From 266d04bfeff855387c43fdd2ebe9107547c5d877 Mon Sep 17 00:00:00 2001
From: dfd1123 <dfd1123@naver.com>
Date: Thu, 22 Jan 2026 16:57:51 +0900
Subject: [PATCH] Update schemas from main repo @ 35d7c69

---
 .github/workflows/delete-after-merge.yml      | 34 +++++++++
 README.md                                     | 69 ++++++++++---------
 {manipulate => amr}/v1/slamnav_control.fbs    |  0
 .../v1/slamnav_localization.fbs               |  0
 {manipulate => amr}/v1/slamnav_map.fbs        |  0
 {manipulate => amr}/v1/slamnav_move.fbs       |  0
 {manipulate => amr}/v1/slamnav_moveStatus.fbs |  0
 {manipulate => amr}/v1/slamnav_path.fbs       |  0
 {manipulate => amr}/v1/slamnav_setting.fbs    |  0
 {manipulate => amr}/v1/slamnav_status.fbs     |  0
 {manipulate => amr}/v1/slamnav_update.fbs     |  0
 manipulate/v1/common_struct.fbs               |  6 ++
 manipulate/v1/func_box.fbs                    |  5 +-
 manipulate/v1/func_config.fbs                 |  4 +-
 manipulate/v1/func_flow.fbs                   |  1 -
 manipulate/v1/func_get.fbs                    | 25 +++++--
 manipulate/v1/func_move.fbs                   | 18 +++++
 manipulate/v1/state_core.fbs                  | 30 ++++----
 {manipulate => nexus}/v1/common_email.fbs     |  0
 {manipulate => nexus}/v1/common_file.fbs      |  0
 20 files changed, 135 insertions(+), 57 deletions(-)
 create mode 100644 .github/workflows/delete-after-merge.yml
 rename {manipulate => amr}/v1/slamnav_control.fbs (100%)
 rename {manipulate => amr}/v1/slamnav_localization.fbs (100%)
 rename {manipulate => amr}/v1/slamnav_map.fbs (100%)
 rename {manipulate => amr}/v1/slamnav_move.fbs (100%)
 rename {manipulate => amr}/v1/slamnav_moveStatus.fbs (100%)
 rename {manipulate => amr}/v1/slamnav_path.fbs (100%)
 rename {manipulate => amr}/v1/slamnav_setting.fbs (100%)
 rename {manipulate => amr}/v1/slamnav_status.fbs (100%)
 rename {manipulate => amr}/v1/slamnav_update.fbs (100%)
 rename {manipulate => nexus}/v1/common_email.fbs (100%)
 rename {manipulate => nexus}/v1/common_file.fbs (100%)

diff --git a/.github/workflows/delete-after-merge.yml b/.github/workflows/delete-after-merge.yml
new file mode 100644
index 00000000..b0edaad4
--- /dev/null
+++ b/.github/workflows/delete-after-merge.yml
@@ -0,0 +1,34 @@
+name: Delete branch after merge
+
+on:
+  pull_request:
+    types: [closed]
+
+permissions:
+  contents: write
+
+jobs:
+  delete-branch:
+    if: >
+      github.event.pull_request.merged == true &&
+      (github.event.pull_request.base.ref == 'main' || github.event.pull_request.base.ref == 'develop')
+    runs-on: self-hosted
+
+    steps:
+      - name: Delete head branch
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          REPO: ${{ github.repository }}
+          BRANCH: ${{ github.event.pull_request.head.ref }}
+        run: |
+          set -euo pipefail
+
+          case "$BRANCH" in
+            main|develop)
+              echo "🚫 $BRANCH 브랜치는 보호 대상이므로 삭제하지 않음."
+              exit 0
+              ;;
+          esac
+
+          echo "🗑️ $BRANCH 브랜치를 삭제합니다."
+          gh api -X DELETE "repos/$REPO/git/refs/heads/$BRANCH"
diff --git a/README.md b/README.md
index 60586671..85c80a2e 100644
--- a/README.md
+++ b/README.md
@@ -5,31 +5,36 @@
 
 ___
 
-## 1️⃣ Subtree를 프로젝트에 최초 1회 설정
-### 1. message-schema를 Subtree로 추가
-```sh
-# 자신의 팀 프로젝트(repository) main 또는 develop 브랜치에서
-
-git remote add message-schema https://github.com/RainbowRobotics/message-schema.git
-git subtree add --prefix=schemas message-schema main --squash
-
-git push origin <your-branch>
-```
-
-### 2. Makefile 설정
+## 1️⃣ Subtree를 프로젝트에 적용 방법
+### 1. Makefile 설정
 ```Makefile
-SCHEMA_DIR := schemas # 본인이 원하는 스키마 디렉토리명 (기본값: schemas)
-SCHEMA_REMOTE := message-schema # 본인이 원하는 remote 명 (기본값: message-schema)
+SCHEMA_DIR := schemas            # subtree가 위치할 디렉토리
+SCHEMA_REMOTE := message-schema  # subtree remote 이름
+SCHEMA_REMOTE_URL := https://github.com/RainbowRobotics/message-schema.git
+
+.PHONY: schema-subtree-init
+schema-subtree-init: ## schema subtree 최초 1회 초기화
+    @[ ! -d "$(SCHEMA_DIR)" ] || (echo "❌ $(SCHEMA_DIR) 이라는 디렉토리가 이미 존재합니다. 지워주시고 커밋/푸시 후 진행해주세요!"; exit 1)
+	@git remote get-url $(SCHEMA_REMOTE) >/dev/null 2>&1 \
+	  || git remote add $(SCHEMA_REMOTE) $(SCHEMA_REMOTE_URL)
+	@git subtree add --prefix=$(SCHEMA_DIR) $(SCHEMA_REMOTE) main --squash
 
 .PHONY: schema-update
-schema-update:
+schema-update: ## schemas 변경사항을 현재 레포와 서브레포로 push 그리고 자동 PR 진행
 	@bash "$(SCHEMA_DIR)/schema-update.sh" --dir $(SCHEMA_DIR) --remote $(SCHEMA_REMOTE)
 
 .PHONY: schema-sync
-schema-sync:
+schema-sync: ## message-schema의 main 브랜치 내용을 현재 SCHEMA_DIR에 그대로 가져오기 (변경 사항이 있다면 진짜 덮어씌울건지 물어봄)
 	@bash "$(SCHEMA_DIR)/schema-sync.sh" --dir $(SCHEMA_DIR) --remote $(SCHEMA_REMOTE)
 ```
 
+### 2. message-schema를 Subtree로 추가
+```sh
+# 자신의 팀 프로젝트(repository) main 또는 develop 브랜치에서
+
+make schema-subtree-init ## 이미 전에 진행했다면 안하셔도 됩니다.
+```
+
 ### 3. Git 사용자 이메일 확인
 ```sh
 git config user.email
@@ -67,7 +72,7 @@ message-schema 레포에서 **리뷰 후 수동 Apply** 되어야 main에 반영
 
 <br />
 
-### 📥 message-schema 최신 변경사항 가져오기
+### 📥 message-schema에 main 브랜치 내용으로 가져오기
 
 ```sh
 make schema-sync
@@ -103,36 +108,38 @@ main-repo/
 ```
 
 ## 4️⃣ 대표 시나리오
-### 새로운 schema 추가 / 수정
+### 1. 새로운 schema 추가 / 수정
 
 ```sh
 vim schemas/nexus/v1/new_message.fbs
 make schema-update
 ```
 
-### 다른 팀원의 변경사항 받기
-```sh
-make schema-sync
-```
+### 2. message-schema에 올라온 PR을 다른 팀원 최소 1명이 Apply
+
+- `Slack` 사용자는 **메시지로 PR이 있다는 Notify를 받을 수 있음**
+- 최소 팀원 1명이 Apply 하면 Merge 가능
+
+### 3. 변경된 스키마와 관련 있는 동료가 본인의 레포지토리에 변경사항을 적용하고 PR 승인
+
+### 4. 수정한 사람이 PR을 Merge
 
-### 충돌 발생 시
+### 5. main 브랜치로 Merge를 진행하면 main 브랜치에 변경된 내용이 병합됨
 
+`Slack` 사용자는 **메시지로 PR이 병합 되었다는 Notify를 받을 수 있음**
+
+### 6. message-schema에 main 브랜치(허용을 받고 병합된 내용만 있는) 내용을 가져오기
 ```sh
 make schema-sync
-# 충돌 발생
-
-# 수동 해결 후
-git add schemas/
-git commit -m "Resolve schema conflicts"
-git push origin <branch>
 ```
 
+📌 `schemas/`에서 작업 중인 내용이 있다면, 동기화 시 **사라질 수 있습니다.**
+필요하면 먼저 `make schema-update`로 PR을 올리거나, 별도 백업 후 진행하세요.
+
 ## 5️⃣ 반드시 지켜야 할 규칙 ⚠️
 ### ❌ 금지
 
-- `schemas/`를 직접 커밋하지 말 것
 - `git add .` 상태에서 `schema-update` 실행 금지
-- `message-schema`를 별도로 클론해서 작업 금지
 - `make schema-sync`를 하지 않고 빌드 후 배포 금지
 
 ```sh
diff --git a/manipulate/v1/slamnav_control.fbs b/amr/v1/slamnav_control.fbs
similarity index 100%
rename from manipulate/v1/slamnav_control.fbs
rename to amr/v1/slamnav_control.fbs
diff --git a/manipulate/v1/slamnav_localization.fbs b/amr/v1/slamnav_localization.fbs
similarity index 100%
rename from manipulate/v1/slamnav_localization.fbs
rename to amr/v1/slamnav_localization.fbs
diff --git a/manipulate/v1/slamnav_map.fbs b/amr/v1/slamnav_map.fbs
similarity index 100%
rename from manipulate/v1/slamnav_map.fbs
rename to amr/v1/slamnav_map.fbs
diff --git a/manipulate/v1/slamnav_move.fbs b/amr/v1/slamnav_move.fbs
similarity index 100%
rename from manipulate/v1/slamnav_move.fbs
rename to amr/v1/slamnav_move.fbs
diff --git a/manipulate/v1/slamnav_moveStatus.fbs b/amr/v1/slamnav_moveStatus.fbs
similarity index 100%
rename from manipulate/v1/slamnav_moveStatus.fbs
rename to amr/v1/slamnav_moveStatus.fbs
diff --git a/manipulate/v1/slamnav_path.fbs b/amr/v1/slamnav_path.fbs
similarity index 100%
rename from manipulate/v1/slamnav_path.fbs
rename to amr/v1/slamnav_path.fbs
diff --git a/manipulate/v1/slamnav_setting.fbs b/amr/v1/slamnav_setting.fbs
similarity index 100%
rename from manipulate/v1/slamnav_setting.fbs
rename to amr/v1/slamnav_setting.fbs
diff --git a/manipulate/v1/slamnav_status.fbs b/amr/v1/slamnav_status.fbs
similarity index 100%
rename from manipulate/v1/slamnav_status.fbs
rename to amr/v1/slamnav_status.fbs
diff --git a/manipulate/v1/slamnav_update.fbs b/amr/v1/slamnav_update.fbs
similarity index 100%
rename from manipulate/v1/slamnav_update.fbs
rename to amr/v1/slamnav_update.fbs
diff --git a/manipulate/v1/common_struct.fbs b/manipulate/v1/common_struct.fbs
index 3b934ff1..313d2855 100755
--- a/manipulate/v1/common_struct.fbs
+++ b/manipulate/v1/common_struct.fbs
@@ -15,6 +15,12 @@ struct N_DIN_u {
 struct N_DOUT_u {
   u: [ubyte: 16];
 }
+struct N_DIN_b {
+  b: [byte: 16];
+}
+struct N_DOUT_b {
+  b: [byte: 16];
+}
 struct N_AIN_f {
   f: [float: 4];
 }
diff --git a/manipulate/v1/func_box.fbs b/manipulate/v1/func_box.fbs
index bac0b722..af0b33ab 100755
--- a/manipulate/v1/func_box.fbs
+++ b/manipulate/v1/func_box.fbs
@@ -2,7 +2,6 @@ include "func_return.fbs";
 include "common_struct.fbs";
 
 namespace IPC;
-
 table Request_Save_Robot_Code {
   code: int;
   option: int;
@@ -38,12 +37,12 @@ table Request_Save_User_Frame {
 }
 
 table Request_Save_SideDin_SpecialFunc {
-  port_num: int;
+  port_num:         int;
   desired_function: int;
 }
 
 table Request_Save_SideDout_SpecialFunc {
-  port_num: int;
+  port_num:         int;
   desired_function: int;
 }
 
diff --git a/manipulate/v1/func_config.fbs b/manipulate/v1/func_config.fbs
index e8340655..65c15e19 100755
--- a/manipulate/v1/func_config.fbs
+++ b/manipulate/v1/func_config.fbs
@@ -47,8 +47,8 @@ table ST_Config_UserFrame{
 }
 
 table Response_CallConfigControlBox{
-  dout_special_func: N_DOUT_u;
-  din_special_func: N_DIN_u;
+  dout_special_func: N_DOUT_b;
+  din_special_func: N_DIN_b;
   din_filter_count: N_DIN_u;
 
   area_configs_0: ST_Config_Area;
diff --git a/manipulate/v1/func_flow.fbs b/manipulate/v1/func_flow.fbs
index 8a6222cf..b79e23f2 100755
--- a/manipulate/v1/func_flow.fbs
+++ b/manipulate/v1/func_flow.fbs
@@ -22,7 +22,6 @@ table Request_MotionHalt {
 table Request_ProgramBefore {
   option: int;
 }
-
 table Request_ProgramAfter {
   option: int;
 }
\ No newline at end of file
diff --git a/manipulate/v1/func_get.fbs b/manipulate/v1/func_get.fbs
index dab0e970..dae80b50 100644
--- a/manipulate/v1/func_get.fbs
+++ b/manipulate/v1/func_get.fbs
@@ -16,25 +16,40 @@ table Response_Get_Core_Data {
     payload_str : string;
 }
 //--------------------------------------------------------------
-
 table Request_Get_Relative_Value {
     relative_value :    MoveInput_Target;
     reference_value:    MoveInput_Target;
-    move_type:          int;
+    move_type:          int;    
 }
 
 table Response_Get_Relative_Value {
     calculated_result:  int;
     calculated_value:   MoveInput_Target;
 }
-
-
+//--------------------------------------------------------------
 table Request_Get_Absolute_Value {
     reference_value:    MoveInput_Target;
-    move_type:          int;
+    move_type:          int;  
 }
 
 table Response_Get_Absolute_Value {
     calculated_result:  int;
     calculated_value:   MoveInput_Target;
 }
+//--------------------------------------------------------------
+table Request_Get_Tcp_Value {
+    option: int;
+}
+
+table Response_Get_Tcp_Value {
+    carte_info: N_CARTE_f;
+}
+
+table Request_Get_Joint_Value {
+    option: int;
+}
+
+table Response_Get_Joint_Value {
+    joint_info: N_JOINT_f;
+}
+//--------------------------------------------------------------
\ No newline at end of file
diff --git a/manipulate/v1/func_move.fbs b/manipulate/v1/func_move.fbs
index 3fb3d367..9eec5992 100755
--- a/manipulate/v1/func_move.fbs
+++ b/manipulate/v1/func_move.fbs
@@ -79,4 +79,22 @@ table Request_Move_XB_ADD {
 table Request_Move_XB_RUN {
     running_mode:   int;
 }
+//---------------------------------------------------------------
+// Servo
+//---------------------------------------------------------------
+table Request_Servo_J {
+    target:         MoveInput_Target;
+    t1:             float;
+    t2:             float;
+    gain:           float;
+    filter:         float;
+}
+
+table Request_Servo_L {
+    target:         MoveInput_Target;
+    t1:             float;
+    t2:             float;
+    gain:           float;
+    filter:         float;
+}
 //---------------------------------------------------------------
\ No newline at end of file
diff --git a/manipulate/v1/state_core.fbs b/manipulate/v1/state_core.fbs
index c02d0c3d..833857dd 100755
--- a/manipulate/v1/state_core.fbs
+++ b/manipulate/v1/state_core.fbs
@@ -5,7 +5,7 @@ namespace IPC;
 
 table State_Core {
   heart_beat: ubyte;
-
+  
   joint_q_ref: N_JOINT_f;
   joint_q_enc: N_JOINT_f;
   joint_t_esti: N_JOINT_f;
@@ -19,29 +19,29 @@ table State_Core {
   userf_x_ref: N_CARTE_f;
 
   tool_selection_no: int;
-  tool_name: string;
-  tool_tcp_x: float;
-  tool_tcp_y: float;
-  tool_tcp_z: float;
+  tool_name: string; 
+  tool_tcp_x: float; 
+  tool_tcp_y: float; 
+  tool_tcp_z: float; 
   tool_tcp_rx: float;
   tool_tcp_ry: float;
   tool_tcp_rz: float;
-  tool_com_m: float;
-  tool_com_x: float;
-  tool_com_y: float;
-  tool_com_z: float;
+  tool_com_m: float; 
+  tool_com_x: float; 
+  tool_com_y: float; 
+  tool_com_z: float; 
 
   cbox_digital_input: N_DIN_u;
   cbox_digital_output: N_DOUT_u;
-  cbox_analog_input: N_AIN_f;
+  cbox_analog_input: N_AIN_f;   
   cbox_analog_output: N_AOUT_f;
 
-  ex_digital_input: N_DIN_u;
+  ex_digital_input: N_DIN_u;  
   ex_digital_output: N_DOUT_u;
-  ex_analog_input: N_AIN_f;
-  ex_analog_output: N_AOUT_f;
+  ex_analog_input: N_AIN_f;   
+  ex_analog_output: N_AOUT_f; 
 
-  tool_digital_input: N_DIN_u;
+  tool_digital_input: N_DIN_u;    
   tool_digital_output: N_DOUT_u;
   tool_analog_input: N_AIN_f;
   tool_analog_output: N_AOUT_f;
@@ -61,4 +61,4 @@ table State_Core {
   status_dt_mode: ubyte;
 }
 
-root_type State_Core;
+root_type State_Core;
\ No newline at end of file
diff --git a/manipulate/v1/common_email.fbs b/nexus/v1/common_email.fbs
similarity index 100%
rename from manipulate/v1/common_email.fbs
rename to nexus/v1/common_email.fbs
diff --git a/manipulate/v1/common_file.fbs b/nexus/v1/common_file.fbs
similarity index 100%
rename from manipulate/v1/common_file.fbs
rename to nexus/v1/common_file.fbs