||
|
from cmvr.api import agv_command_pb2 as cmvr_dot_api_dot_agv__command__pb2
|
||||||
|
|
||||||
|
|
||||||
|
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/agv_service.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\x1a\x1a\x63mvr/api/agv_command.proto2\xd0\x0e\n\nAgvService\x12\x66\n\x0fgetRuntimeState\x12(.cmvr.api.AgvRuntimeStateCommand.Request\x1a).cmvr.api.AgvRuntimeStateCommand.Feedback\x12r\n\x13getNavigationStatus\x12,.cmvr.api.AgvNavigationStatusCommand.Request\x1a-.cmvr.api.AgvNavigationStatusCommand.Feedback\x12R\n\remergencyStop\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12O\n\nclearFault\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12i\n\x0enavigateToPose\x12*.cmvr.api.AgvNavigateToPoseCommand.Request\x1a+.cmvr.api.AgvNavigateToPoseCommand.Feedback\x12r\n\x11navigateToStation\x12-.cmvr.api.AgvNavigateToStationCommand.Request\x1a..cmvr.api.AgvNavigateToStationCommand.Feedback\x12]\n\nfollowPath\x12&.cmvr.api.AgvFollowPathCommand.Request\x1a\'.cmvr.api.AgvFollowPathCommand.Feedback\x12T\n\x0fpauseNavigation\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12U\n\x10resumeNavigation\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12U\n\x10\x63\x61ncelNavigation\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12`\n\x0bsetVelocity\x12\'.cmvr.api.AgvSetVelocityCommand.Request\x1a(.cmvr.api.AgvSetVelocityCommand.Feedback\x12X\n\x13stopVelocityControl\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12W\n\x08listMaps\x12$.cmvr.api.AgvListMapsCommand.Request\x1a%.cmvr.api.AgvListMapsCommand.Feedback\x12\x63\n\x0clistStations\x12(.cmvr.api.AgvListStationsCommand.Request\x1a).cmvr.api.AgvListStationsCommand.Feedback\x12N\n\tswitchMap\x12\x1f.cmvr.api.AgvMapCommand.Request\x1a .cmvr.api.AgvMapCommand.Feedback\x12N\n\tuploadMap\x12\x1f.cmvr.api.AgvMapCommand.Request\x1a .cmvr.api.AgvMapCommand.Feedback\x12P\n\x0b\x64ownloadMap\x12\x1f.cmvr.api.AgvMapCommand.Request\x1a .cmvr.api.AgvMapCommand.Feedback\x12\x63\n\x0cstartMapping\x12(.cmvr.api.AgvStartMappingCommand.Request\x1a).cmvr.api.AgvStartMappingCommand.Feedback\x12\\\n\tstreamMap\x12%.cmvr.api.AgvMapStreamCommand.Request\x1a&.cmvr.api.AgvMapStreamCommand.Feedback0\x01\x12P\n\x0bstopMapping\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedbackb\x06proto3')
|
||||||
|
|
||||||
|
_globals = globals()
|
||||||
|
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
|
||||||
|
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.agv_service_pb2', _globals)
|
||||||
|
if not _descriptor._USE_C_DESCRIPTORS:
|
||||||
|
DESCRIPTOR._loaded_options = None
|
||||||
|
_globals['_AGVSERVICE']._serialized_start=92
|
||||||
|
_globals['_AGVSERVICE']._serialized_end=1964
|
||||||
|
# @@protoc_insertion_point(module_scope)
|
||||||
6
src/cmvr/api/agv_service_pb2.pyi
Normal file
6
src/cmvr/api/agv_service_pb2.pyi
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
from cmvr.api import common_pb2 as _common_pb2
|
||||||
|
from cmvr.api import agv_command_pb2 as _agv_command_pb2
|
||||||
|
from google.protobuf import descriptor as _descriptor
|
||||||
|
from typing import ClassVar as _ClassVar
|
||||||
|
|
||||||
|
DESCRIPTOR: _descriptor.FileDescriptor
|
||||||
943
src/cmvr/api/agv_service_pb2_grpc.py
Normal file
943
src/cmvr/api/agv_service_pb2_grpc.py
Normal file
@ -0,0 +1,943 @@
|
|||||||
|
# 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 agv_command_pb2 as cmvr_dot_api_dot_agv__command__pb2
|
||||||
|
from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
|
||||||
|
|
||||||
|
GRPC_GENERATED_VERSION = '1.81.1'
|
||||||
|
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/agv_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 AgvServiceStub:
|
||||||
|
"""AGV 通用服务。该服务只暴露控制器无关的能力，
|
||||||
|
厂商协议、地图文件格式和控制器特有参数由具体 AGV 适配器内部处理。
|
||||||
|
"""
|
||||||
|
|
||||||
|
def __init__(self, channel):
|
||||||
|
"""Constructor.
|
||||||
|
|
||||||
|
Args:
|
||||||
|
channel: A grpc.Channel.
|
||||||
|
"""
|
||||||
|
self.getRuntimeState = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/getRuntimeState',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.getNavigationStatus = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/getNavigationStatus',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.emergencyStop = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/emergencyStop',
|
||||||
|
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.clearFault = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/clearFault',
|
||||||
|
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.navigateToPose = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/navigateToPose',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.navigateToStation = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/navigateToStation',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.followPath = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/followPath',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.pauseNavigation = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/pauseNavigation',
|
||||||
|
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.resumeNavigation = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/resumeNavigation',
|
||||||
|
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.cancelNavigation = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/cancelNavigation',
|
||||||
|
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.setVelocity = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/setVelocity',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.stopVelocityControl = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/stopVelocityControl',
|
||||||
|
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.listMaps = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/listMaps',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.listStations = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/listStations',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.switchMap = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/switchMap',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.uploadMap = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/uploadMap',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.downloadMap = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/downloadMap',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.startMapping = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/startMapping',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.streamMap = channel.unary_stream(
|
||||||
|
'/cmvr.api.AgvService/streamMap',
|
||||||
|
request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Request.SerializeToString,
|
||||||
|
response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Feedback.FromString,
|
||||||
|
_registered_method=True)
|
||||||
|
self.stopMapping = channel.unary_unary(
|
||||||
|
'/cmvr.api.AgvService/stopMapping',
|
||||||
|
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)
|
||||||
|
|
||||||
|
|
||||||
|
class AgvServiceServicer:
|
||||||
|
"""AGV 通用服务。该服务只暴露控制器无关的能力，
|
||||||
|
厂商协议、地图文件格式和控制器特有参数由具体 AGV 适配器内部处理。
|
||||||
|
"""
|
||||||
|
|
||||||
|
def getRuntimeState(self, request, context):
|
||||||
|
"""获取 AGV 当前运行状态快照。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def getNavigationStatus(self, request, context):
|
||||||
|
"""获取当前导航任务状态。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def emergencyStop(self, request, context):
|
||||||
|
"""执行急停或等效安全停止动作。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def clearFault(self, request, context):
|
||||||
|
"""清除可恢复故障或告警。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def navigateToPose(self, request, context):
|
||||||
|
"""导航到指定地图位姿。目标位姿 x/y 单位为米，theta 单位为弧度。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def navigateToStation(self, request, context):
|
||||||
|
"""导航到指定地图站点。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def followPath(self, request, context):
|
||||||
|
"""按显式站点路径执行导航。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def pauseNavigation(self, request, context):
|
||||||
|
"""暂停当前导航任务。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def resumeNavigation(self, request, context):
|
||||||
|
"""恢复已暂停的导航任务。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def cancelNavigation(self, request, context):
|
||||||
|
"""取消当前导航任务。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def setVelocity(self, request, context):
|
||||||
|
"""下发底盘速度控制指令。vx/vy 单位为米/秒，wz 单位为弧度/秒。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def stopVelocityControl(self, request, context):
|
||||||
|
"""停止底盘速度控制。该接口不等价于取消导航任务。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def listMaps(self, request, context):
|
||||||
|
"""查询 AGV 控制器可用地图名称列表。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def listStations(self, request, context):
|
||||||
|
"""查询当前地图中的站点列表。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def switchMap(self, request, context):
|
||||||
|
"""切换当前使用地图。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def uploadMap(self, request, context):
|
||||||
|
"""上传地图内容到 AGV 控制器。地图内容字段由适配器解释。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def downloadMap(self, request, context):
|
||||||
|
"""下载指定地图内容。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def startMapping(self, request, context):
|
||||||
|
"""开始建图/扫图会话。请求只选择 2D、3D 或二者都要，
|
||||||
|
控制器特有地图格式由 AGV 适配器内部转换。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def streamMap(self, request, context):
|
||||||
|
"""以服务端流方式发送统一地图。resume_token 为空时应先发送全量快照；
|
||||||
|
后续是否发送增量由 AGV 适配器能力决定，并通过 update_type 标记。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
def stopMapping(self, request, context):
|
||||||
|
"""停止当前建图/扫图会话。
|
||||||
|
"""
|
||||||
|
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
|
||||||
|
context.set_details('Method not implemented!')
|
||||||
|
raise NotImplementedError('Method not implemented!')
|
||||||
|
|
||||||
|
|
||||||
|
def add_AgvServiceServicer_to_server(servicer, server):
|
||||||
|
rpc_method_handlers = {
|
||||||
|
'getRuntimeState': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.getRuntimeState,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'getNavigationStatus': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.getNavigationStatus,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'emergencyStop': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.emergencyStop,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'clearFault': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.clearFault,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'navigateToPose': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.navigateToPose,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'navigateToStation': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.navigateToStation,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'followPath': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.followPath,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'pauseNavigation': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.pauseNavigation,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'resumeNavigation': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.resumeNavigation,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'cancelNavigation': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.cancelNavigation,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'setVelocity': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.setVelocity,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'stopVelocityControl': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.stopVelocityControl,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'listMaps': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.listMaps,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'listStations': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.listStations,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'switchMap': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.switchMap,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'uploadMap': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.uploadMap,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'downloadMap': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.downloadMap,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'startMapping': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.startMapping,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'streamMap': grpc.unary_stream_rpc_method_handler(
|
||||||
|
servicer.streamMap,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
'stopMapping': grpc.unary_unary_rpc_method_handler(
|
||||||
|
servicer.stopMapping,
|
||||||
|
request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
|
||||||
|
response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
|
||||||
|
),
|
||||||
|
}
|
||||||
|
generic_handler = grpc.method_handlers_generic_handler(
|
||||||
|
'cmvr.api.AgvService', rpc_method_handlers)
|
||||||
|
server.add_generic_rpc_handlers((generic_handler,))
|
||||||
|
server.add_registered_method_handlers('cmvr.api.AgvService', rpc_method_handlers)
|
||||||
|
|
||||||
|
|
||||||
|
# This class is part of an EXPERIMENTAL API.
|
||||||
|
class AgvService:
|
||||||
|
"""AGV 通用服务。该服务只暴露控制器无关的能力，
|
||||||
|
厂商协议、地图文件格式和控制器特有参数由具体 AGV 适配器内部处理。
|
||||||
|
"""
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def getRuntimeState(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.AgvService/getRuntimeState',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def getNavigationStatus(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.AgvService/getNavigationStatus',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def emergencyStop(request,
|
||||||
|
target,
|
||||||
|
options=(),
|
||||||
|
channel_credentials=None,
|
||||||
|
call_credentials=None,
|
||||||
|
insecure=False,
|
||||||
|
compression=None,
|
||||||
|
wait_for_ready=None,
|
||||||
|
timeout=None,
|
||||||
|
metadata=None):
|
||||||
|
return grpc.experimental.unary_unary(
|
||||||
|
request,
|
||||||
|
target,
|
||||||
|
'/cmvr.api.AgvService/emergencyStop',
|
||||||
|
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,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def clearFault(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.AgvService/clearFault',
|
||||||
|
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,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def navigateToPose(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.AgvService/navigateToPose',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def navigateToStation(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.AgvService/navigateToStation',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def followPath(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.AgvService/followPath',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def pauseNavigation(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.AgvService/pauseNavigation',
|
||||||
|
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,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def resumeNavigation(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.AgvService/resumeNavigation',
|
||||||
|
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,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def cancelNavigation(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.AgvService/cancelNavigation',
|
||||||
|
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,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def setVelocity(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.AgvService/setVelocity',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def stopVelocityControl(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.AgvService/stopVelocityControl',
|
||||||
|
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,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def listMaps(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.AgvService/listMaps',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def listStations(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.AgvService/listStations',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def switchMap(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.AgvService/switchMap',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def uploadMap(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.AgvService/uploadMap',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def downloadMap(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.AgvService/downloadMap',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def startMapping(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.AgvService/startMapping',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def streamMap(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_stream(
|
||||||
|
request,
|
||||||
|
target,
|
||||||
|
'/cmvr.api.AgvService/streamMap',
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Request.SerializeToString,
|
||||||
|
cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Feedback.FromString,
|
||||||
|
options,
|
||||||
|
channel_credentials,
|
||||||
|
insecure,
|
||||||
|
call_credentials,
|
||||||
|
compression,
|
||||||
|
wait_for_ready,
|
||||||
|
timeout,
|
||||||
|
metadata,
|
||||||
|
_registered_method=True)
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def stopMapping(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.AgvService/stopMapping',
|
||||||
|
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,
|
||||||
|
_registered_method=True)
|
||||||
109
src/cmvr/api/arm_command_pb2.py
Normal file
109
src/cmvr/api/arm_command_pb2.py
Normal file
File diff suppressed because one or more lines are too long
318
src/cmvr/api/arm_command_pb2.pyi
Normal file
318
src/cmvr/api/arm_command_pb2.pyi
Normal file
@ -0,0 +1,318 @@
|
|||||||
|
from cmvr.api import common_pb2 as _common_pb2
|
||||||
|
from google.protobuf.internal import containers as _containers
|
||||||
|
from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
|
||||||
|
from google.protobuf import descriptor as _descriptor
|
||||||
|
from google.protobuf import message as _message
|
||||||
|
from collections.abc import Iterable as _Iterable, Mapping as _Mapping
|
||||||
|
from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
|
||||||
|
|
||||||
|
DESCRIPTOR: _descriptor.FileDescriptor
|
||||||
|
|
||||||
|
class ArmFrameType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
|
||||||
|
__slots__ = ()
|
||||||
|
ARM_FRAME_BASE: _ClassVar[ArmFrameType]
|
||||||
|
ARM_FRAME_TOOL: _ClassVar[ArmFrameType]
|
||||||
|
ARM_FRAME_WORLD: _ClassVar[ArmFrameType]
|
||||||
|
ARM_FRAME_USER: _ClassVar[ArmFrameType]
|
||||||
|
ARM_FRAME_BASE: ArmFrameType
|
||||||
|
ARM_FRAME_TOOL: ArmFrameType
|
||||||
|
ARM_FRAME_WORLD: ArmFrameType
|
||||||
|
ARM_FRAME_USER: ArmFrameType
|
||||||
|
|
||||||
|
class JointPositionCommand(_message.Message):
|
||||||
|
__slots__ = ("position",)
|
||||||
|
POSITION_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
position: _containers.RepeatedScalarFieldContainer[float]
|
||||||
|
def __init__(self, position: _Optional[_Iterable[float]] = ...) -> None: ...
|
||||||
|
|
||||||
|
class JointVelocityCommand(_message.Message):
|
||||||
|
__slots__ = ("velocity",)
|
||||||
|
VELOCITY_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
velocity: _containers.RepeatedScalarFieldContainer[float]
|
||||||
|
def __init__(self, velocity: _Optional[_Iterable[float]] = ...) -> None: ...
|
||||||
|
|
||||||
|
class MotionOptions(_message.Message):
|
||||||
|
__slots__ = ("velocity", "acceleration", "blend_radius", "jerk", "joint_velocity_limits", "asynchronous")
|
||||||
|
VELOCITY_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
ACCELERATION_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
BLEND_RADIUS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
JERK_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
JOINT_VELOCITY_LIMITS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
ASYNCHRONOUS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
velocity: float
|
||||||
|
acceleration: float
|
||||||
|
blend_radius: float
|
||||||
|
jerk: float
|
||||||
|
joint_velocity_limits: _containers.RepeatedScalarFieldContainer[float]
|
||||||
|
asynchronous: bool
|
||||||
|
def __init__(self, velocity: _Optional[float] = ..., acceleration: _Optional[float] = ..., blend_radius: _Optional[float] = ..., jerk: _Optional[float] = ..., joint_velocity_limits: _Optional[_Iterable[float]] = ..., asynchronous: _Optional[bool] = ...) -> None: ...
|
||||||
|
|
||||||
|
class CartesianPose(_message.Message):
|
||||||
|
__slots__ = ("x", "y", "z", "rx", "ry", "rz")
|
||||||
|
X_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
Y_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
Z_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
RX_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
RY_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
RZ_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
x: float
|
||||||
|
y: float
|
||||||
|
z: float
|
||||||
|
rx: float
|
||||||
|
ry: float
|
||||||
|
rz: float
|
||||||
|
def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ..., rx: _Optional[float] = ..., ry: _Optional[float] = ..., rz: _Optional[float] = ...) -> None: ...
|
||||||
|
|
||||||
|
class CartesianVelocity(_message.Message):
|
||||||
|
__slots__ = ("vx", "vy", "vz", "wx", "wy", "wz")
|
||||||
|
VX_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
VY_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
VZ_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
WX_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
WY_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
WZ_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
vx: float
|
||||||
|
vy: float
|
||||||
|
vz: float
|
||||||
|
wx: float
|
||||||
|
wy: float
|
||||||
|
wz: float
|
||||||
|
def __init__(self, vx: _Optional[float] = ..., vy: _Optional[float] = ..., vz: _Optional[float] = ..., wx: _Optional[float] = ..., wy: _Optional[float] = ..., wz: _Optional[float] = ...) -> None: ...
|
||||||
|
|
||||||
|
class TransformMatrix4x4(_message.Message):
|
||||||
|
__slots__ = ("m00", "m01", "m02", "m03", "m10", "m11", "m12", "m13", "m20", "m21", "m22", "m23", "m30", "m31", "m32", "m33")
|
||||||
|
M00_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M01_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M02_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M03_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M10_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M11_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M12_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M13_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M20_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M21_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M22_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M23_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M30_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M31_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M32_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
M33_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
m00: float
|
||||||
|
m01: float
|
||||||
|
m02: float
|
||||||
|
m03: float
|
||||||
|
m10: float
|
||||||
|
m11: float
|
||||||
|
m12: float
|
||||||
|
m13: float
|
||||||
|
m20: float
|
||||||
|
m21: float
|
||||||
|
m22: float
|
||||||
|
m23: float
|
||||||
|
m30: float
|
||||||
|
m31: float
|
||||||
|
m32: float
|
||||||
|
m33: float
|
||||||
|
def __init__(self, m00: _Optional[float] = ..., m01: _Optional[float] = ..., m02: _Optional[float] = ..., m03: _Optional[float] = ..., m10: _Optional[float] = ..., m11: _Optional[float] = ..., m12: _Optional[float] = ..., m13: _Optional[float] = ..., m20: _Optional[float] = ..., m21: _Optional[float] = ..., m22: _Optional[float] = ..., m23: _Optional[float] = ..., m30: _Optional[float] = ..., m31: _Optional[float] = ..., m32: _Optional[float] = ..., m33: _Optional[float] = ...) -> None: ...
|
||||||
|
|
||||||
|
class MoveJ(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "target", "options")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
TARGET_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
OPTIONS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
target: JointPositionCommand
|
||||||
|
options: MotionOptions
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., target: _Optional[_Union[JointPositionCommand, _Mapping]] = ..., options: _Optional[_Union[MotionOptions, _Mapping]] = ...) -> None: ...
|
||||||
|
class Response(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class MoveL(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "target", "options", "frame")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
TARGET_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
OPTIONS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
FRAME_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
target: CartesianPose
|
||||||
|
options: MotionOptions
|
||||||
|
frame: ArmFrameType
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., target: _Optional[_Union[CartesianPose, _Mapping]] = ..., options: _Optional[_Union[MotionOptions, _Mapping]] = ..., frame: _Optional[_Union[ArmFrameType, str]] = ...) -> None: ...
|
||||||
|
class Response(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class SpeedJ(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "velocity", "acceleration", "duration")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
VELOCITY_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
ACCELERATION_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
DURATION_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
velocity: JointVelocityCommand
|
||||||
|
acceleration: float
|
||||||
|
duration: float
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., velocity: _Optional[_Union[JointVelocityCommand, _Mapping]] = ..., acceleration: _Optional[float] = ..., duration: _Optional[float] = ...) -> None: ...
|
||||||
|
class Response(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class SpeedL(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "velocity", "acceleration", "duration", "frame")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
VELOCITY_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
ACCELERATION_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
DURATION_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
FRAME_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
velocity: CartesianVelocity
|
||||||
|
acceleration: float
|
||||||
|
duration: float
|
||||||
|
frame: ArmFrameType
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., velocity: _Optional[_Union[CartesianVelocity, _Mapping]] = ..., acceleration: _Optional[float] = ..., duration: _Optional[float] = ..., frame: _Optional[_Union[ArmFrameType, str]] = ...) -> None: ...
|
||||||
|
class Response(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class ServoJ(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "target")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
TARGET_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
target: JointPositionCommand
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., target: _Optional[_Union[JointPositionCommand, _Mapping]] = ...) -> None: ...
|
||||||
|
class Response(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class JointState(_message.Message):
|
||||||
|
__slots__ = ("name", "position", "velocity", "effort", "timestamp")
|
||||||
|
NAME_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
POSITION_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
VELOCITY_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
EFFORT_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
name: _containers.RepeatedScalarFieldContainer[str]
|
||||||
|
position: _containers.RepeatedScalarFieldContainer[float]
|
||||||
|
velocity: _containers.RepeatedScalarFieldContainer[float]
|
||||||
|
effort: _containers.RepeatedScalarFieldContainer[float]
|
||||||
|
timestamp: float
|
||||||
|
def __init__(self, name: _Optional[_Iterable[str]] = ..., position: _Optional[_Iterable[float]] = ..., velocity: _Optional[_Iterable[float]] = ..., effort: _Optional[_Iterable[float]] = ..., timestamp: _Optional[float] = ...) -> None: ...
|
||||||
|
|
||||||
|
class JointRequest(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
|
||||||
|
|
||||||
|
class JointResponse(_message.Message):
|
||||||
|
__slots__ = ("header", "state")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
STATE_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
state: JointState
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., state: _Optional[_Union[JointState, _Mapping]] = ...) -> None: ...
|
||||||
|
|
||||||
|
class GetPose(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "base_link", "ee_link")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
BASE_LINK_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
EE_LINK_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
base_link: str
|
||||||
|
ee_link: str
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., base_link: _Optional[str] = ..., ee_link: _Optional[str] = ...) -> None: ...
|
||||||
|
class Response(_message.Message):
|
||||||
|
__slots__ = ("header", "pose")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
POSE_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
pose: CartesianPose
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., pose: _Optional[_Union[CartesianPose, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class CalibrateZeroQ(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "joint_name")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
JOINT_NAME_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
joint_name: str
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., joint_name: _Optional[str] = ...) -> None: ...
|
||||||
|
class Response(_message.Message):
|
||||||
|
__slots__ = ("header",)
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class GetPoseMatrix(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "base_link", "ee_link")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
BASE_LINK_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
EE_LINK_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
base_link: str
|
||||||
|
ee_link: str
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., base_link: _Optional[str] = ..., ee_link: _Optional[str] = ...) -> None: ...
|
||||||
|
class Response(_message.Message):
|
||||||
|
__slots__ = ("header", "matrix")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
MATRIX_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
matrix: TransformMatrix4x4
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., matrix: _Optional[_Union[TransformMatrix4x4, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
|
|
||||||
|
class ComputeForwardKinematics(_message.Message):
|
||||||
|
__slots__ = ()
|
||||||
|
class Request(_message.Message):
|
||||||
|
__slots__ = ("header", "base_link", "ee_link", "joints")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
BASE_LINK_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
EE_LINK_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
JOINTS_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Request
|
||||||
|
base_link: str
|
||||||
|
ee_link: str
|
||||||
|
joints: JointPositionCommand
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., base_link: _Optional[str] = ..., ee_link: _Optional[str] = ..., joints: _Optional[_Union[JointPositionCommand, _Mapping]] = ...) -> None: ...
|
||||||
|
class Response(_message.Message):
|
||||||
|
__slots__ = ("header", "matrix")
|
||||||
|
HEADER_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
MATRIX_FIELD_NUMBER: _ClassVar[int]
|
||||||
|
header: _common_pb2.CommandHeader.Feedback
|
||||||
|
matrix: TransformMatrix4x4
|
||||||
|
def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., matrix: _Optional[_Union[TransformMatrix4x4, _Mapping]] = ...) -> None: ...
|
||||||
|
def __init__(self) -> None: ...
|
||||||
24
src/cmvr/api/arm_command_pb2_grpc.py
Normal file
24
src/cmvr/api/arm_command_pb2_grpc.py
Normal file
@ -0,0 +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 = '1.81.1'
|
||||||
|
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/arm_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}.'
|
||||||
|
)
|
||||||
38
src/cmvr/api/arm_service_pb2.py
Normal file
38
src/cmvr/api/arm_service_pb2.py
Normal file
@ -0,0 +1,38 @@
|
|||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
# Generated by the protocol buffer compiler. DO NOT EDIT!
|
||||||
|
# NO CHECKED-IN PROTOBUF GENCODE
|
||||||
|
# source: cmvr/api/arm_service.proto
|
||||||
|
# Protobuf Python Version: 6.33.5
|
||||||
|
"""Generated protocol buffer code."""
|
||||||
|
from google.protobuf import descriptor as _descriptor
|
||||||
|
from google.protobuf import descriptor_pool as _descriptor_pool
|
||||||
|
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,
|
||||||
|
33,
|
||||||
|
5,
|
||||||
|
'',
|
||||||
|
'cmvr/api/arm_service.proto'
|
||||||
|
)
|
||||||
|
# @@protoc_insertion_point(imports)
|
||||||
|
|
||||||
|
_sym_db = _symbol_database.Default()
|
||||||
|
|
||||||
|
|
||||||
|
from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
|
||||||
|
from cmvr.api import arm_command_pb2 as cmvr_dot_api_dot_arm__command__pb2
|
||||||
|
|
||||||
|
|
||||||
|
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/arm_service.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\x1a\x1a\x63mvr/api/arm_command.proto2\xd5\x07\n\nArmService\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\x06servoJ\x12\x18.cmvr.api.ServoJ.Request\x1a\x19.cmvr.api.ServoJ.Response\x12O\n\nstopMotion\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\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\x12R\n\rgetPoseMatrix\x12\x1f.cmvr.api.GetPoseMatrix.Request\x1a .cmvr.api.GetPoseMatrix.Response\x12s\n\x18\x63omputeForwardKinematics\x12*.cmvr.api.ComputeForwardKinematics.Request\x1a+.cmvr.api.ComputeForwardKinematics.Responseb\x06proto3')
|
||||||
|
|
||||||
|
_globals = globals()
|
||||||
|
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
|
||||||
|
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.arm_service_pb2', _globals)
|
||||||
|
if not _descriptor._USE_C_DESCRIPTORS:
|
||||||
|
DESCRIPTOR._loaded_options = None
|
||||||
|
_globals['_ARMSERVICE']._serialized_start=92
|
||||||
|
_globals['_ARMSERVICE']._serialized_end=1073
|
||||||
|
# @@protoc_insertion_point(module_scope)
|
||||||
6
src/cmvr/api/arm_service_pb2.pyi
Normal file
6
src/cmvr/api/arm_service_pb2.pyi
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
from cmvr.api import common_pb2 as _common_pb2
|
||||||
|
from cmvr.api import arm_command_pb2 as _arm_command_pb2
|
||||||
|
from google.protobuf import descriptor as _descriptor
|
||||||
|
from typing import ClassVar as _ClassVar
|
||||||
|
|
||||||
|
DESCRIPTOR: _descriptor.FileDescriptor
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user