cyberdog_app.proto

// Copyright 2015 gRPC authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

syntax = "proto3";

option java_multiple_files = true;
option java_package = "io.grpc.cyberdogapp";
option java_outer_classname = "CyberdogAppProto";
option objc_class_prefix = "RTG";

package cyberdogapp;

service CyberdogApp {
    // app work as client 
    rpc setMode(CheckoutMode_request) returns (stream CheckoutMode_respond) {}
    rpc setPattern(CheckoutPattern_request) returns (stream CheckoutPattern_respond) {}
    rpc setFollowRegion(BodyRegion_Request) returns (stream BodyRegion_Respond) {}
    rpc requestCamera(CameraService_request) returns (stream CameraService_respond) {}
    rpc requestVoice(Voiceprint_Request) returns (stream Voiceprint_Response) {}
    rpc requestFaceManager(FaceManager_Request) returns (stream FaceManager_Response) {}
    rpc sendAppDecision(Decissage) returns (Result) {}
    rpc sendAiToken(TokenPass_Request) returns (stream TokenPass_Response) {}
    rpc setNavPosition(Target_Request) returns (stream Target_Response) {}
    rpc setExtmonOrder(ExtMonOrder_Request) returns (stream ExtMonOrder_Respond){}
    rpc disconnect(Disconnect) returns (stream Result){}
    rpc setBtRemoteCmd(BtRemoteCommand_Request) returns (stream BtRemoteCommand_Respond){}
    rpc setBodyPara(Parameters) returns (Result) {}

    //for motion test
    rpc sendMotionTestRequest(MotionCommand) returns(Result) {}

    //for offset calibration
    rpc getOffsetData(OffsetRequest) returns(stream OffsetCalibationData){}
    rpc setOffsetData(OffsetCalibationData) returns(stream OffsetRequest_result){}

    // app work as server
    rpc subscribeBms(Bms) returns(Result) {}
    rpc subscribeWifiRssi (WifiRssi) returns(Result) {}
    rpc subscribeStatus(StatusStamped) returns(Result) {}
    rpc subscribeTrackingStatus(TrackingStatus) returns(Result) {}
    rpc subscribeBodySelect(BodyInfo) returns(Result) {} //body
    rpc subscribeTracking(BodyInfo) returns(Result) {} //tracking_result
    rpc subscribeMap(OccupancyGrid) returns(Result) {}
    rpc subscribePosition(DecisionStamped) returns(Result) {}
    rpc subscribeVoiceprintResult(VoiceprintResult) returns(Result) {}
    rpc subscribeFaceResult(FaceResult) returns(Result) {}
    rpc heartbeat(Ticks) returns(Result) {}
    rpc subscribeNavStatus(Caution) returns(Result) {}
    rpc subscribeOdomOut(Odometry) returns(Result) {}
    rpc subscribeObstacleDetection(Around) returns(Result) {}
    rpc subscribeDogPose(DogPose) returns(Result) {}
    rpc subscribeGpsScene(Scene) returns(Result) {}
    rpc subscribeRemoteEvent(RemoteEvent) returns(Result) {}
    rpc subscribePath(Path) returns(Result) {}
}

message Path{
    Header header = 1;
    repeated PoseStamped posestamped = 2;
}

message PoseStamped{
    Header header = 1;
    Pose pose = 2;
}

message RemoteEvent{
    fixed32 scan_status = 1;
    fixed32 remote_status = 2;
    string address = 3;
    string scan_device_info = 4;
    string error = 5;
}

message BtRemoteCommand_Request{
    enum COMMAND {
        GET_STATUS = 0;
        SCAN_DEVICE = 1;
        CONNECT_DEVICE = 2;
        DISCONNECT_DEVICE = 3;
        REMOTE_RECONNECT_DEVICE = 4;
    }
    fixed32 command = 1;
    string address = 2;
}

message BtRemoteCommand_Respond{
    bool success = 1;
}

message Disconnect{
    fixed32 reason = 1;
}
message ExtMonOrder_Request{
    MonOrder order = 1;
    fixed32 timeout = 2;
}

message ExtMonOrder_Respond{
    enum ERR_CODE {
         NORMAL          = 0;
         EXE_FAILED      = 1;
         REJECT          = 2;
         CANCELED        = 4;
         BAD_TIMESTAMP   = 8;
    }
    MonOrder order = 1;
    fixed32 err_code = 2;
    bool succeed = 3;
    bool is_feedback = 4;
    fixed32 request_id = 5;
}
message Freameid{
    fixed32 id = 1;
    enum FRAMEID{
        DEFAULT_FRAME = 0;
        BODY_FRAME    = 1;
        ODOM_FRAME    = 2;
        VISION_FRAME  = 3;
        NAVI_FRAME    = 4;
    }
}
message DogPose{
    Freameid frameid = 1;
    Timestamp timestamp = 2;
    double position_x = 3;
    double position_y = 4;
    double position_z = 5;

    double rotation_w = 6;
    double rotation_x = 7;
    double rotation_y = 8;
    double rotation_z = 9;
}
message OffsetRequest_result{
    fixed32 gait = 1;
    fixed32 result = 2; 
    enum Result {
        SUCCESS  = 0;
        FAILED = 1;
    }
}

message OffsetRequest{
    fixed32 gait = 1;
    enum Gait{
        WALK = 0;
        TROT = 1;
        FLY_TROT = 2;
        SLOW_TROT = 3;
    }
}

message OffsetCalibationData{
    fixed32 gait = 1;
    double x_offset = 2;
    double y_offset = 3;
    double yaw_offset = 4;
    fixed32 result = 5;
    enum Result {
        SUCCESS  = 0;
        FAILED = 1;
    }
}

message MotionCommand{
    fixed32 command = 1;
    enum Command{
        DEFAULT = 0;
        TEST_INIT = 1;
        TEST_DEINIT = 2;
        TEST_START = 3;
        TEST_STOP = 4;
        TURN_LEFT = 5;
        TURN_RIGHT = 6;
        GO_AHEAD = 7;
        GO_BACK = 8;
        GO_LEFT = 9;
        GO_RIGHT = 10;
    }
}

message Around{
    Ultrasonic front_distance = 1;
    Ultrasonic back_distance = 2;
    Ultrasonic left_distance = 3;
    Ultrasonic right_distance = 4;
}

message Ultrasonic{
    Range range_info = 1;
}

message Range{
    Header header = 1;
    fixed32 radiation_type = 2;
    float field_of_view = 3;
    float min_range = 4;
    float max_range = 5;
    float range = 6;
    enum Radiation {
        ULTRASOUND = 0;
        INFRARED = 1;
    }
}

message Caution
{
    fixed32 error_type = 1;
    fixed32 robot_mode = 2;
}
message Ticks{
    string ip = 1;
}
message WifiRssi {
    string rssi = 1;
}

message Mode {
    fixed32 control_mode = 1;
    fixed32 mode_type = 2;
}

message Pattern {
    fixed32 gait_pattern = 1;
     enum GAIT {
        GAIT_TRANS     = 0;
        GAIT_PASSIVE   = 1;
        GAIT_KNEEL     = 2;
        GAIT_STAND_R   = 3;
        GAIT_STAND_B   = 4;
        GAIT_AMBLE     = 5;
        GAIT_WALK      = 6;
        GAIT_SLOW_TROT = 7;
        GAIT_TROT      = 8;
        GAIT_FLYTROT   = 9;
        GAIT_BOUND     = 10;
        GAIT_PRONK     = 11;
        GAIT_DEFAULT   = 99;
    }
}

message Result {
    string result = 1;
}

message Decissage {
    Twist twist = 1;
    Pose pose = 2;
    Safety safety = 3;
}

message Safety {
    int32 status = 1;
}

message Parameters {
    double body_height = 1;
    double gait_height = 2;
}

message Twist {
    Vector3 linear = 1;
    Vector3 angular = 2;
}

message Pose {
    Point position = 1;
    Quaternion orientation = 2;
}

message Vector3 {
    double x = 1;
    double y = 2;
    double z = 3;
}

message Point {
    double x = 1;
    double y = 2;
    double z = 3;
}

message Quaternion {
    double x = 1;
    double y = 2;
    double z = 3;
    double w = 4;
}

message Bms {
    sfixed32 batt_volt = 1;
    sfixed32 batt_curr = 2;
    fixed32 batt_soc = 3;
    sfixed32 batt_temp = 4;
    fixed32 batt_st = 5;
    fixed32 key_val = 6;
    fixed32 disable_charge = 7;
    fixed32 power_supply = 8;
    fixed32 buzze = 9;
    fixed32 status = 10;
}

message StatusStamped {
    Header header = 1;
    string child_frame_id = 2;
    RawStatus status = 3;
}
message ErrorFlag {
    sfixed32            exist_error = 1;
    sfixed32            ori_error = 2;
    sfixed32            footpos_error = 3;
    repeated fixed32    motor_error = 4;
}
message RawStatus {
    Mode                                mode = 1;
    Pattern                             pattern = 3;
    TwistWithCovariance   twist = 4;
    PoseWithCovariance    pose = 5;
    Parameters                          para = 6;
    Safety                              safety = 7;
    Scene                               scene = 8;
    ErrorFlag                            error_flag = 9;
    sfixed32                            foot_contact = 10;
    Pattern                             cached_pattern = 11;
    MonOrder                            order = 12;
}

message States {
    fixed32 motion_state = 1;
}

message Header {
    Timestamp stamp = 1;
    string frame_id = 2;
}

message Timestamp {
    //The seconds component, valid over all int32 values.
    sfixed32 sec = 1;

    //The nanoseconds component, valid in the range [0, 10e9).
    sfixed32 nanosec = 2;
}

message TwistWithCovariance {
    Twist twist = 1;
    repeated double covariance = 2;
}

message PoseWithCovariance {
    Pose pose = 1;
    repeated double covariance = 2;
}

message Scene {
    fixed32 type = 1;
    float lat = 2;
    float lon = 3;
    fixed32 if_danger = 4;
    enum TYPE{
        UNSET = 0;
        INDOOR = 1;
        OUTDOOR = 2;
    }
}

message DecisionStamped {
    Header header = 1;
    Source id = 2;
    Decissage  decissage = 3;
}

message Source {
    fixed32 source_id = 1;
}

message ModeStamped {
    Header header = 1;
    Mode mode = 2;
}

message CheckoutMode_request {
    ModeStamped next_mode = 1;
    fixed32 timeout = 2;
    enum Command {
        DEFAULT = 0;
        LOCK = 1;
        CONFIG = 2;
        MANUAL = 3;
        SEMI = 13;
        EXPLOR = 14;
        TRACK = 15;
    }
    enum Type {
        DEFAULT_TYPE = 0;
        TRACK_F = 1;
        TRACK_S = 2;
        EXPLOR_NAV_AB = 3;
        EXPLOR_MAP_U = 4;
        EXPLOR_MAP_N = 5;
    }
}

message CheckoutMode_respond {
    // respond type
    bool is_feedback =  1;

    // action_feedback
    Header header = 2;
    fixed32 current_state = 3;

    // action_result
    fixed32 err_code = 4;
    fixed32 err_state = 5;
    bool succeed = 6;
    Mode next_mode = 7;
    fixed32 request_id = 8;
}

message PatternStamped {
    Header header = 1;
    Pattern pattern = 2;
}

message CheckoutPattern_request {
    PatternStamped patternstamped = 1;
    fixed32 timeout = 2;
}

message CheckoutPattern_respond {
    // type
    bool is_feedback = 1;

    // feedback_field
    Header header     =  2;
    Pattern current_checking  = 3;
    bool last_pattern = 4;

    // result
    fixed32  err_code = 5;
    Pattern err_pattern = 6;
    bool succeed = 7;
    PatternStamped patternstamped = 8;
    fixed32 request_id = 9;
}

message TrackingStatus {
    fixed32 status = 1;
    enum Status{
        OBJECT_FAR = 0;
        OBJECT_NEAR = 1;
        OBJECT_LOST = 2;
        OBJECT_EDGE = 3;
    }
}

message BodyInfo {
    Header header = 1;
    fixed32 count = 2;
    repeated Body infos = 3;
}

message Body {
    RegionOfInterest roi = 1;
}

message BodyRegion_Request {
    RegionOfInterest roi = 1;
}

message BodyRegion_Respond {
    bool success = 1;
}

message RegionOfInterest {
    fixed32 x_offset = 1;
    fixed32 y_offset = 2;
    fixed32 height = 3;
    fixed32 width = 4;
    bool do_rectify = 5;
}

message MonOrder {
    fixed32 id = 1;
    double para = 2;
    enum ID {
        MONO_ORDER_NULL        =  0;
        MONO_ORDER_WAKE_STOP   =  1;
        MONO_ORDER_SHUT_STOP   =  2;
        MONO_ORDER_STAND_UP    =  9;
        MONO_ORDER_PROSTRATE   = 10;
        MONO_ORDER_COME_HERE   = 11;
        MONO_ORDER_STEP_BACK   = 12;
        MONO_ORDER_TURN_AROUND = 13;
        MONO_ORDER_HI_FIVE     = 14;
        MONO_ORDER_DANCE       = 15;
        MONO_ORDER_WELCOME     = 16;
        MONO_ORDER_TURN_OVER   = 17;
        MONO_ORDER_SIT         = 18;
        MONO_ORDER_BOW         = 19;
        MONO_ORDER_MAX         = 20;
    }
}

message CameraService_request {
    fixed32 command = 1;
    string args = 2;
    enum Command {
        SET_PARAMETERS = 0;
        TAKE_PICTURE = 1;
        START_RECORDING = 2;
        STOP_RECORDING = 3;
        GET_STATE = 4;
        DELETE_FILE = 5;
        GET_ALL_FILES = 6;
        START_LIVE_STREAM = 7;
        STOP_LIVE_STREAM = 8;
    }
}

message CameraService_respond {
    fixed32 command = 1;
    fixed32 result = 2;
    string msg = 3;
    enum Result {
        SUCCESS = 0;
        INVALID_ARGS = 1;
        UNSUPPORTED = 2;
        TIMEOUT = 3;
        BUSY = 4;
        INVALID_STATE = 5;
        INNER_ERROR = 6;
        UNDEFINED_ERROR = -1;
    }
}

enum ResultCode {
    FAILED = 0;
    SUCCEED = 1;
}

message FaceManager_Request {
    fixed32 command = 1;
    string args = 2;
    enum Command {
        ADD_FACE = 0;
        CANCLE_ADD_FACE = 1;
        CONFIRM_LAST_FACE = 2;
        UPDATE_FACE_ID = 3;
        DELETE_FACE = 4;
        GET_ALL_FACES = 5;
    }
}

message FaceManager_Response {
    fixed32 command = 1;
    fixed32 result = 2;
    string msg = 3;
    repeated CompressedImage face_images = 4 ;
    enum FaceResult {
        RESULT_SUCCESS = 0;
        RESULT_INVALID_ARGS = 1;
        RESULT_UNSUPPORTED = 2;
        RESULT_TIMEOUT = 3;
        RESULT_BUSY = 4;
        RESULT_INVALID_STATE = 5;
        RESULT_INNER_ERROR = 6;
        RESULT_UNDEFINED_ERROR = -1;
    }
}

message CompressedImage {
    Header header = 1;
    string format = 2;
    repeated fixed32 data = 3;
}

message Target_Request {
    Header header = 1;
    MapMetaData info = 2;
    fixed32 target_x = 3;
    fixed32 target_y = 4;
}

message MapMetaData {
    Timestamp map_load_time = 1;
    float resolution = 2;
    fixed32 width = 3;
    fixed32 height = 4;
    Pose origin = 5;
}

message Target_Response {
    MapMetaData info = 1;
    bool success = 2;
}

message Odometry {
    Header header = 1;
    string child_frame_id = 2;
    PoseWithCovariance pose = 3;
    TwistWithCovariance twist = 4;
}

message OccupancyGrid {
    Header header = 1;
    MapMetaData info = 2;
    repeated fixed32 data = 3;
}

message FaceResult {
    fixed32 result = 1;
    string msg = 2;
    repeated CompressedImage face_images = 3;
}

message VoiceprintResult {
    Header header = 1;
    fixed32 type = 2;
    bool succeed = 3;
    fixed32 error = 4;
    enum ErrorCode {
        NORMAL = 0;
        UNKNOWN_ERROR = 1;
        RECORD_FAILED = 2;
        PLAY_FAILED = 4;
        TOO_NOISY_BACKGROUND = 8;
        TIMEOUT = 16;
    }
}

message Voiceprint_Request {
    VoiceprintEntry info = 1;
}

message VoiceprintEntry {
    Header header = 1;
    AudioUser user = 2;
    fixed32 ask = 3;
    enum VoiceCommand {
        DEFAULT = 0;
        START = 1;
        STOP = 2;
        HAS_DATA = 3;
        DELETE_DATA = 4;
    }
}

message AudioUser {
    fixed32 id = 1;
    enum AudioCommand {
        DEFAULT   = 0;
        STARTER   = 1;
        POWER     = 2;
        TOUCH     = 3;
        CAMERA    = 4;
        APP       = 5;
        BLUETOOTH = 6;
        WIFI      = 7;
        XIAOAI    = 8;
    }
}

message Voiceprint_Response {
    fixed32 ask = 1;
    bool accept = 2;
}

message TokenPass_Request {
    fixed32 ask   = 1;
    Token info    = 2;
    fixed32 vol   = 3;
    enum Code {
        DEFAULT                         = 0;
        ASK_TOKEN                       = 1;
        ASK_DEVICE_ID                   = 2;
        ASK_XIAOAI_OFF                  = 3;
        ASK_XIAOAI_ON                   = 4;
        ASK_XIAOAI_ONLINE_OFF           = 5;
        ASK_XIAOAI_ONLINE_ON            = 6;
        ASK_SET_VOLUME                  = 7;
        ASK_GET_VOLUME                  = 8;
        ASK_XIAOAI_SWITCH_STATUS        = 9;
    }

}

message Token {
    Header header            = 1;
    string token             = 2;
    string token_refresh     = 3;
    string token_md5         = 4;
    string token_refresh_md5 = 5;
    fixed32 expire_in        = 6;
}

message TokenPass_Response {
    fixed32 flage      = 1;
    string divice_id   = 2;
    fixed32 vol        = 3;
    enum Code {
            DEFAULT                   = 0;
            TOKEN_SUCCEED             = 1;
            TOKEN_FAILED              = 2;
            DID_SUCCEED               = 3;
            DID_FAILED                = 4;
            XIAOAI_OFF_SUCCEED        = 5;
            XIAOAI_OFF_FAILED         = 6;
            XIAOAI_ON_SUCCEED         = 7;
            XIAOAI_ON_FAILED          = 8;
            XIAOAI_ONLINE_OFF_SUCCEED = 9;
            XIAOAI_ONLINE_OFF_FAILED  = 10;
            XIAOAI_ONLINE_ON_SUCCEED  = 11;
            XIAOAI_ONLINE_ON_FAILED   = 12;
            SET_VOLUME_SUCCEED        = 13;
            SET_VOLUME_FAILED         = 14;
            GET_VOLUME_SUCCEED        = 15;
            GET_VOLUME_FAILED         = 16;
            XIAOAI_OFF                = 17;
            XIAOAI_ONLINE_ON          = 18;
            XIAOAI_OFFLINE_ON         = 19;
        }
}