137 lines
5.4 KiB
Protocol Buffer
137 lines
5.4 KiB
Protocol Buffer
syntax = "proto3";
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package laserweld.command;
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option csharp_namespace = "Laserweld.Protos.Command";
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// ===== Java / Android 必须的配置 =====
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option java_multiple_files = true;
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option java_package = "com.lxsoft.weld.grpc";
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option java_outer_classname = "CommandProto";
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import "common.proto";
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import "project_manager.proto";
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import "project.proto";
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import "motion.proto";
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import "teach.proto";
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// ==================== 命令服务 ====================
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// 统一命令通道：所有非高优先级命令
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// 高优先级 Stop 使用 MotionService.Stop()
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// 坐标同步使用 CoordinateService
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service CommandService {
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// 双向流：发送命令，接收 Ack + Result
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rpc Execute(stream CommandRequest) returns (stream CommandResponse);
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}
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// ==================== 请求 ====================
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message CommandRequest {
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string id = 1; // 命令唯一ID
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oneof command {
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// ========== 项目管理 ==========
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laserweld.project_manager.CreateProject create_project = 10;
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laserweld.project_manager.RenameProject rename_project = 11;
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laserweld.project_manager.OpenProject open_project = 12;
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laserweld.project_manager.CloseProject close_project = 13;
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laserweld.project_manager.DeleteProject delete_project = 14;
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laserweld.project_manager.ExportProject export_project = 15;
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laserweld.project_manager.ImportProject import_project = 16;
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laserweld.project_manager.QueryProjects query_projects = 17;
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laserweld.project_manager.DownloadProject download_project = 18;
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// ========== 项目详情 ==========
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laserweld.project.GetProjectDetail get_project_detail = 30;
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laserweld.project.GetGeneralProc get_general_proc = 31;
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laserweld.project.SetGeneralProc set_general_proc = 32;
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laserweld.project.GetEmptyProc get_empty_proc = 33;
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laserweld.project.SetEmptyProc set_empty_proc = 34;
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laserweld.project.GetInputPortNames get_input_port_names = 35;
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laserweld.project.GetOutputPortNames get_output_port_names = 36;
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// ========== 轨迹操作 ==========
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laserweld.project.AddTrack add_track = 50;
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laserweld.project.AddSubTrack add_sub_track = 51;
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laserweld.project.DeleteTrack delete_track = 52;
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laserweld.project.DeleteTracks delete_tracks = 53;
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laserweld.project.ModifyTrack modify_track = 54;
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laserweld.project.InsertTrack insert_track = 55;
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laserweld.project.ModifyProc modify_proc = 56;
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// ========== 示教控制 ==========
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laserweld.teach.StartProcess start_process = 70;
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laserweld.teach.KeepProcess keep_process = 71;
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laserweld.teach.StopProcess stop_process = 72;
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laserweld.teach.MoveToTrack move_to_track = 73;
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laserweld.teach.ForwardTrack forward_track = 74;
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laserweld.teach.BackwardTrack backward_track = 75;
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// ========== 运动控制（非紧急）==========
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laserweld.motion.GetPhysicModel get_physic_model = 90;
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laserweld.motion.GetCoordinateEnable get_coordinate_enable = 91;
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laserweld.motion.GetCurrentCoord get_current_coord = 92;
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laserweld.motion.ResetCoord reset_coord = 93;
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laserweld.motion.GetBackHomeInfo get_back_home_info = 94;
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laserweld.motion.BackHome back_home = 95;
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laserweld.motion.BackZero back_zero = 96;
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laserweld.motion.SetRTCP set_rtcp = 97;
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laserweld.motion.AlignCoord align_coord = 98;
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laserweld.motion.MoveTo move_to = 99;
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laserweld.motion.MoveAxis move_axis = 100;
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laserweld.motion.MoveAxisContinuous move_axis_continuous = 101;
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laserweld.motion.StopAxisContinuous stop_axis_continuous = 102;
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}
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}
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// ==================== 响应 ====================
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message CommandResponse {
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string command_id = 1; // 对应的命令ID
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oneof response {
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laserweld.common.Ack ack = 2;
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CommandResult result = 3;
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}
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}
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// 端口名称列表（用于 GetInputPortNames/GetOutputPortNames 返回）
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message PortNames {
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repeated string names = 1;
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}
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// 命令结果
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message CommandResult {
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// 基础结果字段（对应 Result）
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bool success = 1;
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string message = 2;
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int32 error_code = 3;
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int64 completed_at = 4;
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// 返回数据（对应 Result<T> 的 Value）
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oneof data {
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// 项目管理
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laserweld.project_manager.Project project = 10; // Create/Open 返回
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laserweld.project_manager.ProjectList projects = 11; // Query 返回
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bytes raw_data = 12; // Export 返回
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// 项目详情
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laserweld.common.ProjectDetail project_detail = 20; // GetProjectDetail 返回
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laserweld.common.GeneralProc general_proc = 21; // Get/SetGeneralProc 返回
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laserweld.common.EmptyProc empty_proc = 22; // Get/SetEmptyProc 返回
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PortNames port_names = 23; // GetInputPortNames/GetOutputPortNames 返回
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// 轨迹操作
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laserweld.common.TrackItem track_item = 30; // Add/Modify/Insert 返回
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// 运动控制
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string physic_model = 40; // GetPhysicModel 返回
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laserweld.motion.CoordinateEnableData coordinate_enable = 41; // GetCoordinateEnable 返回
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laserweld.common.Vector6d current_coord = 42; // GetCurrentCoord 返回
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string back_home_info = 44; // GetBackHomeInfo 返回
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// 示教控制
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uint32 track_id = 43; // MoveToTrack/ForwardTrack/BackwardTrack 返回
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}
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}
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