schema: update from schema/from-dlalstn0079

slam/v1/slamnav_control.fbs

@@ -0,0 +1,250 @@
+namespace SLAMNAV;
+
+table Request_Get_Safety_Field {
+    id: string;
+}
+table Response_Get_Safety_Field {
+    id: string;
+    safety_field: int;
+    result: string;
+    message: string;
+}
+
+table Request_Set_Safety_Field {
+    id: string;
+    safety_field: int;
+}
+table Response_Set_Safety_Field {
+    id: string;
+    safety_field: int;
+    result: string;
+    message: string;
+}
+
+table SafetyFlag {
+    name: string;
+    value: bool;
+}
+table Request_Get_Safety_Flag {
+    id: string;
+}
+table Response_Get_Safety_Flag {
+    id: string;
+    safety_flag: [SafetyFlag];
+    result: string;
+    message: string;
+}
+
+table Request_Set_Safety_Flag {
+    id: string;
+    reset_flag: [SafetyFlag];
+}
+table Response_Set_Safety_Flag {
+    id: string;
+    reset_flag: [SafetyFlag];
+    result: string;
+    message: string;
+}
+
+table Request_Get_Safety_Io {
+    id: string;
+}
+table Response_Get_Safety_Io {
+    id: string;
+    mcu0_dio: [bool];   // vector(8)
+    mcu1_dio: [bool];   // vector(8)
+    mcu0_din: [bool];   // vector(8)
+    mcu1_din: [bool];   // vector(8)
+    result: string;
+    message: string;
+}
+
+table Request_Set_Safety_Io {
+    id: string;
+    command: string;
+    mcu0_din: [bool];   // vector(8)
+    mcu1_din: [bool];   // vector(8)
+}
+table Response_Set_Safety_Io {
+    id: string;
+    command: string;
+    mcu0_din: [bool];   // vector(8)
+    mcu1_din: [bool];   // vector(8)
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+
+// command : "dock", "undock", "dockstop"
+table Request_Dock {
+    id: string;
+    command: string;
+}
+table Response_Dock {
+    id: string;
+    command: string;
+    result: string;
+    message: string;
+}
+
+table Request_Charge_Trigger {
+    id: string;
+    onoff: bool;
+}
+table Response_Charge_Trigger {
+    id: string;
+    onoff: bool;
+    result: string;
+    message: string;
+}
+
+table State_Change_Dock {
+    id: string;
+    command: string;
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+
+struct ObsBox {
+    x: float;
+    y: float;
+    z: float;
+}
+table Request_Get_Obs_Box {
+    id: string;
+    command: string;
+    min: ObsBox;
+    max: ObsBox;
+    range: float;
+}
+table Response_Get_Obs_Box {
+    id: string;
+    command: string;
+    min: ObsBox;
+    max: ObsBox;
+    range: float;
+    result: string;
+    message: string;
+}
+
+table Request_Set_Obs_Box {
+    id: string;
+    command: string;
+    min: ObsBox;
+    max: ObsBox;
+    range: float;
+}
+table Response_Set_Obs_Box {
+    id: string;
+    command: string;
+    min: ObsBox;
+    max: ObsBox;
+    range: float;
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+
+table Request_Led {
+    id: string;
+    onoff: bool;
+    color: string;
+}
+table Response_Led {
+    id: string;
+    onoff: bool;
+    color: string;
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+
+table Request_Motor {
+    id: string;
+    onoff: bool;
+}
+table Response_Motor {
+    id: string;
+    onoff: bool;
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+
+table Request_Jog {
+    id: string;
+    onoff: bool;
+}
+table Response_Jog {
+    id: string;
+    onoff: bool;
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+// sensor socket on/off & freq
+// command : camera, lidar2d, lidar3d
+table Request_Sensor {
+    id: string;
+    command: string;
+    onoff: bool;
+    frequency: int;
+}
+table Response_Sensor {
+    id: string;
+    command: string;
+    onoff: bool;
+    frequency: int;
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+
+table Request_Path {
+    id: string;
+    onoff: bool;
+    frequency: int;
+}
+table Response_Path {
+    id: string;
+    onoff: bool;
+    frequency: int;
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+
+table Request_Detect {
+    id: string;
+    command: string;
+    camera_number: int;
+    camera_serial: string;
+    marker_size: float;
+}
+table Response_Detect {
+    id: string;
+    command: string;
+    camera_number: int;
+    camera_serial: string;
+    marker_size: float;
+    tf: [float];    // 4*4 Matrix [[1,0,0,0]....[0,0,0,1]]
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+//--------------------------------------------
+table Control_Result {
+    id: string;     // Response ID
+    result: string; // success / fail
+    message: string;    // reason
+}

slam/v1/slamnav_localization.fbs

@@ -0,0 +1,80 @@
+namespace SLAMNAV;
+
+struct LocalizationPose {
+    x: float;
+    y: float;
+    z: float;
+    rz: float;
+}
+
+table Request_Localization_Init {
+    id: string;
+    pose: LocalizationPose;
+}
+table Response_Localization_Init {
+    id: string;
+    pose: LocalizationPose;
+    result: string;
+    message: string;
+}
+
+table Request_Localization_RandomInit {
+    id: string;
+    random_seed: string;
+}
+table Response_Localization_RandomInit {
+    id: string;
+    random_seed: string;
+    pose: LocalizationPose;
+    result: string;
+    message: string;
+}
+
+table Request_Localization_AutoInit {
+    id: string;
+}
+table Response_Localization_AutoInit {
+    id: string;
+    pose: LocalizationPose;
+    result: string;
+    message: string;
+}
+
+table Request_Localization_SemiAutoInit {
+    id: string;
+}
+
+table Response_Localization_SemiAutoInit {
+    id: string;
+    pose: LocalizationPose;
+    result: string;
+    message: string;
+}
+
+table Request_Localization_Start {
+    id: string;
+}
+table Response_Localization_Start {
+    id: string;
+    pose: LocalizationPose;
+    result: string;
+    message: string;
+}
+
+table Request_Localization_Stop {
+    id: string;
+}
+table Response_Localization_Stop {
+    id: string;
+    pose: LocalizationPose;
+    result: string;
+    message: string;
+}
+
+//--------------------------------------------
+//--------------------------------------------
+table Localization_Result {
+    id: string;     // Response ID
+    result: string; // success / fail
+    message: string;    // reason
+}