syntax = "proto3";
// compile method:
// 1. cpp:
// protoc --grpc_out=./ --plugin=protoc-gen-grpc=`which grpc_cpp_plugin` *.proto
// protoc --cpp_out=. *.proto
// 2. python: 
// protoc --python_out=. *.proto
//import "google/protobuf/empty.proto";
// build for web
// protoc -I=./ *.proto --js_out=import_style=commonjs:./ --grpc-web_out=import_style=commonjs,mode=grpcwebtext:./

package osserver;

service OsServer {
    rpc getRingData(Req) returns (stream RingData);
}

message Req {
    int32 req = 1;
}

message PR {
    double x = 1;
    double y = 2;
    double z = 3;
    double rr = 4;
    double rp = 5;
    double ry = 6;
}

message Joint {
    double targetPose = 1;
    double targetV = 2;
    double targetA = 3;
    double targetTorque = 4;
    double actualPose = 5;
    double actualV = 6;
    double actualA = 7;
    double actualTorque = 8;
    double temperature = 9;
}

message RingData {
    repeated Joint joints = 1;
    int32 num = 2;
    PR targetPose = 3;
    PR actualPose = 4;
    CurrentVoltage voltage = 5;
}

message CurrentVoltage {
  double power = 1; // 电源电压V/电流mA
  double flan = 2; // 法兰电压/电流
  repeated double joint = 3; // 关节电压/电流
  double io_power = 4; // IO板
}