motion-master-client 0.0.21 → 0.0.22

package/motion-master.proto

@@ -0,0 +1,1822 @@
+syntax = "proto3";
+
+package motionmaster;
+
+option optimize_for = SPEED;
+option java_package = "com.synapticon.motionmaster"; // Use separate package names for C++ and Java
+
+// The message identifier is generated by the Client and MUST be a String.
+// If it is not included, the message is assumed to be a notification.
+message MotionMasterMessage {
+  reserved 2 to 100, 103 to 1000; // Synapticon reserved
+  string id = 1;
+
+  oneof type {
+    Request request = 101;
+    Status status = 102;
+  }
+
+  message Request {
+    reserved 2 to 100, 148 to 1000; // Synapticon reserved
+    string topic = 1;
+
+    oneof type {
+      PingSystem ping_system = 101;
+      GetSystemVersion get_system_version = 102;
+      GetDeviceInfo get_device_info = 103;
+      GetDeviceParameterInfo get_device_parameter_info = 104;
+      GetDeviceParameterValues get_device_parameter_values = 105;
+      GetMultiDeviceParameterValues get_multi_device_parameter_values = 106;
+      SetDeviceParameterValues set_device_parameter_values = 107;
+      SetMultiDeviceParameterValues set_multi_device_parameter_values = 108;
+      GetDeviceFileList get_device_file_list = 109;
+      GetDeviceFile get_device_file = 110;
+      SetDeviceFile set_device_file = 111;
+      DeleteDeviceFile delete_device_file = 112;
+      ResetDeviceFault reset_device_fault = 113;
+      StopDevice stop_device = 114;
+      StartDeviceFirmwareInstallation start_device_firmware_installation = 115;
+      GetDeviceLog get_device_log = 116;
+      StartCoggingTorqueRecording start_cogging_torque_recording = 117;
+      GetCoggingTorqueData get_cogging_torque_data = 118;
+      StartOffsetDetection start_offset_detection = 119;
+      StartPlantIdentification start_plant_identification = 120 [deprecated=true];
+      ComputeAutoTuningGains compute_auto_tuning_gains = 121;
+      SetMotionControllerParameters set_motion_controller_parameters = 122;
+      EnableMotionController enable_motion_controller = 123;
+      DisableMotionController disable_motion_controller = 124;
+      SetSignalGeneratorParameters set_signal_generator_parameters = 125;
+      StartSignalGenerator start_signal_generator = 126;
+      StopSignalGenerator stop_signal_generator = 127;
+      StartMonitoringDeviceParameterValues start_monitoring_device_parameter_values = 128;
+      StopMonitoringDeviceParameterValues stop_monitoring_device_parameter_values = 129;
+      GetEthercatNetworkState get_ethercat_network_state = 130;
+      SetEthercatNetworkState set_ethercat_network_state = 131;
+      StartNarrowAngleCalibration start_narrow_angle_calibration = 132 [deprecated=true];
+      SetSystemClientTimeout set_system_client_timeout = 133;
+      StartSystemIdentification start_system_identification = 134;
+      GetCirculoEncoderMagnetDistance get_circulo_encoder_magnet_distance = 135;
+      StartCirculoEncoderNarrowAngleCalibrationProcedure start_circulo_encoder_narrow_angle_calibration_procedure = 136;
+      GetDeviceCiA402State get_device_cia402_state = 137;
+      SetDeviceCiA402State set_device_cia402_state = 138;
+      GetSystemLog get_system_log = 139;
+      StartDeviceSiiRestore start_device_sii_restore = 140;
+      StartOpenLoopFieldControl start_open_loop_field_control = 141;
+      ComputeFullAutoTuningGains compute_full_auto_tuning_gains = 142 [deprecated = true];
+      StartFullAutoTuning start_full_auto_tuning = 143;
+      StopFullAutoTuning stop_full_auto_tuning = 144;
+      StartCirculoEncoderConfiguration start_circulo_encoder_configuration = 145;
+      StopCirculoEncoderNarrowAngleCalibrationProcedure stop_circulo_encoder_narrow_angle_calibration_procedure = 146;
+      StartOsCommand start_os_command = 147;
+    }
+
+    // Used by the client to notify Motion Master that it is present and alive if no other messages need to be transmitted 
+    message PingSystem {}
+
+    // Get the version of Motion Master
+    message GetSystemVersion {}
+
+    // Request the list of all available devices Motion Master has access to, with some essential information about those devices
+    message GetDeviceInfo {}
+
+    // Request the list of all available parameters of a device (all info, without the values)
+    message GetDeviceParameterInfo {
+      uint32 device_address = 1;
+    }
+
+    // Request the list of parameter values for a device
+    message GetDeviceParameterValues {
+      message Parameter {
+        uint32 index = 1;
+        uint32 subindex = 2; // Relies on the CANopen standard
+        bool load_from_cache = 3;
+      }
+
+      uint32 device_address = 1;
+      repeated Parameter parameters = 2;
+      bool send_progress = 3;
+    }
+
+    // Request the list of parameter values for multiple devices
+    message GetMultiDeviceParameterValues {
+      repeated GetDeviceParameterValues collection = 1;
+    }
+
+    // Request changing of parameter values foa a device
+    message SetDeviceParameterValues {
+      message ParameterValue {
+        uint32 index = 1;
+        uint32 subindex = 2;
+        oneof type_value {
+            sint64 int_value = 3;
+            uint64 uint_value = 4;
+            float float_value = 5;
+            string string_value = 6;
+            bytes raw_value = 7;
+        }
+      }
+
+      uint32 device_address = 1;
+      repeated ParameterValue parameter_values = 3;
+    }
+
+    // Request changing of parameter values for a device
+    message SetMultiDeviceParameterValues {
+      repeated SetDeviceParameterValues collection = 1;
+    }
+
+    // Request the list of available files on a device
+    message GetDeviceFileList {
+      uint32 device_address = 1;
+    }
+
+    // Request a file from a device
+    message GetDeviceFile {
+      uint32 device_address = 1;
+      string name = 2;
+    }
+
+    // Request changing or adding a file to a device
+    message SetDeviceFile {
+      uint32 device_address = 1;
+      string name = 2;
+      bytes content = 3;
+      bool overwrite = 4;
+    }
+
+    // Request deletion of a file from a device
+    message DeleteDeviceFile {
+      uint32 device_address = 1;
+      string name = 2;
+    }
+
+    // Request fault reset for a device
+    message ResetDeviceFault {
+      uint32 device_address = 1;
+    }
+
+    // Request a device to stop (e.g. quick stop for CiA402 devices)
+    message StopDevice {
+      uint32 device_address = 1;
+    }
+
+    // Request installation of a firmware package for a device
+    message StartDeviceFirmwareInstallation {
+      uint32 device_address = 1;
+      bytes firmware_package_content = 2; // Original Synapticon firmware zipped package expected
+      bool skip_sii_installation = 3;
+    }
+
+    // Request the internal log file from a device
+    message GetDeviceLog {
+      uint32 device_address = 1;
+    }
+
+    // Start the cogging torque recording procedure for a device
+    message StartCoggingTorqueRecording {
+      uint32 device_address = 1;
+      bool skip_auto_tuning = 2;
+    }
+
+    // Request the cogging torque data for a device
+    message GetCoggingTorqueData {
+      uint32 device_address = 1;
+    }
+
+    // Start the offset detection procedure for a device
+    message StartOffsetDetection {
+      uint32 device_address = 1;
+    }
+
+    // Start the plant identification procedure for a device
+    // DEPRECATED - use StartSystemIdentification
+    message StartPlantIdentification {
+      uint32 device_address = 1;
+      float duration_seconds = 2;
+      uint32 torque_amplitude = 3;
+      uint32 start_frequency = 4;
+      uint32 end_frequency = 5;
+      uint32 cutoff_frequency = 6;
+    }
+
+    // Start the system identification procedure for a device
+    message StartSystemIdentification {
+      uint32 device_address = 1;
+      float duration_seconds = 2;
+      uint32 torque_amplitude = 3;
+      float start_frequency = 4;
+      float end_frequency = 5;
+    }
+
+    // Compute the auto-tuning gains for a device
+    message ComputeAutoTuningGains {
+      message PositionParameters {
+        enum ControllerType {
+          UNSPECIFIED = 0;
+          PI_P = 1;
+          P_PI = 2;
+        }
+
+        ControllerType controller_type = 1;
+        float settling_time = 2;
+        float position_damping = 3;
+        int32 alpha_mult = 4;
+        uint32 order = 5;
+
+        float lb = 6;
+        float ub = 7;
+      }
+
+      message VelocityParameters {
+        float velocity_loop_bandwidth = 1;
+        float velocity_damping = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof type {
+        PositionParameters position_parameters = 2;
+        VelocityParameters velocity_parameters = 3;
+      }
+    }
+
+    // Set a new target for the currently enabled controller on a device
+    message SetMotionControllerParameters {
+      uint32 device_address = 1;
+      int32 target = 2;
+    }
+
+    // Request enabling of a controller on a device
+    message EnableMotionController {
+      enum ControllerType {
+        UNSPECIFIED = 0;
+        POSITION = 1;
+        VELOCITY = 2;
+        TORQUE = 3;
+      }
+
+      uint32 device_address = 1;
+      ControllerType controller_type = 2;
+      bool filter = 3;
+    }
+
+    // Request disabling a controller on a device
+    message DisableMotionController {
+      uint32 device_address = 1;
+    }
+
+    // Configure the signal generator on a device (that will be started using the StartSignalGenerator request)
+    message SetSignalGeneratorParameters {
+      message PositionStepResponse {
+        int64 target = 1;
+        uint32 sustain_time = 2;
+        bool absolute_target = 3;
+      }
+
+      message PositionAdvancedStepResponse {
+        int64 target = 1;
+        uint32 sustain_time = 2;
+        bool repeat = 3;
+        bool absolute_target = 4;
+      }
+
+      message PositionRamp {
+        int64 target = 1;
+        uint32 profile_velocity = 2;
+        uint32 profile_acceleration = 3;
+        uint32 profile_deceleration = 4;
+        uint32 sustain_time = 5;
+        bool master_generated = 6;
+        bool absolute_target = 7;
+      }
+
+      message PositionTrapezoidal {
+        int64 target = 1;
+        uint32 profile_velocity = 2;
+        uint32 profile_acceleration = 3;
+        uint32 profile_deceleration = 4;
+        uint32 sustain_time = 5;
+        bool repeat = 6;
+        bool master_generated = 7;
+        bool absolute_target = 8;
+      }
+
+      message PositionBidirectional {
+        int64 target = 1;
+        uint32 profile_velocity = 2;
+        uint32 profile_acceleration = 3;
+        uint32 profile_deceleration = 4;
+        uint32 sustain_time = 5;
+        bool repeat = 6;
+        bool master_generated = 7;
+        bool absolute_target = 8;
+      }
+
+      message PositionSineWave {
+        int64 amplitude = 1;
+        float frequency = 2;
+        bool repeat = 3;
+        bool absolute_target = 4;
+      }
+
+      message VelocityStepResponse {
+        int32 target = 1;
+        uint32 sustain_time = 2;
+      }
+
+      message VelocityAdvancedStepResponse {
+        int32 target = 1;
+        uint32 sustain_time = 2;
+        bool repeat = 3;
+      }
+
+      message VelocityRamp {
+        int32 target = 1;
+        uint32 profile_acceleration = 2;
+        uint32 profile_deceleration = 3;
+        uint32 sustain_time = 4;
+        bool master_generated = 5;
+      }
+
+      message VelocityTrapezoidal {
+        int32 target = 1;
+        uint32 profile_acceleration = 2;
+        uint32 profile_deceleration = 3;
+        uint32 sustain_time = 4;
+        bool repeat = 5;
+        bool master_generated = 6;
+      }
+
+      message VelocityBidirectional {
+        int32 target = 1;
+        uint32 profile_acceleration = 2;
+        uint32 profile_deceleration = 3;
+        uint32 sustain_time = 4;
+        bool repeat = 5;
+        bool master_generated = 6;
+      }
+
+      message VelocitySineWave {
+        int32 amplitude = 1;
+        float frequency = 2;
+        bool repeat = 3;
+      }
+
+      message TorqueStepResponse {
+        int32 target = 1;
+        uint32 sustain_time = 2;
+      }
+
+      message TorqueAdvancedStepResponse {
+        int32 target = 1;
+        uint32 sustain_time = 2;
+        bool repeat = 3;
+      }
+
+      message TorqueRamp {
+        int32 target = 1;
+        uint32 torque_slope = 2;
+        uint32 sustain_time = 3;
+        bool master_generated = 4;
+      }
+
+      message TorqueTrapezoidal {
+        int32 target = 1;
+        uint32 torque_slope = 2;
+        uint32 sustain_time = 3;
+        bool repeat = 4;
+        bool master_generated = 5;
+      }
+
+      message TorqueBidirectional {
+        int32 target = 1;
+        uint32 torque_slope = 2;
+        uint32 sustain_time = 3;
+        bool repeat = 4;
+        bool master_generated = 5;
+      }
+
+      message TorqueSineWave {
+        int32 amplitude = 1;
+        float frequency = 2;
+        bool repeat = 3;
+      }
+
+      uint32 device_address = 1;
+      oneof signal {
+        PositionStepResponse position_step_response = 2;
+        PositionAdvancedStepResponse position_advanced_step_response = 3;
+        PositionRamp position_ramp = 4;
+        PositionTrapezoidal position_trapezoidal = 5;
+        PositionBidirectional position_bidirectional = 6;
+        PositionSineWave position_sine_wave = 7;
+        VelocityStepResponse velocity_step_response = 8;
+        VelocityAdvancedStepResponse velocity_advanced_step_response = 9;
+        VelocityRamp velocity_ramp = 10;
+        VelocityTrapezoidal velocity_trapezoidal = 11;
+        VelocityBidirectional velocity_bidirectional = 12;
+        VelocitySineWave velocity_sine_wave = 13;
+        TorqueStepResponse torque_step_response = 14;
+        TorqueAdvancedStepResponse torque_advanced_step_response = 15;
+        TorqueRamp torque_ramp = 16;
+        TorqueTrapezoidal torque_trapezoidal = 17;
+        TorqueBidirectional torque_bidirectional = 18;
+        TorqueSineWave torque_sine_wave = 19;
+      }
+    }
+
+    // Request starting a preset signal generator on a device
+    message StartSignalGenerator {
+      uint32 device_address = 1;
+    }
+
+    // Request stopping a signal generator on a device
+    message StopSignalGenerator {
+      uint32 device_address = 1;
+    }
+
+    // Request monitoring a set of parameters on a device
+    message StartMonitoringDeviceParameterValues {
+      GetDeviceParameterValues get_device_parameter_values = 1;
+      uint32 interval = 2;
+      string topic = 3;
+    }
+
+    // Request stopping a monitoring process on a device
+    message StopMonitoringDeviceParameterValues {
+      string start_monitoring_request_id = 1;
+    }
+
+    // Request the current EtherCAT network state of a device
+    message GetEthercatNetworkState {
+      uint32 device_address = 1;
+    }
+
+    // Request setting an EtherCAT network state for a device
+    message SetEthercatNetworkState {
+      enum State {
+        UNSPECIFIED = 0;
+        INIT = 1;
+        PREOP = 2;
+        BOOT = 3;
+        SAFEOP = 4;
+        OP = 5;
+      }
+
+      uint32 device_address = 1;
+      State state = 2;
+    }
+
+    // Request starting a narrow angle calibration procedure on a device
+    // DEPRECATED - use StartCirculoEncoderNarrowAngleCalibrationProcedure instead
+    message StartNarrowAngleCalibration {
+      uint32 device_address = 1;
+    }
+
+    // Set a desired timeout before disconnecting a non-responsive client
+    message SetSystemClientTimeout {
+      uint32 timeout_ms = 1; // Default 1000ms; 50ms increments; minimum 50ms
+    }
+
+    message GetCirculoEncoderMagnetDistance {
+      uint32 device_address = 1;
+      uint32 encoder_ordinal = 2;
+      uint32 ring_revision = 3;
+    }
+
+    message StartCirculoEncoderNarrowAngleCalibrationProcedure {
+      uint32 device_address = 1;
+      uint32 encoder_ordinal = 2;
+    }
+
+    // Request the current CiA402 state of a device
+    message GetDeviceCiA402State {
+      uint32 device_address = 1;
+    }
+
+    // Request setting a CiA402 state for a device
+    message SetDeviceCiA402State {
+      enum State {
+        UNSPECIFIED = 0;
+        NOT_READY = 1;
+        SWITCH_ON_DISABLED = 2;
+        READY_SWITCH_ON = 3;
+        SWITCHED_ON = 4;
+        OP_ENABLED = 5;
+        QUICK_STOP_ACTIVE = 6;
+        FAULT_REACTION_ACTIVE = 7;
+        FAULT = 8;
+      }
+
+      uint32 device_address = 1;
+      State state = 2;
+    }
+
+    message GetSystemLog {}
+
+    message StartDeviceSiiRestore {
+      uint32 device_position = 1; // Device position in the ECAT chain
+      bytes sii_content = 2;
+    }
+
+    message StartOpenLoopFieldControl {
+      uint32 device_address = 1;
+      int64 angle = 2; // Target angle in degrees of rotation
+      uint32 velocity = 3; // Max profile velocity in RPM
+      uint32 acceleration = 4; // RPM/s
+      uint32 torque = 5; // Permilles of nominal torque
+      uint32 torque_speed = 6; // Permille/s
+    }
+
+    // DEPRECATED - use StartFullAutoTuning
+    message ComputeFullAutoTuningGains {
+      enum Type {
+        POSITION = 0;
+        VELOCITY = 1;
+      }
+
+      enum ControllerType {
+        UNSPECIFIED = 0;
+        PI_P = 1;
+        P_PI = 2;
+      }
+
+      uint32 device_address = 1;
+      Type type = 2;
+      ControllerType controller_type = 3;  // Used for full position AT only
+    }
+
+    message StartFullAutoTuning {
+      enum Type {
+        POSITION = 0;
+        VELOCITY = 1;
+      }
+
+      enum ControllerType {
+        UNSPECIFIED = 0;
+        PI_P = 1;
+        P_PI = 2;
+      }
+
+      uint32 device_address = 1;
+      Type type = 2;
+      ControllerType controller_type = 3; // Used for full position AT only
+    }
+
+    message StopFullAutoTuning {
+      uint32 device_address = 1;
+    }
+
+    message StartCirculoEncoderConfiguration {
+      uint32 device_address = 1;
+      uint32 encoder_ordinal = 2;
+    }
+
+    message StopCirculoEncoderNarrowAngleCalibrationProcedure {
+      uint32 device_address = 1;
+      uint32 encoder_ordinal = 2;
+    }
+
+    message StartOsCommand {
+      uint32 device_address = 1;
+      uint32 timeout_ms = 2;
+      bytes command = 3;
+    }
+  }
+
+  // Message used for Motion Master -> client communication
+  message Status {
+    reserved 1 to 100, 135 to 1000; // Synapticon reserved
+    oneof type {
+      SystemPong system_pong = 101;
+      SystemVersion system_version = 102;
+      SystemEvent system_event = 103;
+      DeviceInfo device_info = 104;
+      DeviceParameterInfo device_parameter_info = 105;
+      DeviceParameterValues device_parameter_values = 106;
+      MultiDeviceParameterValues multi_device_parameter_values = 107;
+      DeviceFileList device_file_list = 108;
+      DeviceFile device_file = 109;
+      DeviceEvent device_event = 110;
+      DeviceFirmwareInstallation device_firmware_installation = 111;
+      DeviceLog device_log = 112;
+      DeviceFaultReset device_fault_reset = 113;
+      CoggingTorqueRecording cogging_torque_recording = 114;
+      CoggingTorqueData cogging_torque_data = 115;
+      OffsetDetection offset_detection = 116;
+      PlantIdentification plant_identification = 117 [deprecated=true];
+      AutoTuning auto_tuning = 118;
+      MotionController motion_controller = 119;
+      SignalGenerator signal_generator = 120;
+      MonitoringParameterValues monitoring_parameter_values = 121;
+      DeviceStop device_stop = 122;
+      EthercatNetworkState ethercat_network_state = 123;
+      NarrowAngleCalibration narrow_angle_calibration = 124 [deprecated=true];
+      SystemIdentification system_identification = 125;
+      CirculoEncoderMagnetDistance circulo_encoder_magnet_distance = 126;
+      CirculoEncoderNarrowAngleCalibrationProcedure circulo_encoder_narrow_angle_calibration_procedure = 127;
+      DeviceCiA402State device_cia402_state = 128;
+      SystemLog system_log = 129;
+      DeviceSiiRestore device_sii_restore = 130;
+      OpenLoopFieldControl open_loop_field_control = 131;
+      FullAutoTuning full_auto_tuning = 132;
+      CirculoEncoderConfiguration circulo_encoder_configuration = 133;
+      OsCommand os_command = 134;
+    }
+
+    // RESPONSE MESSAGES
+    // Used by Motion Master to notify its clients that it is present and alive
+    message SystemPong {}
+
+    // Returns the current Motion Master version
+    message SystemVersion {
+      string version = 1;
+    }
+
+    // Notifies the clients about certain system (Motion Master) events
+    message SystemEvent {
+      message Info {
+        enum Code {
+          UNSPECIFIED = 0;
+          SLAVE_NUMBER_CHANGED = 1;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Warning {
+        enum Code {
+          UNSPECIFIED = 0;
+          DROPPING_CONNECTION = 1; // Notify a client that Motion Master will drop its connection
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          UNKNOWN_MESSAGE_TYPE = 1;
+          CANNOT_DETECT_SLAVES = 2;
+          INVALID_DEVICE_ADDRESS = 3;
+          CONFIGURATION_RELOAD_FAILED = 4;
+          HARDWARE_DESCRIPTION_MISSING = 5;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      // Notify clients about the current Motion Master state
+      enum State {
+        UNSPECIFIED = 0;
+        WAITING_FOR_SLAVES = 1;
+        SLAVES_FOUND = 2;
+        INITIALIZING = 3;
+        INITIALIZED = 4;
+        DEINITIALIZING = 5;
+        DEINITIALIZED = 6;
+        TERMINATING = 7;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Info info = 2;
+        Success success = 3;
+        Warning warning = 4;
+        Error error = 5;
+        State state = 6;
+      }
+    }
+
+    // Returns some basic data about currently available devices
+    message DeviceInfo {
+      message Device {
+        enum Type {
+          UNSPECIFIED = 0;
+          SOMANET_CIA401_ETHERCAT = 1;
+          SOMANET_CIA402_ETHERCAT = 2;
+        }
+
+        uint32 device_address = 1;
+        Type type = 2;
+        uint32 position = 3;
+        uint32 alias = 4;
+      }
+
+      repeated Device devices = 1;
+    }
+
+    // Returns a list with information about all available parameters on a device
+    message DeviceParameterInfo {
+      message Parameter {
+        enum ValueType {
+          UNSPECIFIED = 0;
+          BOOLEAN = 1;           // 1: BOOL/BIT - Boolean - 1 bit
+          INTEGER8 = 2;          // 2: SINT - Short integer - 8 bits
+          INTEGER16 = 3;         // 3: INT - Integer - 16 bits
+          INTEGER32 = 4;         // 4: DINT - Double integer - 32 bits
+          UNSIGNED8 = 5;         // 5: USINT - Unsigned short integer - 8 bits
+          UNSIGNED16 = 6;        // 6: UINT - Unsigned integer - 16 bits
+          UNSIGNED32 = 7;        // 7: UDINT - Unsigned double integer - 32 bits
+          REAL32 = 8;            // 8: REAL32 - Floating point - 32 bits
+          VISIBLE_STRING = 9;    // 9: STRING(n) - Visible string - 8^n bits
+          OCTET_STRING = 10;     // 10: ARRAY[0..n] OF BYTE - Sequence of octets - 8^(n+1) bits
+          UNICODE_STRING = 11;   // 11: ARRAY[0..n] OF UINT - Sequence of UINT - 16^(n+1) bits
+          TIME_OF_DAY = 12;      // 12: Time of day - 48 bits
+        }
+
+        uint32 index = 1;
+        uint32 subindex = 2; // Relies on the CANopen standard
+        string name = 3;
+        string unit = 4;
+        string group = 5;
+        bool read_access = 6;
+        bool write_access = 7;
+        int32 min = 8;
+        int32 max = 9;
+        ValueType value_type = 10;
+      }
+
+      uint32 device_address = 1;
+      repeated Parameter parameters = 2;
+    }
+
+    // Returns the values of requested parameters and/or statuses of requested actions on them
+    message DeviceParameterValues {
+      message ParameterValue {
+        message Success {
+          enum Code {
+            UNSPECIFIED = 0;
+            DONE = 1;
+            CHANGED = 2;
+          }
+
+          Code code = 1;
+          string message = 2;
+        }
+
+        message Error {
+          enum Code {
+            UNSPECIFIED = 0;
+            NOT_FOUND = 1;
+            CANNOT_REFRESH_VALUE = 2;
+            NOT_CHANGED = 3;
+          }
+
+          Code code = 1;
+          string message = 2;
+        }
+
+        uint32 index = 1;
+        uint32 subindex = 2; // Relies on the CANopen standard
+        oneof type_value {
+            sint64 int_value = 3;
+            uint64 uint_value = 4;
+            float float_value = 5;
+            string string_value = 6;
+            bytes raw_value = 7;
+        }
+
+        oneof status {
+          Success success = 8;
+          Error error = 9;
+        }
+      }
+
+      message Progress {
+        uint32 percentage = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      repeated ParameterValue parameter_values = 2;
+      Progress progress = 3;
+    }
+
+    // Returns DeviceParameterValues responses for multiple devices
+    message MultiDeviceParameterValues {
+      repeated DeviceParameterValues collection = 1;
+    }
+
+    // Returns a list of files for a device
+    message DeviceFileList {
+      message FileList {
+        repeated string files = 1;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          NOT_SUPPORTED = 1;
+        }
+        
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof data {
+        FileList file_list = 2; // Wrapped in a nested message because "repeated" is not allowed in oneof
+        Error error = 3;
+      }
+    }
+
+    // Returns a file from a device and/or the status of a requested file operation
+    message DeviceFile {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          SET = 1;
+          DELETED = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          NOT_FOUND = 1;
+          FAILED = 2;
+          NOT_SUPPORTED = 3;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      string name = 2;
+      oneof data {
+        bytes content = 3;
+        Success success = 4;
+        Error error = 5;
+      }
+    }
+
+    // Notifies the clients about device events
+    message DeviceEvent {
+      message Info {
+        uint32 code = 1;
+        string message = 2;
+      }
+
+      message Success {
+        uint32 code = 1;
+        string message = 2;
+      }
+
+      message Warning {
+        uint32 code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        uint32 code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Info info = 2;
+        Success success = 3;
+        Warning warning = 4;
+        Error error = 5;
+      }
+    }
+
+    // Returns the status of a device firmware installation
+    message DeviceFirmwareInstallation {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          PACKAGE_CORRUPTED = 1;
+          SII_CORRUPTED = 2;
+          IMAGE_NOT_FOUND = 3;
+          REFUSED = 4;
+          NOT_SUPPORTED = 5;
+          SII_WRITE_FAILED = 6;
+          FILE_WRITE_FAILED = 7;
+          FILE_DELETE_FAILED = 8;
+          DEVICE_NOT_FOUND = 9;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Progress {
+        uint32 percentage = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Error error = 3;
+        Progress progress = 4;
+      }
+    }
+
+    // Returns the log file from a device
+    message DeviceLog {
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          NOT_FOUND = 1;
+          NOT_SUPPORTED = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof data {
+        string content = 2;
+        Error error = 3;
+      }
+    }
+
+    // Returns the status of a device fault reset
+    message DeviceFaultReset {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          DONE = 1;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Warning {
+        enum Code {
+          UNSPECIFIED = 0;
+          NO_FAULT = 1;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          FAILED = 1;
+          TIMED_OUT = 2;
+          NOT_SUPPORTED = 3;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Warning warning = 3;
+        Error error = 4;
+      }
+    }
+
+    // Returns the status of the cogging torque recording procedure
+    message CoggingTorqueRecording {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          FAILED_HALL_SENSOR = 1;
+          INVALID_RESOLUTION = 2;
+          NO_COMMUTATION_SENSOR = 3;
+          NO_COMMUTATION_AND_MOTION_SENSOR = 4;
+          POSITION_CONTROLLER_NOT_TUNED = 5;
+          INIT_FAILED = 6;
+          FAILED = 7;
+          ABORTED = 8;
+          TIMEOUT = 9;
+          SAVING_FAILED = 10;
+          SAVING_ABORTED = 11;
+          SAVING_TIMEOUT = 12;
+          NO_POSITION_CONTROL_FUNCTION = 13;
+          NOT_SUPPORTED = 14;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Error error = 3;
+      }
+    }
+
+    // Returns the cogging torque data from a device
+    message CoggingTorqueData {
+      message Table {
+        repeated int32 data = 1;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          NOT_FOUND = 1;
+          CORRUPTED = 2;
+          NOT_SUPPORTED = 3;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof data {
+        Table table = 4;
+        Error error = 5;
+      }
+    }
+
+    // Returns the status of the offset detection procedure
+    message OffsetDetection {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          INIT_FAILED = 1;
+          TIMEOUT = 2;
+          FAILED = 3;
+          ABORTED = 4;
+          NOT_SUPPORTED = 5;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Error error = 3;
+      }
+    }
+
+    // Returns the status of the plant identification procedure
+    // DEPRECATED - use SystemIdentification instead
+    message PlantIdentification {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          NO_POSITION_CONTROL_SENSOR = 1;
+          INIT_FAILED = 2;
+          FAILED = 3;
+          ABORTED = 4;
+          TIMED_OUT = 5;
+          ZERO_TORQUE_AMPLITUDE = 6;
+          ZERO_VELOCITY_AMPLITUDE = 7;
+          WRONG_SENSOR_POLARITY = 8;
+          SMALL_MOTION_AMPLITUDE = 9;
+          NOT_SUPPORTED = 10;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Error error = 3;
+      }
+    }
+
+    // Returns the status of the system identification procedure
+    message SystemIdentification {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          NO_POSITION_CONTROL_SENSOR = 1;
+          INIT_FAILED = 2;
+          FAILED = 3;
+          ABORTED = 4;
+          TIMED_OUT = 5;
+          ZERO_TORQUE_AMPLITUDE = 6;
+          ZERO_VELOCITY_AMPLITUDE = 7;
+          WRONG_SENSOR_POLARITY = 8;
+          SMALL_MOTION_AMPLITUDE = 9;
+          NOT_SUPPORTED = 10;
+          INSUFFICIENT_VELOCITY_RESOLUTION = 11;
+          BAD_DATA_QUALITY = 12;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Warning {
+        enum Code {
+          UNSPECIFIED = 0;
+          SMALL_VELOCITY_AMPLITUDE = 1;
+          LOW_DATA_QUALITY = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Error error = 3;
+        Warning warning = 4;
+      }
+    }
+
+    // Returns the status of the auto-tuning procedure
+    message AutoTuning {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          POSITION_STARTED = 1;
+          POSITION_DONE = 2;
+          VELOCITY_STARTED = 3;
+          VELOCITY_DONE = 4;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Warning {
+        enum Code {
+          UNSPECIFIED = 0;
+          SETTLING_TIME_NOT_REACHED = 1;
+          VELOCITY_UNSTABLE = 2;
+          SMALL_VELOCITY_AMPLITUDE = 3 [deprecated=true];
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          PLANT_MODEL_INVALID = 1;
+          PLANT_MODEL_NOT_FOUND = 2;
+          CANNOT_ACHIEVE_SETTLING_TIME = 3;
+          POSITION_FAILED = 4;
+          VELOCITY_FAILED = 5;
+          NOT_SUPPORTED = 6;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Warning warning = 3;
+        Error error = 4;
+      }
+    }
+
+    // Returns the current status of a controller for a device
+    message MotionController {
+      enum ControllerType {
+        UNSPECIFIED = 0;
+        POSITION = 1;
+        VELOCITY = 2;
+        TORQUE = 3;
+      }
+
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          DONE = 1;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          CANNOT_GET_STATE = 1;
+          CANNOT_GET_OP_MODE = 2;
+          CANNOT_SET_STATE = 3;
+          CANNOT_SET_OP_MODE = 4;
+          CANNOT_SET_STATE_OP_MODE = 5;
+          FAULT_STATE = 6;
+          NOT_SUPPORTED = 7;
+          IN_PROGRESS = 8;
+          ABORTED = 9;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      ControllerType controller_type = 2;
+      bool enabled = 3;
+      bool filter = 4;
+      oneof status {
+        Success success = 5;
+        Error error = 6;
+      }
+    }
+
+    // Returns the status of a currently active signal generator on a device
+    message SignalGenerator {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+          PARAMETERS_SET = 3;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Warning {
+        enum Code {
+          UNSPECIFIED = 0;
+          ACC_DEC_VEL_CONSTRAINT = 1; // Will continue with the signal generator execution, but with reduced velocity because of the acc/dec constraint
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          CANNOT_GET_STATE = 1;
+          CANNOT_GET_OP_MODE = 2;
+          CANNOT_SET_STATE = 3;
+          CANNOT_SET_OP_MODE = 4;
+          CANNOT_SET_STATE_OP_MODE = 5;
+          FAULT_STATE = 6;
+          NOT_SUPPORTED = 7;
+          NOT_DEFINED = 8;
+          ALREADY_RUNNING = 9;
+          ABORTED = 10;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Warning warning = 3;
+        Error error = 4;
+      }
+    }
+
+    // Returns the list of monitored parameter values for a device, as well as the status of the requested monitoring
+    message MonitoringParameterValues {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          DONE = 1;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Warning {
+        enum Code {
+          UNSPECIFIED = 0;
+          PARAMETERS_MISSING = 1; // Some of the requested parameters are missing, but the request has been accepted
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          REFUSED = 1;
+          NOT_SUPPORTED = 2;
+          INVALID = 3; // Invalid monitoring request - none of the requested parameters are available
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      DeviceParameterValues device_parameter_values = 1;
+      uint32 timestamp = 2;
+      oneof status {
+        Success success = 3;
+        Warning warning = 4;
+        Error error = 5;
+      }
+    }
+
+    // Returns the status of the device stop request
+    message DeviceStop {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          DONE = 1;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          TIMED_OUT = 1;
+          NOT_SUPPORTED = 2;
+          FAILED = 3;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Error error = 3;
+      }
+    }
+
+    // Returns the current EtherCAT network state of a device, or the status of the requested EtherCAT network state change
+    message EthercatNetworkState {
+      enum State {
+        UNSPECIFIED = 0;
+        INIT = 1;
+        PREOP = 2;
+        BOOT = 3;
+        SAFEOP = 4;
+        OP = 5;
+      }
+
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          DONE = 1;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          TIMED_OUT = 1;
+          NOT_SUPPORTED = 2;
+          UNKNOWN_STATE = 3;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        State state = 2;
+        Success success = 3;
+        Error error = 4;
+      }
+    }
+
+    // Returns the status of the narrow angle calibration procedure
+    // DEPRECATED - use CirculoEncoderNarrowAngleCalibrationProcedure instead
+    message NarrowAngleCalibration {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          INIT_FAILED = 1;
+          FAILED = 2;
+          ABORTED = 3;
+          TIMED_OUT = 4;
+          NOT_SUPPORTED = 5;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Error error = 3;
+      }
+    }
+
+    message CirculoEncoderMagnetDistance {
+      uint32 device_address = 1;
+      uint32 encoder_ordinal = 2;
+      float distance = 3;
+      sint64 position = 4;
+    }
+
+    message CirculoEncoderNarrowAngleCalibrationProcedure {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+          STOPPING = 3;
+          STOPPED = 4;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          INIT_FAILED = 1;
+          FAILED = 2;
+          ABORTED = 3;
+          TIMED_OUT = 4;
+          NOT_SUPPORTED = 5;
+          ALREADY_RUNNING = 6;
+          NOT_RUNNING = 7;
+          OUTSIDE_POSITION_LIMITS = 8;
+          ABSOLUTE_POSITION_RESET_FAILED = 9;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Progress {
+        uint32 iteration = 1;
+        repeated int64 phase_error = 2;
+        repeated double position = 3;
+        bool final = 4;
+      }
+
+      message Warning {
+        enum Code {
+          UNSPECIFIED = 0;
+          MAX_MOTOR_SPEED_TOO_LOW = 1;
+          AUTO_COMMUTATION_OFFSET_MEASUREMENT_FAILED = 2;
+          NARROW_MOTION_RANGE = 3;
+          ABSOLUTE_POSITION_CHANGED = 4;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      uint32 encoder_ordinal = 2;
+      oneof status {
+        Success success = 3;
+        Error error = 4;
+        Progress progress = 5;
+        Warning warning = 6;
+      }
+    }
+
+    // Returns the current CiA402 state of a device, or the status of the requested CiA402 state change
+    message DeviceCiA402State {
+      enum State {
+        UNSPECIFIED = 0;
+        NOT_READY = 1;
+        SWITCH_ON_DISABLED = 2;
+        READY_SWITCH_ON = 3;
+        SWITCHED_ON = 4;
+        OP_ENABLED = 5;
+        QUICK_STOP_ACTIVE = 6;
+        FAULT_REACTION_ACTIVE = 7;
+        FAULT = 8;
+      }
+
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          DONE = 1;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          TIMED_OUT = 1;
+          FAILED = 2;
+          FAULT = 3;
+          NOT_SUPPORTED = 4;
+          UNKNOWN_STATE = 5;
+          ABORTED = 6;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        State state = 2;
+        Success success = 3;
+        Error error = 4;
+      }
+    }
+
+    message SystemLog {
+      string content = 1;
+      string run_env = 2;
+    }
+
+    message DeviceSiiRestore {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          SII_CORRUPTED = 1;
+          REFUSED = 2;
+          NOT_SUPPORTED = 3;
+          SII_WRITE_FAILED = 4;
+          DEVICE_NOT_FOUND = 5;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_position = 1; // Device position in the ECAT chain
+      oneof status {
+        Success success = 2;
+        Error error = 3;
+      }
+    }
+
+    message OpenLoopFieldControl {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          CANNOT_GET_STATE = 1;
+          CANNOT_GET_OP_MODE = 2;
+          CANNOT_SET_STATE = 3;
+          CANNOT_SET_OP_MODE = 4;
+          CANNOT_SET_STATE_OP_MODE = 5;
+          FAULT_STATE = 6;
+          NOT_SUPPORTED = 7;
+          ALREADY_RUNNING = 8;
+          ABORTED = 9;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      oneof status {
+        Success success = 2;
+        Error error = 3;
+      }
+    }
+
+    message FullAutoTuning {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          POSITION_STARTED = 1;
+          POSITION_DONE = 2;
+          VELOCITY_STARTED = 3;
+          VELOCITY_DONE = 4;
+          POSITION_STOPPING = 5;
+          VELOCITY_STOPPING = 6;
+          POSITION_STOPPED = 7;
+          VELOCITY_STOPPED = 8;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          PLANT_MODEL_INVALID = 1;
+          PLANT_MODEL_NOT_FOUND = 2;
+          POSITION_FAILED = 3;
+          VELOCITY_FAILED = 4;
+          NOT_SUPPORTED = 5;
+          ALREADY_RUNNING = 6;
+          NOT_RUNNING = 7;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Progress {
+        uint32 percentage = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      double damping_ratio = 2;
+
+      oneof settling_time_or_bandwidth {
+        double settling_time = 3;
+        double bandwidth = 4;
+      }
+
+      oneof status {
+        Success success = 5;
+        Error error = 6;
+        Progress progress = 7;
+      }
+    }
+
+    message CirculoEncoderConfiguration {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          ALREADY_RUNNING = 1;
+          FAILED = 2;
+          NOT_SUPPORTED = 3;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Progress {
+        uint32 percentage = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      uint32 encoder_ordinal = 2;
+      oneof status {
+        Success success = 3;
+        Error error = 4;
+        Progress progress = 5;
+      }
+    }
+
+    message OsCommand {
+      message Success {
+        enum Code {
+          UNSPECIFIED = 0;
+          STARTED = 1;
+          DONE = 2;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Error {
+        enum Code {
+          UNSPECIFIED = 0;
+          NOT_ALLOWED = 1;
+          ABORTED = 2;
+          TIMEOUT = 3;
+          UNSUPPORTED_OS_COMMAND = 4;
+          ALREADY_RUNNING = 5;
+          FAILED = 6;
+          NOT_SUPPORTED = 7;
+        }
+
+        Code code = 1;
+        string message = 2;
+      }
+
+      message Progress {
+        uint32 percentage = 1;
+        string message = 2;
+      }
+
+      uint32 device_address = 1;
+      bytes response = 2;
+      oneof status {
+        Success success = 3;
+        Error error = 4;
+        Progress progress = 5;
+      }
+    }
+  }
+}