asimov-protocol 1.2.1rc2__py3-none-any.whl

asimov_protocol/__init__.py

@@ -0,0 +1,13 @@
+"""Asimov robot protocol buffers (generated package).
+
+Usage:
+    from asimov_protocol.v1 import asimov_command_pb2, asimov_common_pb2
+
+    cmd = asimov_command_pb2.RobotCommand()
+    cmd.mode = asimov_common_pb2.CONTROL_MODE_MOVE
+"""
+
+from . import v1
+
+__version__ = "1.2.1rc2"
+__all__ = ["v1"]

asimov_protocol/v1/__init__.py

@@ -0,0 +1,20 @@
+"""Asimov protocol v1 — generated protobuf modules (do not hand-edit)."""
+from . import asimov_command_pb2
+from . import asimov_common_pb2
+from . import asimov_diagnostics_pb2
+from . import asimov_state_pb2
+from . import edge_cloud_pb2
+from . import edge_eol_pb2
+from . import edge_pb2
+from . import nanopb_pb2
+
+__all__ = [
+    "asimov_command_pb2",
+    "asimov_common_pb2",
+    "asimov_diagnostics_pb2",
+    "asimov_state_pb2",
+    "edge_cloud_pb2",
+    "edge_eol_pb2",
+    "edge_pb2",
+    "nanopb_pb2",
+]

asimov_protocol/v1/asimov_command_pb2.py

@@ -0,0 +1,50 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: asimov_command.proto
+# Protobuf Python Version: 5.29.3
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    29,
+    3,
+    '',
+    'asimov_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from . import asimov_common_pb2 as asimov__common__pb2
+from . import nanopb_pb2 as nanopb__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x14\x61simov_command.proto\x12\tasimov.io\x1a\x13\x61simov_common.proto\x1a\x0cnanopb.proto\"E\n\x0fVelocityCommand\x12\x0e\n\x02vx\x18\x01 \x01(\x02R\x02vx\x12\x0e\n\x02vy\x18\x02 \x01(\x02R\x02vy\x12\x12\n\x04vyaw\x18\x03 \x01(\x02R\x04vyaw\"b\n\rAllTrajectory\x12#\n\tpositions\x18\x01 \x03(\x02\x42\x05\x92?\x02\x10\x19R\tpositions\x12\x15\n\x02kp\x18\x02 \x03(\x02\x42\x05\x92?\x02\x10\x19R\x02kp\x12\x15\n\x02kd\x18\x03 \x03(\x02\x42\x05\x92?\x02\x10\x19R\x02kd\"\xaf\x01\n\nEolCommand\x12,\n\x06\x61\x63tion\x18\x01 \x01(\x0e\x32\x14.asimov.io.EolActionR\x06\x61\x63tion\x12\x19\n\x08motor_id\x18\x02 \x01(\rR\x07motorId\x12\x1a\n\x08position\x18\x03 \x01(\x02R\x08position\x12\x0e\n\x02kp\x18\x04 \x01(\x02R\x02kp\x12\x0e\n\x02kd\x18\x05 \x01(\x02R\x02kd\x12\x1c\n\nnew_can_id\x18\x06 \x01(\rR\x08newCanId\"\xa2\x03\n\x0cRobotCommand\x12*\n\x04mode\x18\x01 \x01(\x0e\x32\x16.asimov.io.ControlModeR\x04mode\x12\x42\n\x0f\x63ommand_control\x18\x02 \x01(\x0e\x32\x19.asimov.io.CommandControlR\x0e\x63ommandControl\x12\x34\n\x06policy\x18\x03 \x01(\x0b\x32\x1a.asimov.io.VelocityCommandH\x00R\x06policy\x12\x41\n\x0e\x61ll_trajectory\x18\x05 \x01(\x0b\x32\x18.asimov.io.AllTrajectoryH\x00R\rallTrajectory\x12)\n\x03\x65ol\x18\t \x01(\x0b\x32\x15.asimov.io.EolCommandH\x00R\x03\x65ol\x12!\n\x0ctimestamp_us\x18\x06 \x01(\x04R\x0btimestampUs\x12\x1a\n\x08sequence\x18\x07 \x01(\rR\x08sequence\x12)\n\x10protocol_version\x18\x08 \x01(\rR\x0fprotocolVersionB\x0e\n\x0c\x63ommand_dataJ\x04\x08\x04\x10\x05\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'asimov_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ALLTRAJECTORY'].fields_by_name['positions']._loaded_options = None
+  _globals['_ALLTRAJECTORY'].fields_by_name['positions']._serialized_options = b'\222?\002\020\031'
+  _globals['_ALLTRAJECTORY'].fields_by_name['kp']._loaded_options = None
+  _globals['_ALLTRAJECTORY'].fields_by_name['kp']._serialized_options = b'\222?\002\020\031'
+  _globals['_ALLTRAJECTORY'].fields_by_name['kd']._loaded_options = None
+  _globals['_ALLTRAJECTORY'].fields_by_name['kd']._serialized_options = b'\222?\002\020\031'
+  _globals['_VELOCITYCOMMAND']._serialized_start=70
+  _globals['_VELOCITYCOMMAND']._serialized_end=139
+  _globals['_ALLTRAJECTORY']._serialized_start=141
+  _globals['_ALLTRAJECTORY']._serialized_end=239
+  _globals['_EOLCOMMAND']._serialized_start=242
+  _globals['_EOLCOMMAND']._serialized_end=417
+  _globals['_ROBOTCOMMAND']._serialized_start=420
+  _globals['_ROBOTCOMMAND']._serialized_end=838
+# @@protoc_insertion_point(module_scope)

asimov_protocol/v1/asimov_command_pb2.pyi

@@ -0,0 +1,64 @@
+from . import asimov_common_pb2 as _asimov_common_pb2
+from . import nanopb_pb2 as _nanopb_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Iterable as _Iterable, Mapping as _Mapping, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class VelocityCommand(_message.Message):
+    __slots__ = ("vx", "vy", "vyaw")
+    VX_FIELD_NUMBER: _ClassVar[int]
+    VY_FIELD_NUMBER: _ClassVar[int]
+    VYAW_FIELD_NUMBER: _ClassVar[int]
+    vx: float
+    vy: float
+    vyaw: float
+    def __init__(self, vx: _Optional[float] = ..., vy: _Optional[float] = ..., vyaw: _Optional[float] = ...) -> None: ...
+
+class AllTrajectory(_message.Message):
+    __slots__ = ("positions", "kp", "kd")
+    POSITIONS_FIELD_NUMBER: _ClassVar[int]
+    KP_FIELD_NUMBER: _ClassVar[int]
+    KD_FIELD_NUMBER: _ClassVar[int]
+    positions: _containers.RepeatedScalarFieldContainer[float]
+    kp: _containers.RepeatedScalarFieldContainer[float]
+    kd: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, positions: _Optional[_Iterable[float]] = ..., kp: _Optional[_Iterable[float]] = ..., kd: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class EolCommand(_message.Message):
+    __slots__ = ("action", "motor_id", "position", "kp", "kd", "new_can_id")
+    ACTION_FIELD_NUMBER: _ClassVar[int]
+    MOTOR_ID_FIELD_NUMBER: _ClassVar[int]
+    POSITION_FIELD_NUMBER: _ClassVar[int]
+    KP_FIELD_NUMBER: _ClassVar[int]
+    KD_FIELD_NUMBER: _ClassVar[int]
+    NEW_CAN_ID_FIELD_NUMBER: _ClassVar[int]
+    action: _asimov_common_pb2.EolAction
+    motor_id: int
+    position: float
+    kp: float
+    kd: float
+    new_can_id: int
+    def __init__(self, action: _Optional[_Union[_asimov_common_pb2.EolAction, str]] = ..., motor_id: _Optional[int] = ..., position: _Optional[float] = ..., kp: _Optional[float] = ..., kd: _Optional[float] = ..., new_can_id: _Optional[int] = ...) -> None: ...
+
+class RobotCommand(_message.Message):
+    __slots__ = ("mode", "command_control", "policy", "all_trajectory", "eol", "timestamp_us", "sequence", "protocol_version")
+    MODE_FIELD_NUMBER: _ClassVar[int]
+    COMMAND_CONTROL_FIELD_NUMBER: _ClassVar[int]
+    POLICY_FIELD_NUMBER: _ClassVar[int]
+    ALL_TRAJECTORY_FIELD_NUMBER: _ClassVar[int]
+    EOL_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_US_FIELD_NUMBER: _ClassVar[int]
+    SEQUENCE_FIELD_NUMBER: _ClassVar[int]
+    PROTOCOL_VERSION_FIELD_NUMBER: _ClassVar[int]
+    mode: _asimov_common_pb2.ControlMode
+    command_control: _asimov_common_pb2.CommandControl
+    policy: VelocityCommand
+    all_trajectory: AllTrajectory
+    eol: EolCommand
+    timestamp_us: int
+    sequence: int
+    protocol_version: int
+    def __init__(self, mode: _Optional[_Union[_asimov_common_pb2.ControlMode, str]] = ..., command_control: _Optional[_Union[_asimov_common_pb2.CommandControl, str]] = ..., policy: _Optional[_Union[VelocityCommand, _Mapping]] = ..., all_trajectory: _Optional[_Union[AllTrajectory, _Mapping]] = ..., eol: _Optional[_Union[EolCommand, _Mapping]] = ..., timestamp_us: _Optional[int] = ..., sequence: _Optional[int] = ..., protocol_version: _Optional[int] = ...) -> None: ...

asimov_protocol/v1/asimov_common_pb2.py

@@ -0,0 +1,40 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: asimov_common.proto
+# Protobuf Python Version: 5.29.3
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    29,
+    3,
+    '',
+    'asimov_common.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x61simov_common.proto\x12\tasimov.io*Y\n\x0b\x43ontrolMode\x12\x15\n\x11\x43ONTROL_MODE_DAMP\x10\x00\x12\x16\n\x12\x43ONTROL_MODE_STAND\x10\x01\x12\x15\n\x11\x43ONTROL_MODE_MOVE\x10\x02\"\x04\x08\x03\x10\x03*R\n\x0e\x43ommandControl\x12\x1a\n\x16\x43OMMAND_CONTROL_POLICY\x10\x00\x12\x1e\n\x1a\x43OMMAND_CONTROL_TRAJECTORY\x10\x01\"\x04\x08\x02\x10\x02*[\n\tEolAction\x12\x12\n\x0e\x45OL_MOVE_MOTOR\x10\x00\x12\x14\n\x10\x45OL_ZERO_ENCODER\x10\x01\x12\x12\n\x0e\x45OL_SET_CAN_ID\x10\x02\x12\x10\n\x0c\x45OL_FINALIZE\x10\x03\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'asimov_common_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_CONTROLMODE']._serialized_start=34
+  _globals['_CONTROLMODE']._serialized_end=123
+  _globals['_COMMANDCONTROL']._serialized_start=125
+  _globals['_COMMANDCONTROL']._serialized_end=207
+  _globals['_EOLACTION']._serialized_start=209
+  _globals['_EOLACTION']._serialized_end=300
+# @@protoc_insertion_point(module_scope)

asimov_protocol/v1/asimov_common_pb2.pyi

@@ -0,0 +1,32 @@
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class ControlMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    CONTROL_MODE_DAMP: _ClassVar[ControlMode]
+    CONTROL_MODE_STAND: _ClassVar[ControlMode]
+    CONTROL_MODE_MOVE: _ClassVar[ControlMode]
+
+class CommandControl(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    COMMAND_CONTROL_POLICY: _ClassVar[CommandControl]
+    COMMAND_CONTROL_TRAJECTORY: _ClassVar[CommandControl]
+
+class EolAction(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    EOL_MOVE_MOTOR: _ClassVar[EolAction]
+    EOL_ZERO_ENCODER: _ClassVar[EolAction]
+    EOL_SET_CAN_ID: _ClassVar[EolAction]
+    EOL_FINALIZE: _ClassVar[EolAction]
+CONTROL_MODE_DAMP: ControlMode
+CONTROL_MODE_STAND: ControlMode
+CONTROL_MODE_MOVE: ControlMode
+COMMAND_CONTROL_POLICY: CommandControl
+COMMAND_CONTROL_TRAJECTORY: CommandControl
+EOL_MOVE_MOTOR: EolAction
+EOL_ZERO_ENCODER: EolAction
+EOL_SET_CAN_ID: EolAction
+EOL_FINALIZE: EolAction

asimov_protocol/v1/asimov_diagnostics_pb2.py

@@ -0,0 +1,42 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: asimov_diagnostics.proto
+# Protobuf Python Version: 5.29.3
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    29,
+    3,
+    '',
+    'asimov_diagnostics.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x18\x61simov_diagnostics.proto\x12\tasimov.io\"\xa6\x01\n\x05\x41lert\x12\x0e\n\x02id\x18\x01 \x01(\rR\x02id\x12\x1a\n\x08severity\x18\x02 \x01(\rR\x08severity\x12\x14\n\x05value\x18\x03 \x01(\rR\x05value\x12\x1c\n\tthreshold\x18\x04 \x01(\rR\tthreshold\x12 \n\x0c\x66irst_set_us\x18\x05 \x01(\x04R\nfirstSetUs\x12\x1b\n\tsource_id\x18\x06 \x01(\rR\x08sourceId\"p\n\rThreadMetrics\x12 \n\x0cmax_cycle_us\x18\x01 \x01(\x04R\nmaxCycleUs\x12 \n\x0c\x61vg_cycle_us\x18\x02 \x01(\x04R\navgCycleUs\x12\x1b\n\tjitter_us\x18\x03 \x01(\x03R\x08jitterUs\"\x8a\x01\n\x0bOnnxMetrics\x12(\n\x10\x61vg_inference_ms\x18\x01 \x01(\x02R\x0e\x61vgInferenceMs\x12(\n\x10max_inference_ms\x18\x02 \x01(\x02R\x0emaxInferenceMs\x12\'\n\x0finference_count\x18\x03 \x01(\x04R\x0einferenceCount\"\x89\x01\n\nCanMetrics\x12\x1f\n\x0b\x66rames_sent\x18\x01 \x01(\x04R\nframesSent\x12\'\n\x0f\x66rames_received\x18\x02 \x01(\x04R\x0e\x66ramesReceived\x12\x16\n\x06\x65rrors\x18\x03 \x01(\x04R\x06\x65rrors\x12\x19\n\x08\x62us_offs\x18\x04 \x01(\x04R\x07\x62usOffsb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'asimov_diagnostics_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ALERT']._serialized_start=40
+  _globals['_ALERT']._serialized_end=206
+  _globals['_THREADMETRICS']._serialized_start=208
+  _globals['_THREADMETRICS']._serialized_end=320
+  _globals['_ONNXMETRICS']._serialized_start=323
+  _globals['_ONNXMETRICS']._serialized_end=461
+  _globals['_CANMETRICS']._serialized_start=464
+  _globals['_CANMETRICS']._serialized_end=601
+# @@protoc_insertion_point(module_scope)

asimov_protocol/v1/asimov_diagnostics_pb2.pyi

@@ -0,0 +1,53 @@
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Optional as _Optional
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class Alert(_message.Message):
+    __slots__ = ("id", "severity", "value", "threshold", "first_set_us", "source_id")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    SEVERITY_FIELD_NUMBER: _ClassVar[int]
+    VALUE_FIELD_NUMBER: _ClassVar[int]
+    THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    FIRST_SET_US_FIELD_NUMBER: _ClassVar[int]
+    SOURCE_ID_FIELD_NUMBER: _ClassVar[int]
+    id: int
+    severity: int
+    value: int
+    threshold: int
+    first_set_us: int
+    source_id: int
+    def __init__(self, id: _Optional[int] = ..., severity: _Optional[int] = ..., value: _Optional[int] = ..., threshold: _Optional[int] = ..., first_set_us: _Optional[int] = ..., source_id: _Optional[int] = ...) -> None: ...
+
+class ThreadMetrics(_message.Message):
+    __slots__ = ("max_cycle_us", "avg_cycle_us", "jitter_us")
+    MAX_CYCLE_US_FIELD_NUMBER: _ClassVar[int]
+    AVG_CYCLE_US_FIELD_NUMBER: _ClassVar[int]
+    JITTER_US_FIELD_NUMBER: _ClassVar[int]
+    max_cycle_us: int
+    avg_cycle_us: int
+    jitter_us: int
+    def __init__(self, max_cycle_us: _Optional[int] = ..., avg_cycle_us: _Optional[int] = ..., jitter_us: _Optional[int] = ...) -> None: ...
+
+class OnnxMetrics(_message.Message):
+    __slots__ = ("avg_inference_ms", "max_inference_ms", "inference_count")
+    AVG_INFERENCE_MS_FIELD_NUMBER: _ClassVar[int]
+    MAX_INFERENCE_MS_FIELD_NUMBER: _ClassVar[int]
+    INFERENCE_COUNT_FIELD_NUMBER: _ClassVar[int]
+    avg_inference_ms: float
+    max_inference_ms: float
+    inference_count: int
+    def __init__(self, avg_inference_ms: _Optional[float] = ..., max_inference_ms: _Optional[float] = ..., inference_count: _Optional[int] = ...) -> None: ...
+
+class CanMetrics(_message.Message):
+    __slots__ = ("frames_sent", "frames_received", "errors", "bus_offs")
+    FRAMES_SENT_FIELD_NUMBER: _ClassVar[int]
+    FRAMES_RECEIVED_FIELD_NUMBER: _ClassVar[int]
+    ERRORS_FIELD_NUMBER: _ClassVar[int]
+    BUS_OFFS_FIELD_NUMBER: _ClassVar[int]
+    frames_sent: int
+    frames_received: int
+    errors: int
+    bus_offs: int
+    def __init__(self, frames_sent: _Optional[int] = ..., frames_received: _Optional[int] = ..., errors: _Optional[int] = ..., bus_offs: _Optional[int] = ...) -> None: ...

asimov_protocol/v1/asimov_state_pb2.py

@@ -0,0 +1,63 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: asimov_state.proto
+# Protobuf Python Version: 5.29.3
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    29,
+    3,
+    '',
+    'asimov_state.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from . import asimov_common_pb2 as asimov__common__pb2
+from . import asimov_diagnostics_pb2 as asimov__diagnostics__pb2
+from . import nanopb_pb2 as nanopb__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x12\x61simov_state.proto\x12\tasimov.io\x1a\x13\x61simov_common.proto\x1a\x18\x61simov_diagnostics.proto\x1a\x0cnanopb.proto\"\xbf\x07\n\nRobotState\x12!\n\x0ctimestamp_us\x18\x01 \x01(\x04R\x0btimestampUs\x12\x1a\n\x08sequence\x18\x02 \x01(\rR\x08sequence\x12\x39\n\x0c\x63urrent_mode\x18\x03 \x01(\x0e\x32\x16.asimov.io.ControlModeR\x0b\x63urrentMode\x12\"\n\tjoint_pos\x18\x06 \x03(\x02\x42\x05\x92?\x02\x10\x19R\x08jointPos\x12\"\n\tjoint_vel\x18\x07 \x03(\x02\x42\x05\x92?\x02\x10\x19R\x08jointVel\x12*\n\rjoint_current\x18\x08 \x03(\x02\x42\x05\x92?\x02\x10\x19R\x0cjointCurrent\x12$\n\njoint_temp\x18\t \x03(\x02\x42\x05\x92?\x02\x10\x19R\tjointTemp\x12\'\n\x0c\x62\x61se_ang_vel\x18\n \x03(\x02\x42\x05\x92?\x02\x10\x03R\nbaseAngVel\x12\x32\n\x11projected_gravity\x18\x0b \x03(\x02\x42\x05\x92?\x02\x10\x03R\x10projectedGravity\x12\"\n\tbase_quat\x18\x0c \x03(\x02\x42\x05\x92?\x02\x10\x04R\x08\x62\x61seQuat\x12\x1f\n\x0b\x65rror_flags\x18\r \x01(\rR\nerrorFlags\x12*\n\x11last_cmd_sequence\x18\x0e \x01(\rR\x0flastCmdSequence\x12<\n\ractive_alerts\x18\x14 \x03(\x0b\x32\x10.asimov.io.AlertB\x05\x92?\x02\x10\x30R\x0c\x61\x63tiveAlerts\x12=\n\rpolicy_timing\x18\x15 \x01(\x0b\x32\x18.asimov.io.ThreadMetricsR\x0cpolicyTiming\x12\x39\n\x0connx_metrics\x18\x16 \x01(\x0b\x32\x16.asimov.io.OnnxMetricsR\x0bonnxMetrics\x12;\n\ncan_health\x18\x17 \x03(\x0b\x32\x15.asimov.io.CanMetricsB\x05\x92?\x02\x10\x05R\tcanHealth\x12)\n\x10protocol_version\x18\x18 \x01(\rR\x0fprotocolVersion\x12\x19\n\x08\x65ol_mode\x18\x19 \x01(\x08R\x07\x65olMode\x12\x38\n\neol_status\x18\x1a \x01(\x0b\x32\x19.asimov.io.EolMotorStatusR\teolStatus\x12!\n\x0c\x65ol_complete\x18\x1b \x01(\x08R\x0b\x65olComplete\x12\x31\n\x07\x62\x61ttery\x18\x1c \x01(\x0b\x32\x17.asimov.io.BatteryStateR\x07\x62\x61tteryJ\x04\x08\x1d\x10\x1e\"\xbb\x01\n\x0c\x42\x61tteryState\x12\x1b\n\tvoltage_v\x18\x01 \x01(\x02R\x08voltageV\x12\x1b\n\tcurrent_a\x18\x02 \x01(\x02R\x08\x63urrentA\x12\x1f\n\x0bsoc_percent\x18\x03 \x01(\x02R\nsocPercent\x12%\n\x0fmax_cell_temp_c\x18\x04 \x01(\x02R\x0cmaxCellTempC\x12)\n\x10protection_flags\x18\x05 \x01(\rR\x0fprotectionFlags\"\xe4\x01\n\x0e\x45olMotorStatus\x12\x19\n\x08motor_id\x18\x01 \x01(\rR\x07motorId\x12\x1a\n\x08position\x18\x02 \x01(\x02R\x08position\x12\x1a\n\x08velocity\x18\x03 \x01(\x02R\x08velocity\x12\x18\n\x07\x63urrent\x18\x04 \x01(\x02R\x07\x63urrent\x12 \n\x0btemperature\x18\x05 \x01(\x02R\x0btemperature\x12\x1d\n\nerror_code\x18\x06 \x01(\rR\terrorCode\x12$\n\nmotor_name\x18\x07 \x01(\tB\x05\x92?\x02\x08 R\tmotorNameb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'asimov_state_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['joint_pos']._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['joint_pos']._serialized_options = b'\222?\002\020\031'
+  _globals['_ROBOTSTATE'].fields_by_name['joint_vel']._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['joint_vel']._serialized_options = b'\222?\002\020\031'
+  _globals['_ROBOTSTATE'].fields_by_name['joint_current']._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['joint_current']._serialized_options = b'\222?\002\020\031'
+  _globals['_ROBOTSTATE'].fields_by_name['joint_temp']._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['joint_temp']._serialized_options = b'\222?\002\020\031'
+  _globals['_ROBOTSTATE'].fields_by_name['base_ang_vel']._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['base_ang_vel']._serialized_options = b'\222?\002\020\003'
+  _globals['_ROBOTSTATE'].fields_by_name['projected_gravity']._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['projected_gravity']._serialized_options = b'\222?\002\020\003'
+  _globals['_ROBOTSTATE'].fields_by_name['base_quat']._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['base_quat']._serialized_options = b'\222?\002\020\004'
+  _globals['_ROBOTSTATE'].fields_by_name['active_alerts']._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['active_alerts']._serialized_options = b'\222?\002\0200'
+  _globals['_ROBOTSTATE'].fields_by_name['can_health']._loaded_options = None
+  _globals['_ROBOTSTATE'].fields_by_name['can_health']._serialized_options = b'\222?\002\020\005'
+  _globals['_EOLMOTORSTATUS'].fields_by_name['motor_name']._loaded_options = None
+  _globals['_EOLMOTORSTATUS'].fields_by_name['motor_name']._serialized_options = b'\222?\002\010 '
+  _globals['_ROBOTSTATE']._serialized_start=95
+  _globals['_ROBOTSTATE']._serialized_end=1054
+  _globals['_BATTERYSTATE']._serialized_start=1057
+  _globals['_BATTERYSTATE']._serialized_end=1244
+  _globals['_EOLMOTORSTATUS']._serialized_start=1247
+  _globals['_EOLMOTORSTATUS']._serialized_end=1475
+# @@protoc_insertion_point(module_scope)

asimov_protocol/v1/asimov_state_pb2.pyi

@@ -0,0 +1,87 @@
+from . import asimov_common_pb2 as _asimov_common_pb2
+from . import asimov_diagnostics_pb2 as _asimov_diagnostics_pb2
+from . import nanopb_pb2 as _nanopb_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Iterable as _Iterable, Mapping as _Mapping, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class RobotState(_message.Message):
+    __slots__ = ("timestamp_us", "sequence", "current_mode", "joint_pos", "joint_vel", "joint_current", "joint_temp", "base_ang_vel", "projected_gravity", "base_quat", "error_flags", "last_cmd_sequence", "active_alerts", "policy_timing", "onnx_metrics", "can_health", "protocol_version", "eol_mode", "eol_status", "eol_complete", "battery")
+    TIMESTAMP_US_FIELD_NUMBER: _ClassVar[int]
+    SEQUENCE_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_MODE_FIELD_NUMBER: _ClassVar[int]
+    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
+    JOINT_CURRENT_FIELD_NUMBER: _ClassVar[int]
+    JOINT_TEMP_FIELD_NUMBER: _ClassVar[int]
+    BASE_ANG_VEL_FIELD_NUMBER: _ClassVar[int]
+    PROJECTED_GRAVITY_FIELD_NUMBER: _ClassVar[int]
+    BASE_QUAT_FIELD_NUMBER: _ClassVar[int]
+    ERROR_FLAGS_FIELD_NUMBER: _ClassVar[int]
+    LAST_CMD_SEQUENCE_FIELD_NUMBER: _ClassVar[int]
+    ACTIVE_ALERTS_FIELD_NUMBER: _ClassVar[int]
+    POLICY_TIMING_FIELD_NUMBER: _ClassVar[int]
+    ONNX_METRICS_FIELD_NUMBER: _ClassVar[int]
+    CAN_HEALTH_FIELD_NUMBER: _ClassVar[int]
+    PROTOCOL_VERSION_FIELD_NUMBER: _ClassVar[int]
+    EOL_MODE_FIELD_NUMBER: _ClassVar[int]
+    EOL_STATUS_FIELD_NUMBER: _ClassVar[int]
+    EOL_COMPLETE_FIELD_NUMBER: _ClassVar[int]
+    BATTERY_FIELD_NUMBER: _ClassVar[int]
+    timestamp_us: int
+    sequence: int
+    current_mode: _asimov_common_pb2.ControlMode
+    joint_pos: _containers.RepeatedScalarFieldContainer[float]
+    joint_vel: _containers.RepeatedScalarFieldContainer[float]
+    joint_current: _containers.RepeatedScalarFieldContainer[float]
+    joint_temp: _containers.RepeatedScalarFieldContainer[float]
+    base_ang_vel: _containers.RepeatedScalarFieldContainer[float]
+    projected_gravity: _containers.RepeatedScalarFieldContainer[float]
+    base_quat: _containers.RepeatedScalarFieldContainer[float]
+    error_flags: int
+    last_cmd_sequence: int
+    active_alerts: _containers.RepeatedCompositeFieldContainer[_asimov_diagnostics_pb2.Alert]
+    policy_timing: _asimov_diagnostics_pb2.ThreadMetrics
+    onnx_metrics: _asimov_diagnostics_pb2.OnnxMetrics
+    can_health: _containers.RepeatedCompositeFieldContainer[_asimov_diagnostics_pb2.CanMetrics]
+    protocol_version: int
+    eol_mode: bool
+    eol_status: EolMotorStatus
+    eol_complete: bool
+    battery: BatteryState
+    def __init__(self, timestamp_us: _Optional[int] = ..., sequence: _Optional[int] = ..., current_mode: _Optional[_Union[_asimov_common_pb2.ControlMode, str]] = ..., joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., joint_current: _Optional[_Iterable[float]] = ..., joint_temp: _Optional[_Iterable[float]] = ..., base_ang_vel: _Optional[_Iterable[float]] = ..., projected_gravity: _Optional[_Iterable[float]] = ..., base_quat: _Optional[_Iterable[float]] = ..., error_flags: _Optional[int] = ..., last_cmd_sequence: _Optional[int] = ..., active_alerts: _Optional[_Iterable[_Union[_asimov_diagnostics_pb2.Alert, _Mapping]]] = ..., policy_timing: _Optional[_Union[_asimov_diagnostics_pb2.ThreadMetrics, _Mapping]] = ..., onnx_metrics: _Optional[_Union[_asimov_diagnostics_pb2.OnnxMetrics, _Mapping]] = ..., can_health: _Optional[_Iterable[_Union[_asimov_diagnostics_pb2.CanMetrics, _Mapping]]] = ..., protocol_version: _Optional[int] = ..., eol_mode: bool = ..., eol_status: _Optional[_Union[EolMotorStatus, _Mapping]] = ..., eol_complete: bool = ..., battery: _Optional[_Union[BatteryState, _Mapping]] = ...) -> None: ...
+
+class BatteryState(_message.Message):
+    __slots__ = ("voltage_v", "current_a", "soc_percent", "max_cell_temp_c", "protection_flags")
+    VOLTAGE_V_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_A_FIELD_NUMBER: _ClassVar[int]
+    SOC_PERCENT_FIELD_NUMBER: _ClassVar[int]
+    MAX_CELL_TEMP_C_FIELD_NUMBER: _ClassVar[int]
+    PROTECTION_FLAGS_FIELD_NUMBER: _ClassVar[int]
+    voltage_v: float
+    current_a: float
+    soc_percent: float
+    max_cell_temp_c: float
+    protection_flags: int
+    def __init__(self, voltage_v: _Optional[float] = ..., current_a: _Optional[float] = ..., soc_percent: _Optional[float] = ..., max_cell_temp_c: _Optional[float] = ..., protection_flags: _Optional[int] = ...) -> None: ...
+
+class EolMotorStatus(_message.Message):
+    __slots__ = ("motor_id", "position", "velocity", "current", "temperature", "error_code", "motor_name")
+    MOTOR_ID_FIELD_NUMBER: _ClassVar[int]
+    POSITION_FIELD_NUMBER: _ClassVar[int]
+    VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_FIELD_NUMBER: _ClassVar[int]
+    TEMPERATURE_FIELD_NUMBER: _ClassVar[int]
+    ERROR_CODE_FIELD_NUMBER: _ClassVar[int]
+    MOTOR_NAME_FIELD_NUMBER: _ClassVar[int]
+    motor_id: int
+    position: float
+    velocity: float
+    current: float
+    temperature: float
+    error_code: int
+    motor_name: str
+    def __init__(self, motor_id: _Optional[int] = ..., position: _Optional[float] = ..., velocity: _Optional[float] = ..., current: _Optional[float] = ..., temperature: _Optional[float] = ..., error_code: _Optional[int] = ..., motor_name: _Optional[str] = ...) -> None: ...

asimov_protocol/v1/edge_cloud_pb2.py

@@ -0,0 +1,68 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: edge_cloud.proto
+# Protobuf Python Version: 5.29.3
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    5,
+    29,
+    3,
+    '',
+    'edge_cloud.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x10\x65\x64ge_cloud.proto\x12\nmenlo.edge\"\x83\x02\n\x0c\x43loudCommand\x12!\n\x0ctimestamp_us\x18\x01 \x01(\x04R\x0btimestampUs\x12\x1a\n\x08sequence\x18\x02 \x01(\rR\x08sequence\x12\x39\n\x08velocity\x18\n \x01(\x0b\x32\x1b.menlo.edge.VelocityCommandH\x00R\x08velocity\x12?\n\ntrajectory\x18\x0b \x01(\x0b\x32\x1d.menlo.edge.TrajectoryRequestH\x00R\ntrajectory\x12-\n\x04mode\x18\x0c \x01(\x0b\x32\x17.menlo.edge.ModeCommandH\x00R\x04modeB\t\n\x07\x63ommand\"E\n\x0fVelocityCommand\x12\x0e\n\x02vx\x18\x01 \x01(\x02R\x02vx\x12\x0e\n\x02vy\x18\x02 \x01(\x02R\x02vy\x12\x12\n\x04vyaw\x18\x03 \x01(\x02R\x04vyaw\"\x80\x01\n\x11TrajectoryRequest\x12\x10\n\x02id\x18\x01 \x01(\tH\x00R\x02id\x12\x30\n\x04\x66ull\x18\x02 \x01(\x0b\x32\x1a.menlo.edge.FullTrajectoryH\x00R\x04\x66ull\x12\x1d\n\nupper_only\x18\x03 \x01(\x08R\tupperOnlyB\x08\n\x06source\"F\n\x0e\x46ullTrajectory\x12\x34\n\x08segments\x18\x01 \x03(\x0b\x32\x18.menlo.edge.JointSegmentR\x08segments\"h\n\x0cJointSegment\x12\x1c\n\tpositions\x18\x01 \x03(\x02R\tpositions\x12\x0e\n\x02kp\x18\x02 \x03(\x02R\x02kp\x12\x0e\n\x02kd\x18\x03 \x03(\x02R\x02kd\x12\x1a\n\x08\x64uration\x18\x04 \x01(\x02R\x08\x64uration\"3\n\x0bModeCommand\x12$\n\x04mode\x18\x01 \x01(\x0e\x32\x10.menlo.edge.ModeR\x04mode\"\xcd\x05\n\rEdgeTelemetry\x12!\n\x0ctimestamp_us\x18\x01 \x01(\x04R\x0btimestampUs\x12&\n\x0f\x66w_timestamp_us\x18\x02 \x01(\x04R\rfwTimestampUs\x12\x1a\n\x08sequence\x18\x03 \x01(\rR\x08sequence\x12\x31\n\x07\x66w_mode\x18\x04 \x01(\x0e\x32\x18.menlo.edge.FirmwareModeR\x06\x66wMode\x12\x1b\n\tjoint_pos\x18\n \x03(\x02R\x08jointPos\x12\x1b\n\tjoint_vel\x18\x0b \x03(\x02R\x08jointVel\x12#\n\rjoint_current\x18\x0c \x03(\x02R\x0cjointCurrent\x12\x1d\n\njoint_temp\x18\r \x03(\x02R\tjointTemp\x12\x19\n\x08imu_quat\x18\x14 \x03(\x02R\x07imuQuat\x12\x19\n\x08imu_gyro\x18\x15 \x03(\x02R\x07imuGyro\x12\x1f\n\x0bimu_gravity\x18\x16 \x03(\x02R\nimuGravity\x12\x1f\n\x0b\x65rror_flags\x18\x1e \x01(\rR\nerrorFlags\x12\x1f\n\x0b\x61lert_count\x18\x1f \x01(\rR\nalertCount\x12>\n\ractive_alerts\x18  \x03(\x0b\x32\x19.menlo.edge.FirmwareAlertR\x0c\x61\x63tiveAlerts\x12\x1a\n\tfw_age_ms\x18! \x01(\rR\x07\x66wAgeMs\x12\x35\n\x17last_video_timestamp_us\x18( \x01(\x04R\x14lastVideoTimestampUs\x12\x35\n\x17last_audio_timestamp_us\x18) \x01(\x04R\x14lastAudioTimestampUs\x12\x41\n\x0b\x61pplied_cmd\x18\x32 \x01(\x0b\x32 .menlo.edge.AppliedCommandTimingR\nappliedCmd\"q\n\x14\x41ppliedCommandTiming\x12\x10\n\x03seq\x18\x01 \x01(\rR\x03seq\x12\x17\n\x07recv_us\x18\x02 \x01(\x04R\x06recvUs\x12\x17\n\x07proc_us\x18\x03 \x01(\rR\x06procUs\x12\x15\n\x06\x61ge_us\x18\x04 \x01(\rR\x05\x61geUs\"\x82\x02\n\tEdgeEvent\x12!\n\x0ctimestamp_us\x18\x01 \x01(\x04R\x0btimestampUs\x12\x1a\n\x08sequence\x18\x02 \x01(\rR\x08sequence\x12-\n\x05\x65rror\x18\n \x01(\x0b\x32\x15.menlo.edge.EdgeErrorH\x00R\x05\x65rror\x12?\n\x0b\x64iagnostics\x18\x0b \x01(\x0b\x32\x1b.menlo.edge.EdgeDiagnosticsH\x00R\x0b\x64iagnostics\x12=\n\ncontroller\x18\x0c \x01(\x0b\x32\x1b.menlo.edge.ControllerEventH\x00R\ncontrollerB\x07\n\x05\x65vent\"n\n\tEdgeError\x12\x33\n\tsubsystem\x18\x01 \x01(\x0e\x32\x15.menlo.edge.SubsystemR\tsubsystem\x12\x12\n\x04\x63ode\x18\x02 \x01(\tR\x04\x63ode\x12\x18\n\x07message\x18\x03 \x01(\tR\x07message\"\xfd\x02\n\x0f\x45\x64geDiagnostics\x12\x37\n\ncan_health\x18\x01 \x03(\x0b\x32\x18.menlo.edge.CanBusHealthR\tcanHealth\x12\x1e\n\x0bonnx_avg_ms\x18\x02 \x01(\x02R\tonnxAvgMs\x12\x1e\n\x0bonnx_max_ms\x18\x03 \x01(\x02R\tonnxMaxMs\x12\x1d\n\nonnx_count\x18\x04 \x01(\x04R\tonnxCount\x12\x1e\n\ncontroller\x18\n \x01(\tR\ncontroller\x12 \n\x0bprovisioned\x18\x0b \x01(\x08R\x0bprovisioned\x12\'\n\x0f\x63loud_connected\x18\x0c \x01(\x08R\x0e\x63loudConnected\x12#\n\rble_connected\x18\r \x01(\x08R\x0c\x62leConnected\x12#\n\rcamera_active\x18\x0e \x01(\x08R\x0c\x63\x61meraActive\x12\x1d\n\nmic_active\x18\x0f \x01(\x08R\tmicActive\"\xae\x01\n\rFirmwareAlert\x12\x0e\n\x02id\x18\x01 \x01(\rR\x02id\x12\x1a\n\x08severity\x18\x02 \x01(\rR\x08severity\x12\x14\n\x05value\x18\x03 \x01(\rR\x05value\x12\x1c\n\tthreshold\x18\x04 \x01(\rR\tthreshold\x12 \n\x0c\x66irst_set_us\x18\x05 \x01(\x04R\nfirstSetUs\x12\x1b\n\tsource_id\x18\x06 \x01(\rR\x08sourceId\"\x8b\x01\n\x0c\x43\x61nBusHealth\x12\x1f\n\x0b\x66rames_sent\x18\x01 \x01(\x04R\nframesSent\x12\'\n\x0f\x66rames_received\x18\x02 \x01(\x04R\x0e\x66ramesReceived\x12\x16\n\x06\x65rrors\x18\x03 \x01(\x04R\x06\x65rrors\x12\x19\n\x08\x62us_offs\x18\x04 \x01(\x04R\x07\x62usOffs\"_\n\x0f\x43ontrollerEvent\x12\x1a\n\x08previous\x18\x01 \x01(\tR\x08previous\x12\x18\n\x07\x63urrent\x18\x02 \x01(\tR\x07\x63urrent\x12\x16\n\x06reason\x18\x03 \x01(\tR\x06reason*%\n\x04Mode\x12\x0e\n\nMODE_STAND\x10\x00\x12\r\n\tMODE_DAMP\x10\x01*E\n\x0c\x46irmwareMode\x12\x10\n\x0c\x46W_MODE_DAMP\x10\x00\x12\x11\n\rFW_MODE_STAND\x10\x01\x12\x10\n\x0c\x46W_MODE_MOVE\x10\x02*\xa2\x01\n\tSubsystem\x12\x15\n\x11SUBSYSTEM_FW_LINK\x10\x00\x12\x14\n\x10SUBSYSTEM_CAMERA\x10\x01\x12\x11\n\rSUBSYSTEM_MIC\x10\x02\x12\x15\n\x11SUBSYSTEM_SPEAKER\x10\x03\x12\x11\n\rSUBSYSTEM_BLE\x10\x04\x12\x13\n\x0fSUBSYSTEM_CLOUD\x10\x05\x12\x16\n\x12SUBSYSTEM_FIRMWARE\x10\x06\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'edge_cloud_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_MODE']._serialized_start=2735
+  _globals['_MODE']._serialized_end=2772
+  _globals['_FIRMWAREMODE']._serialized_start=2774
+  _globals['_FIRMWAREMODE']._serialized_end=2843
+  _globals['_SUBSYSTEM']._serialized_start=2846
+  _globals['_SUBSYSTEM']._serialized_end=3008
+  _globals['_CLOUDCOMMAND']._serialized_start=33
+  _globals['_CLOUDCOMMAND']._serialized_end=292
+  _globals['_VELOCITYCOMMAND']._serialized_start=294
+  _globals['_VELOCITYCOMMAND']._serialized_end=363
+  _globals['_TRAJECTORYREQUEST']._serialized_start=366
+  _globals['_TRAJECTORYREQUEST']._serialized_end=494
+  _globals['_FULLTRAJECTORY']._serialized_start=496
+  _globals['_FULLTRAJECTORY']._serialized_end=566
+  _globals['_JOINTSEGMENT']._serialized_start=568
+  _globals['_JOINTSEGMENT']._serialized_end=672
+  _globals['_MODECOMMAND']._serialized_start=674
+  _globals['_MODECOMMAND']._serialized_end=725
+  _globals['_EDGETELEMETRY']._serialized_start=728
+  _globals['_EDGETELEMETRY']._serialized_end=1445
+  _globals['_APPLIEDCOMMANDTIMING']._serialized_start=1447
+  _globals['_APPLIEDCOMMANDTIMING']._serialized_end=1560
+  _globals['_EDGEEVENT']._serialized_start=1563
+  _globals['_EDGEEVENT']._serialized_end=1821
+  _globals['_EDGEERROR']._serialized_start=1823
+  _globals['_EDGEERROR']._serialized_end=1933
+  _globals['_EDGEDIAGNOSTICS']._serialized_start=1936
+  _globals['_EDGEDIAGNOSTICS']._serialized_end=2317
+  _globals['_FIRMWAREALERT']._serialized_start=2320
+  _globals['_FIRMWAREALERT']._serialized_end=2494
+  _globals['_CANBUSHEALTH']._serialized_start=2497
+  _globals['_CANBUSHEALTH']._serialized_end=2636
+  _globals['_CONTROLLEREVENT']._serialized_start=2638
+  _globals['_CONTROLLEREVENT']._serialized_end=2733
+# @@protoc_insertion_point(module_scope)