@linuxcnc-node/grpc-client 1.0.0 → 5.0.0

package/proto/linuxcnc/v1/hal.proto

@@ -0,0 +1,170 @@
+syntax = "proto3";
+
+package linuxcnc.v1;
+
+import "google/protobuf/empty.proto";
+import "linuxcnc/v1/common.proto";
+
+enum HalPinDirection {
+  HAL_PIN_DIRECTION_UNSPECIFIED = 0;
+  HAL_PIN_DIRECTION_IN = 1;
+  HAL_PIN_DIRECTION_OUT = 2;
+  HAL_PIN_DIRECTION_IO = 3;
+}
+
+enum HalParamDirection {
+  HAL_PARAM_DIRECTION_UNSPECIFIED = 0;
+  HAL_PARAM_DIRECTION_RO = 1;
+  HAL_PARAM_DIRECTION_RW = 2;
+}
+
+enum HalComponentKind {
+  HAL_COMPONENT_KIND_UNSPECIFIED = 0;
+  HAL_COMPONENT_KIND_USER = 1;
+  HAL_COMPONENT_KIND_REALTIME = 2;
+  HAL_COMPONENT_KIND_OTHER = 3;
+  HAL_COMPONENT_KIND_UNKNOWN = 4;
+}
+
+enum RtapiMessageLevel {
+  RTAPI_MESSAGE_LEVEL_UNSPECIFIED = 0;
+  RTAPI_MESSAGE_LEVEL_NONE = 1;
+  RTAPI_MESSAGE_LEVEL_ERR = 2;
+  RTAPI_MESSAGE_LEVEL_WARN = 3;
+  RTAPI_MESSAGE_LEVEL_INFO = 4;
+  RTAPI_MESSAGE_LEVEL_DBG = 5;
+  RTAPI_MESSAGE_LEVEL_ALL = 6;
+}
+
+message HalScalar {
+  HalType type = 1;
+  oneof value {
+    bool bit = 2;
+    double float_value = 3;
+    sint32 s32 = 4;
+    uint32 u32 = 5;
+    sint64 s64 = 6;
+    uint64 u64 = 7;
+  }
+}
+
+message HalComponentInfo { int32 id = 1; string name = 2; HalComponentKind kind = 3; bool ready = 4; int32 pid = 5; }
+
+message HalFunctionInfo { string name = 1; int32 owner_id = 2; string owner_name = 3; bool uses_fp = 4; bool reentrant = 5; int32 users = 6; double runtime = 7; double max_runtime = 8; bool max_runtime_increased = 9; }
+
+message HalThreadInfo { string name = 1; uint64 period_ns = 2; int32 priority = 3; bool uses_fp = 4; bool running = 5; double runtime = 6; double max_runtime = 7; repeated string functions = 8; }
+
+message HalPinInfo { string name = 1; HalScalar value = 2; HalType type = 3; HalPinDirection direction = 4; int32 owner_id = 5; string signal_name = 6; }
+
+message HalParamInfo { string name = 1; HalScalar value = 2; HalType type = 3; HalParamDirection direction = 4; int32 owner_id = 5; }
+
+message HalSignalInfo { string name = 1; HalScalar value = 2; HalType type = 3; string driver = 4; uint32 readers = 5; uint32 writers = 6; uint32 bidirs = 7; }
+
+message HalTopology {
+  repeated HalComponentInfo components = 1;
+  repeated HalFunctionInfo functions = 2;
+  repeated HalThreadInfo threads = 3;
+  repeated HalPinInfo pins = 4;
+  repeated HalParamInfo params = 5;
+  repeated HalSignalInfo signals = 6;
+}
+
+message GetHalTopologyRequest {}
+
+message GetHalTopologyResponse { uint64 sequence = 1; HalTopology topology = 2; }
+
+message WatchHalTopologyRequest { uint64 after_sequence = 1; }
+
+message WatchHalTopologyEvent { uint64 sequence = 1; HalTopology topology = 2; }
+
+message HalReadRequest { repeated HalItemRef items = 1; }
+
+message HalReadValue { HalItemRef item = 1; HalScalar value = 2; }
+
+message HalReadResponse { repeated HalReadValue values = 1; }
+
+message HalWrite { repeated HalWriteValue writes = 1; }
+
+message HalWriteValue { HalItemRef item = 1; HalScalar value = 2; }
+
+message HalWriteResponse { repeated HalReadValue values = 1; }
+
+message HalValueSubscriptionSlot { uint32 slot = 1; HalItemRef item = 2; HalType type = 3; }
+
+message CreateHalValueSubscriptionRequest {
+  repeated HalItemRef items = 1;
+  uint32 sample_period_ms = 2;
+}
+
+message HalValueSubscription {
+  string subscription_id = 1;
+  string websocket_path = 2;
+  uint64 revision = 3;
+  uint32 sample_period_ms = 4;
+  repeated HalValueSubscriptionSlot slots = 5;
+}
+
+message UpdateHalValueSubscriptionRequest {
+  string subscription_id = 1;
+  uint64 expected_revision = 2;
+  repeated HalItemRef items = 3;
+  uint32 sample_period_ms = 4;
+}
+
+message DeleteHalValueSubscriptionRequest { string subscription_id = 1; }
+
+message CreateHalSignalRequest { string name = 1; HalType type = 2; }
+
+message CreateHalSignalResponse { HalSignalInfo signal = 1; }
+
+message SetHalMessageLevelRequest { RtapiMessageLevel level = 1; }
+
+message HalWriterMetadata { string writer_id = 1; bool ready = 2; }
+
+message GetHalWriterMetadataRequest {}
+
+message GetHalWriterMetadataResponse { HalWriterMetadata metadata = 1; }
+
+message SetHalWriterReadyRequest { bool ready = 1; }
+
+message ComponentOpen { string name = 1; string prefix = 2; }
+
+message ComponentPin { string name = 1; HalType type = 2; HalPinDirection direction = 3; string prefix = 4; }
+
+message ComponentParameter { string name = 1; HalType type = 2; HalParamDirection direction = 3; string prefix = 4; }
+
+message ComponentReady { bool ready = 1; }
+
+message ComponentValue { HalItemRef item = 1; HalScalar value = 2; }
+
+message ComponentDelta { repeated ComponentValue values = 1; uint64 sequence = 2; }
+
+message ComponentClose {}
+
+message ComponentSessionMessage {
+  oneof message {
+    ComponentOpen open = 1;
+    ComponentPin pin = 2;
+    ComponentParameter parameter = 3;
+    ComponentReady ready = 4;
+    ComponentValue value = 5;
+    ComponentDelta delta = 6;
+    ComponentClose close = 7;
+    HalWriterMetadata metadata = 8;
+  }
+}
+
+service HalService {
+  rpc GetTopology(GetHalTopologyRequest) returns (GetHalTopologyResponse);
+  rpc WatchTopology(WatchHalTopologyRequest) returns (stream WatchHalTopologyEvent);
+  rpc Read(HalReadRequest) returns (HalReadResponse);
+  rpc CreateValueSubscription(CreateHalValueSubscriptionRequest) returns (HalValueSubscription);
+  rpc UpdateValueSubscription(UpdateHalValueSubscriptionRequest) returns (HalValueSubscription);
+  rpc DeleteValueSubscription(DeleteHalValueSubscriptionRequest) returns (google.protobuf.Empty);
+  rpc Write(HalWrite) returns (HalWriteResponse);
+  rpc CreateSignal(CreateHalSignalRequest) returns (CreateHalSignalResponse);
+  rpc SetMessageLevel(SetHalMessageLevelRequest) returns (google.protobuf.Empty);
+  rpc GetWriterMetadata(GetHalWriterMetadataRequest) returns (GetHalWriterMetadataResponse);
+  rpc SetWriterReady(SetHalWriterReadyRequest) returns (google.protobuf.Empty);
+  rpc ComponentSession(stream ComponentSessionMessage) returns (stream ComponentSessionMessage);
+}