kinematic.proto

syntax = "proto3";

package lebai.kinematic;

import "google/protobuf/empty.proto";
import "lebai.proto";
import "db.proto";
import "posture.proto";

// 关节DH参数
message DhParam {
  double a = 1;
  double alpha = 2;
  double d = 3;
  double theta = 4;
}
message DhParams {
  repeated DhParam params = 1;
}

// 运动因子
message KinFactor {
  // 速度因子(0~100)
  int32 speed_factor = 1 [json_name = "speed_factor"];
}

// 运动数据
message KinData {
  repeated double actual_joint_pose = 1 [json_name = "actual_joint_pose"];
  repeated double actual_joint_speed = 2 [json_name = "actual_joint_speed"];
  repeated double actual_joint_acc = 3 [json_name = "actual_joint_acc"];
  repeated double actual_joint_torque = 4 [json_name = "actual_joint_torque"];
  repeated double target_joint_pose = 11 [json_name = "target_joint_pose"];
  repeated double target_joint_speed = 12 [json_name = "target_joint_speed"];
  repeated double target_joint_acc = 13 [json_name = "target_joint_acc"];
  repeated double target_joint_torque = 14 [json_name = "target_joint_torque"];

  posture.CartesianPose actual_tcp_pose = 21 [json_name = "actual_tcp_pose"];
  posture.CartesianPose target_tcp_pose = 31 [json_name = "target_tcp_pose"];

  posture.CartesianPose actual_flange_pose = 41
      [json_name = "actual_flange_pose"];
}

message SaveTcpRequest {
  string name = 1;
  posture.CartesianPose data = 2;
  string dir = 11;
}

message CalcFrameRequest {
  posture.CartesianPose o = 1;
  posture.CartesianPose x = 2;
  posture.CartesianPose xy = 3;
}
message CalcTcpRequest {
  repeated posture.CartesianPose poses = 1;
}

// 运动学相关服务
service KinematicService {
  // 保存/修改/删除工具中心点
  rpc SaveTcp(SaveTcpRequest) returns (google.protobuf.Empty);
  // 查询工具中心点
  rpc LoadTcp(db.LoadRequest) returns (posture.CartesianPose);
  // 查询工具中心点列表
  rpc LoadTcpList(db.LoadListRequest) returns (db.LoadListResponse);

  // 设置DH参数
  rpc SetDh(DhParams) returns (google.protobuf.Empty);
  // 获取DH参数
  rpc GetDh(google.protobuf.Empty) returns (DhParams);
  // 设置运动因子
  rpc SetKinFactor(KinFactor) returns (google.protobuf.Empty);
  // 获取运动因子
  rpc GetKinFactor(google.protobuf.Empty) returns (KinFactor);
  // 获取运动数据
  rpc GetKinData(google.protobuf.Empty) returns (KinData);
  // 订阅运动数据
  rpc SubKinData(SubscribeRequest) returns (stream KinData);
  // 三点采样计算原点特征
  rpc CalcFrame(CalcFrameRequest) returns (posture.CartesianPose);
  // 三点采样计算工具中心点
  rpc CalcTcp(CalcTcpRequest) returns (posture.CartesianPose);
  // 设置工具中心点
  rpc SetTcp(posture.CartesianPose) returns (google.protobuf.Empty);
  // 获取工具中心点
  rpc GetTcp(google.protobuf.Empty) returns (posture.CartesianPose);
}