dexcontrol 0.2.10__py3-none-any.whl → 0.3.0__py3-none-any.whl

dexcontrol/proto/dexcontrol_msg_pb2.pyi

@@ -1,120 +1,149 @@
 from collections.abc import Iterable as _Iterable
-from collections.abc import Mapping as _Mapping
 from typing import ClassVar as _ClassVar
 from typing import Optional as _Optional
-from typing import Union as _Union
 
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import message as _message
 from google.protobuf.internal import containers as _containers
-from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
 
 DESCRIPTOR: _descriptor.FileDescriptor
 
-class ArmState(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel", "joint_cur", "joint_err")
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
-    JOINT_CUR_FIELD_NUMBER: _ClassVar[int]
-    JOINT_ERR_FIELD_NUMBER: _ClassVar[int]
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    joint_cur: _containers.RepeatedScalarFieldContainer[float]
-    joint_err: _containers.RepeatedScalarFieldContainer[int]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., joint_cur: _Optional[_Iterable[float]] = ..., joint_err: _Optional[_Iterable[int]] = ...) -> None: ...
-
-class HandState(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel", "joint_statu")
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
-    JOINT_STATU_FIELD_NUMBER: _ClassVar[int]
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    joint_statu: _containers.RepeatedScalarFieldContainer[int]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ..., joint_statu: _Optional[_Iterable[int]] = ...) -> None: ...
-
-class HeadState(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel")
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
-
-class TorsoState(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel")
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
-
-class SingleWheelState(_message.Message):
-    __slots__ = ("steering_pos", "wheel_pos", "wheel_vel", "wheel_cur")
-    STEERING_POS_FIELD_NUMBER: _ClassVar[int]
-    WHEEL_POS_FIELD_NUMBER: _ClassVar[int]
-    WHEEL_VEL_FIELD_NUMBER: _ClassVar[int]
-    WHEEL_CUR_FIELD_NUMBER: _ClassVar[int]
-    steering_pos: float
-    wheel_pos: float
-    wheel_vel: float
-    wheel_cur: float
-    def __init__(self, steering_pos: _Optional[float] = ..., wheel_pos: _Optional[float] = ..., wheel_vel: _Optional[float] = ..., wheel_cur: _Optional[float] = ...) -> None: ...
-
-class ChassisState(_message.Message):
-    __slots__ = ("left", "right")
-    LEFT_FIELD_NUMBER: _ClassVar[int]
-    RIGHT_FIELD_NUMBER: _ClassVar[int]
-    left: SingleWheelState
-    right: SingleWheelState
-    def __init__(self, left: _Optional[_Union[SingleWheelState, _Mapping]] = ..., right: _Optional[_Union[SingleWheelState, _Mapping]] = ...) -> None: ...
+class MotorStateWithTorque(_message.Message):
+    __slots__ = ("pos", "vel", "torque", "error", "timestamp_ns")
+    POS_FIELD_NUMBER: _ClassVar[int]
+    VEL_FIELD_NUMBER: _ClassVar[int]
+    TORQUE_FIELD_NUMBER: _ClassVar[int]
+    ERROR_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    pos: _containers.RepeatedScalarFieldContainer[float]
+    vel: _containers.RepeatedScalarFieldContainer[float]
+    torque: _containers.RepeatedScalarFieldContainer[float]
+    error: _containers.RepeatedScalarFieldContainer[int]
+    timestamp_ns: int
+    def __init__(self, pos: _Optional[_Iterable[float]] = ..., vel: _Optional[_Iterable[float]] = ..., torque: _Optional[_Iterable[float]] = ..., error: _Optional[_Iterable[int]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
+
+class MotorStateWithCurrent(_message.Message):
+    __slots__ = ("pos", "vel", "cur", "error", "timestamp_ns")
+    POS_FIELD_NUMBER: _ClassVar[int]
+    VEL_FIELD_NUMBER: _ClassVar[int]
+    CUR_FIELD_NUMBER: _ClassVar[int]
+    ERROR_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    pos: _containers.RepeatedScalarFieldContainer[float]
+    vel: _containers.RepeatedScalarFieldContainer[float]
+    cur: _containers.RepeatedScalarFieldContainer[float]
+    error: _containers.RepeatedScalarFieldContainer[int]
+    timestamp_ns: int
+    def __init__(self, pos: _Optional[_Iterable[float]] = ..., vel: _Optional[_Iterable[float]] = ..., cur: _Optional[_Iterable[float]] = ..., error: _Optional[_Iterable[int]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
+
+class MotorPosCommand(_message.Message):
+    __slots__ = ("pos", "timestamp_ns")
+    POS_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    pos: _containers.RepeatedScalarFieldContainer[float]
+    timestamp_ns: int
+    def __init__(self, pos: _Optional[_Iterable[float]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
+
+class MotorVelCommand(_message.Message):
+    __slots__ = ("vel", "timestamp_ns")
+    VEL_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    vel: _containers.RepeatedScalarFieldContainer[float]
+    timestamp_ns: int
+    def __init__(self, vel: _Optional[_Iterable[float]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
+
+class MotorPosVelCommand(_message.Message):
+    __slots__ = ("pos", "vel", "timestamp_ns")
+    POS_FIELD_NUMBER: _ClassVar[int]
+    VEL_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    pos: _containers.RepeatedScalarFieldContainer[float]
+    vel: _containers.RepeatedScalarFieldContainer[float]
+    timestamp_ns: int
+    def __init__(self, pos: _Optional[_Iterable[float]] = ..., vel: _Optional[_Iterable[float]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
+
+class MotorPosVelCurrentCommand(_message.Message):
+    __slots__ = ("pos", "vel", "cur", "timestamp_ns")
+    POS_FIELD_NUMBER: _ClassVar[int]
+    VEL_FIELD_NUMBER: _ClassVar[int]
+    CUR_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    pos: _containers.RepeatedScalarFieldContainer[float]
+    vel: _containers.RepeatedScalarFieldContainer[float]
+    cur: _containers.RepeatedScalarFieldContainer[float]
+    timestamp_ns: int
+    def __init__(self, pos: _Optional[_Iterable[float]] = ..., vel: _Optional[_Iterable[float]] = ..., cur: _Optional[_Iterable[float]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
+
+class EndEffectorPassThroughCommand(_message.Message):
+    __slots__ = ("data", "timestamp_ns")
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    data: bytes
+    timestamp_ns: int
+    def __init__(self, data: _Optional[bytes] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class BMSState(_message.Message):
-    __slots__ = ("voltage", "current", "temperature", "percentage", "is_charging")
+    __slots__ = ("voltage", "current", "temperature", "percentage", "is_charging", "error", "timestamp_ns")
     VOLTAGE_FIELD_NUMBER: _ClassVar[int]
     CURRENT_FIELD_NUMBER: _ClassVar[int]
     TEMPERATURE_FIELD_NUMBER: _ClassVar[int]
     PERCENTAGE_FIELD_NUMBER: _ClassVar[int]
     IS_CHARGING_FIELD_NUMBER: _ClassVar[int]
+    ERROR_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     voltage: float
     current: float
     temperature: float
     percentage: int
     is_charging: bool
-    def __init__(self, voltage: _Optional[float] = ..., current: _Optional[float] = ..., temperature: _Optional[float] = ..., percentage: _Optional[int] = ..., is_charging: bool = ...) -> None: ...
+    error: int
+    timestamp_ns: int
+    def __init__(self, voltage: _Optional[float] = ..., current: _Optional[float] = ..., temperature: _Optional[float] = ..., percentage: _Optional[int] = ..., is_charging: bool = ..., error: _Optional[int] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class WrenchState(_message.Message):
-    __slots__ = ("wrench", "blue_button", "green_button")
+    __slots__ = ("wrench", "blue_button", "green_button", "timestamp_ns")
     WRENCH_FIELD_NUMBER: _ClassVar[int]
     BLUE_BUTTON_FIELD_NUMBER: _ClassVar[int]
     GREEN_BUTTON_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     wrench: _containers.RepeatedScalarFieldContainer[float]
     blue_button: bool
     green_button: bool
-    def __init__(self, wrench: _Optional[_Iterable[float]] = ..., blue_button: bool = ..., green_button: bool = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, wrench: _Optional[_Iterable[float]] = ..., blue_button: bool = ..., green_button: bool = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class EStopState(_message.Message):
-    __slots__ = ("button_pressed", "software_estop_enabled")
-    BUTTON_PRESSED_FIELD_NUMBER: _ClassVar[int]
+    __slots__ = ("software_estop_enabled", "left_button_pressed", "right_button_pressed", "waist_button_pressed", "wireless_button_pressed", "timestamp_ns")
     SOFTWARE_ESTOP_ENABLED_FIELD_NUMBER: _ClassVar[int]
-    button_pressed: bool
+    LEFT_BUTTON_PRESSED_FIELD_NUMBER: _ClassVar[int]
+    RIGHT_BUTTON_PRESSED_FIELD_NUMBER: _ClassVar[int]
+    WAIST_BUTTON_PRESSED_FIELD_NUMBER: _ClassVar[int]
+    WIRELESS_BUTTON_PRESSED_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     software_estop_enabled: bool
-    def __init__(self, button_pressed: bool = ..., software_estop_enabled: bool = ...) -> None: ...
+    left_button_pressed: bool
+    right_button_pressed: bool
+    waist_button_pressed: bool
+    wireless_button_pressed: bool
+    timestamp_ns: int
+    def __init__(self, software_estop_enabled: bool = ..., left_button_pressed: bool = ..., right_button_pressed: bool = ..., waist_button_pressed: bool = ..., wireless_button_pressed: bool = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class UltrasonicState(_message.Message):
-    __slots__ = ("front_left", "front_right", "back_left", "back_right")
+    __slots__ = ("front_left", "front_right", "back_left", "back_right", "timestamp_ns")
     FRONT_LEFT_FIELD_NUMBER: _ClassVar[int]
     FRONT_RIGHT_FIELD_NUMBER: _ClassVar[int]
     BACK_LEFT_FIELD_NUMBER: _ClassVar[int]
     BACK_RIGHT_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     front_left: float
     front_right: float
     back_left: float
     back_right: float
-    def __init__(self, front_left: _Optional[float] = ..., front_right: _Optional[float] = ..., back_left: _Optional[float] = ..., back_right: _Optional[float] = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, front_left: _Optional[float] = ..., front_right: _Optional[float] = ..., back_left: _Optional[float] = ..., back_right: _Optional[float] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
 
 class IMUState(_message.Message):
-    __slots__ = ("acc_x", "acc_y", "acc_z", "gyro_x", "gyro_y", "gyro_z", "quat_w", "quat_x", "quat_y", "quat_z")
+    __slots__ = ("acc_x", "acc_y", "acc_z", "gyro_x", "gyro_y", "gyro_z", "quat_w", "quat_x", "quat_y", "quat_z", "timestamp_ns")
     ACC_X_FIELD_NUMBER: _ClassVar[int]
     ACC_Y_FIELD_NUMBER: _ClassVar[int]
     ACC_Z_FIELD_NUMBER: _ClassVar[int]
@@ -125,6 +154,7 @@ class IMUState(_message.Message):
     QUAT_X_FIELD_NUMBER: _ClassVar[int]
     QUAT_Y_FIELD_NUMBER: _ClassVar[int]
     QUAT_Z_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
     acc_x: float
     acc_y: float
     acc_z: float
@@ -135,58 +165,13 @@ class IMUState(_message.Message):
     quat_x: float
     quat_y: float
     quat_z: float
-    def __init__(self, acc_x: _Optional[float] = ..., acc_y: _Optional[float] = ..., acc_z: _Optional[float] = ..., gyro_x: _Optional[float] = ..., gyro_y: _Optional[float] = ..., gyro_z: _Optional[float] = ..., quat_w: _Optional[float] = ..., quat_x: _Optional[float] = ..., quat_y: _Optional[float] = ..., quat_z: _Optional[float] = ...) -> None: ...
-
-class ArmCommand(_message.Message):
-    __slots__ = ("command_type", "joint_pos", "joint_vel")
-    class CommandType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
-        __slots__ = ()
-        POSITION: _ClassVar[ArmCommand.CommandType]
-        VELOCITY_FEEDFORWARD: _ClassVar[ArmCommand.CommandType]
-    POSITION: ArmCommand.CommandType
-    VELOCITY_FEEDFORWARD: ArmCommand.CommandType
-    COMMAND_TYPE_FIELD_NUMBER: _ClassVar[int]
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
-    command_type: ArmCommand.CommandType
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, command_type: _Optional[_Union[ArmCommand.CommandType, str]] = ..., joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
-
-class HandCommand(_message.Message):
-    __slots__ = ("joint_pos",)
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ...) -> None: ...
-
-class HeadCommand(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel")
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
-
-class TorsoCommand(_message.Message):
-    __slots__ = ("joint_pos", "joint_vel")
-    JOINT_POS_FIELD_NUMBER: _ClassVar[int]
-    JOINT_VEL_FIELD_NUMBER: _ClassVar[int]
-    joint_pos: _containers.RepeatedScalarFieldContainer[float]
-    joint_vel: _containers.RepeatedScalarFieldContainer[float]
-    def __init__(self, joint_pos: _Optional[_Iterable[float]] = ..., joint_vel: _Optional[_Iterable[float]] = ...) -> None: ...
-
-class SingleWheelCommand(_message.Message):
-    __slots__ = ("steering_pos", "wheel_vel")
-    STEERING_POS_FIELD_NUMBER: _ClassVar[int]
-    WHEEL_VEL_FIELD_NUMBER: _ClassVar[int]
-    steering_pos: float
-    wheel_vel: float
-    def __init__(self, steering_pos: _Optional[float] = ..., wheel_vel: _Optional[float] = ...) -> None: ...
-
-class ChassisCommand(_message.Message):
-    __slots__ = ("left", "right")
-    LEFT_FIELD_NUMBER: _ClassVar[int]
-    RIGHT_FIELD_NUMBER: _ClassVar[int]
-    left: SingleWheelCommand
-    right: SingleWheelCommand
-    def __init__(self, left: _Optional[_Union[SingleWheelCommand, _Mapping]] = ..., right: _Optional[_Union[SingleWheelCommand, _Mapping]] = ...) -> None: ...
+    timestamp_ns: int
+    def __init__(self, acc_x: _Optional[float] = ..., acc_y: _Optional[float] = ..., acc_z: _Optional[float] = ..., gyro_x: _Optional[float] = ..., gyro_y: _Optional[float] = ..., gyro_z: _Optional[float] = ..., quat_w: _Optional[float] = ..., quat_x: _Optional[float] = ..., quat_y: _Optional[float] = ..., quat_z: _Optional[float] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...
+
+class HandTouchSensorState(_message.Message):
+    __slots__ = ("force", "timestamp_ns")
+    FORCE_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_NS_FIELD_NUMBER: _ClassVar[int]
+    force: _containers.RepeatedScalarFieldContainer[float]
+    timestamp_ns: int
+    def __init__(self, force: _Optional[_Iterable[float]] = ..., timestamp_ns: _Optional[int] = ...) -> None: ...

dexcontrol/proto/dexcontrol_query_pb2.py

@@ -25,7 +25,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16\x64\x65xcontrol_query.proto\x12\ndexcontrol\"Z\n\nSetArmMode\x12)\n\x04mode\x18\x01 \x01(\x0e\x32\x1b.dexcontrol.SetArmMode.Mode\"!\n\x04Mode\x12\x0c\n\x08POSITION\x10\x00\x12\x0b\n\x07\x44ISABLE\x10\x01\"Z\n\x0bSetHeadMode\x12*\n\x04mode\x18\x01 \x01(\x0e\x32\x1c.dexcontrol.SetHeadMode.Mode\"\x1f\n\x04Mode\x12\n\n\x06\x45NABLE\x10\x00\x12\x0b\n\x07\x44ISABLE\x10\x01\"\x1a\n\x08SetEstop\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\"\x18\n\x06SetLed\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\"\x82\x01\n\nClearError\x12\x33\n\tcomponent\x18\x01 \x01(\x0e\x32 .dexcontrol.ClearError.Component\"?\n\tComponent\x12\x0c\n\x08LEFT_ARM\x10\x00\x12\r\n\tRIGHT_ARM\x10\x01\x12\x08\n\x04HEAD\x10\x02\x12\x0b\n\x07\x43HASSIS\x10\x03\"y\n\x0fRebootComponent\x12\x38\n\tcomponent\x18\x01 \x01(\x0e\x32%.dexcontrol.RebootComponent.Component\",\n\tComponent\x12\x07\n\x03\x41RM\x10\x00\x12\t\n\x05TORSO\x10\x01\x12\x0b\n\x07\x43HASSIS\x10\x02\"\x80\x01\n\x0f\x46irmwareVersion\x12\x18\n\x10hardware_version\x18\x01 \x01(\x05\x12\x18\n\x10software_version\x18\x02 \x01(\x05\x12\x14\n\x0c\x63ompile_time\x18\x03 \x01(\x05\x12\x11\n\tmain_hash\x18\x04 \x01(\t\x12\x10\n\x08sub_hash\x18\x05 \x01(\t\"\xb2\x01\n\x0fSoftwareVersion\x12J\n\x10\x66irmware_version\x18\x01 \x03(\x0b\x32\x30.dexcontrol.SoftwareVersion.FirmwareVersionEntry\x1aS\n\x14\x46irmwareVersionEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12*\n\x05value\x18\x02 \x01(\x0b\x32\x1b.dexcontrol.FirmwareVersion:\x02\x38\x01\"\x9d\x01\n\x14SingleComponentState\x12\x11\n\tconnected\x18\x01 \x01(\x08\x12,\n\x07\x65nabled\x18\x02 \x01(\x0e\x32\x1b.dexcontrol.ComponentStatus\x12\x30\n\x0b\x65rror_state\x18\x03 \x01(\x0e\x32\x1b.dexcontrol.ComponentStatus\x12\x12\n\nerror_code\x18\x04 \x01(\t\"\x9b\x01\n\x0f\x43omponentStates\x12\x37\n\x06states\x18\x01 \x03(\x0b\x32\'.dexcontrol.ComponentStates.StatesEntry\x1aO\n\x0bStatesEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12/\n\x05value\x18\x02 \x01(\x0b\x32 .dexcontrol.SingleComponentState:\x02\x38\x01*0\n\x0f\x43omponentStatus\x12\n\n\x06NORMAL\x10\x00\x12\x06\n\x02NA\x10\x01\x12\t\n\x05\x45RROR\x10\x02\x62\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16\x64\x65xcontrol_query.proto\x12\ndexcontrol\"\xbe\x01\n\nSetArmMode\x12)\n\x04mode\x18\x01 \x01(\x0e\x32\x1b.dexcontrol.SetArmMode.Mode\x12*\n\x05modes\x18\x02 \x03(\x0e\x32\x1b.dexcontrol.SetArmMode.Mode\"Y\n\x04Mode\x12\x0c\n\x08POSITION\x10\x00\x12\x0b\n\x07\x44ISABLE\x10\x01\x12\x0b\n\x07\x43URRENT\x10\x02\x12\x0c\n\x08VELOCITY\x10\x03\x12\n\n\x06\x45NABLE\x10\x04\x12\x0f\n\x0b\x43\x41LIBRATION\x10\x05\"\x87\x01\n\x0bSetHeadMode\x12*\n\x04mode\x18\x01 \x01(\x0e\x32\x1c.dexcontrol.SetHeadMode.Mode\x12+\n\x05modes\x18\x02 \x03(\x0e\x32\x1c.dexcontrol.SetHeadMode.Mode\"\x1f\n\x04Mode\x12\n\n\x06\x45NABLE\x10\x00\x12\x0b\n\x07\x44ISABLE\x10\x01\"\x1a\n\x08SetEstop\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\"\x18\n\x06SetLed\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\"\x82\x01\n\nClearError\x12\x33\n\tcomponent\x18\x01 \x01(\x0e\x32 .dexcontrol.ClearError.Component\"?\n\tComponent\x12\x0c\n\x08LEFT_ARM\x10\x00\x12\r\n\tRIGHT_ARM\x10\x01\x12\x08\n\x04HEAD\x10\x02\x12\x0b\n\x07\x43HASSIS\x10\x03\"y\n\x0fRebootComponent\x12\x38\n\tcomponent\x18\x01 \x01(\x0e\x32%.dexcontrol.RebootComponent.Component\",\n\tComponent\x12\x07\n\x03\x41RM\x10\x00\x12\t\n\x05TORSO\x10\x01\x12\x0b\n\x07\x43HASSIS\x10\x02\"\x80\x01\n\x0f\x46irmwareVersion\x12\x18\n\x10hardware_version\x18\x01 \x01(\x05\x12\x18\n\x10software_version\x18\x02 \x01(\x05\x12\x14\n\x0c\x63ompile_time\x18\x03 \x01(\x05\x12\x11\n\tmain_hash\x18\x04 \x01(\t\x12\x10\n\x08sub_hash\x18\x05 \x01(\t\"\xb2\x01\n\x0fSoftwareVersion\x12J\n\x10\x66irmware_version\x18\x01 \x03(\x0b\x32\x30.dexcontrol.SoftwareVersion.FirmwareVersionEntry\x1aS\n\x14\x46irmwareVersionEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12*\n\x05value\x18\x02 \x01(\x0b\x32\x1b.dexcontrol.FirmwareVersion:\x02\x38\x01\"\x9d\x01\n\x14SingleComponentState\x12\x11\n\tconnected\x18\x01 \x01(\x08\x12,\n\x07\x65nabled\x18\x02 \x01(\x0e\x32\x1b.dexcontrol.ComponentStatus\x12\x30\n\x0b\x65rror_state\x18\x03 \x01(\x0e\x32\x1b.dexcontrol.ComponentStatus\x12\x12\n\nerror_code\x18\x04 \x01(\t\"\x9b\x01\n\x0f\x43omponentStates\x12\x37\n\x06states\x18\x01 \x03(\x0b\x32\'.dexcontrol.ComponentStates.StatesEntry\x1aO\n\x0bStatesEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12/\n\x05value\x18\x02 \x01(\x0b\x32 .dexcontrol.SingleComponentState:\x02\x38\x01\"U\n\nNTPRequest\x12\x1b\n\x13\x63lient_send_time_ns\x18\x01 \x01(\x04\x12\x14\n\x0csample_count\x18\x02 \x01(\r\x12\x14\n\x0csample_index\x18\x03 \x01(\r\"\x94\x01\n\x0bNTPResponse\x12\x1b\n\x13\x63lient_send_time_ns\x18\x01 \x01(\x04\x12\x1e\n\x16server_receive_time_ns\x18\x02 \x01(\x04\x12\x1b\n\x13server_send_time_ns\x18\x03 \x01(\x04\x12\x14\n\x0csample_index\x18\x04 \x01(\r\x12\x15\n\rtotal_samples\x18\x05 \x01(\r*0\n\x0f\x43omponentStatus\x12\n\n\x06NORMAL\x10\x00\x12\x06\n\x02NA\x10\x01\x12\t\n\x05\x45RROR\x10\x02\x62\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -36,38 +36,42 @@ if not _descriptor._USE_C_DESCRIPTORS:
   _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_options = b'8\001'
   _globals['_COMPONENTSTATES_STATESENTRY']._loaded_options = None
   _globals['_COMPONENTSTATES_STATESENTRY']._serialized_options = b'8\001'
-  _globals['_COMPONENTSTATUS']._serialized_start=1162
-  _globals['_COMPONENTSTATUS']._serialized_end=1210
-  _globals['_SETARMMODE']._serialized_start=38
-  _globals['_SETARMMODE']._serialized_end=128
-  _globals['_SETARMMODE_MODE']._serialized_start=95
-  _globals['_SETARMMODE_MODE']._serialized_end=128
-  _globals['_SETHEADMODE']._serialized_start=130
-  _globals['_SETHEADMODE']._serialized_end=220
-  _globals['_SETHEADMODE_MODE']._serialized_start=189
-  _globals['_SETHEADMODE_MODE']._serialized_end=220
-  _globals['_SETESTOP']._serialized_start=222
-  _globals['_SETESTOP']._serialized_end=248
-  _globals['_SETLED']._serialized_start=250
-  _globals['_SETLED']._serialized_end=274
-  _globals['_CLEARERROR']._serialized_start=277
-  _globals['_CLEARERROR']._serialized_end=407
-  _globals['_CLEARERROR_COMPONENT']._serialized_start=344
-  _globals['_CLEARERROR_COMPONENT']._serialized_end=407
-  _globals['_REBOOTCOMPONENT']._serialized_start=409
-  _globals['_REBOOTCOMPONENT']._serialized_end=530
-  _globals['_REBOOTCOMPONENT_COMPONENT']._serialized_start=486
-  _globals['_REBOOTCOMPONENT_COMPONENT']._serialized_end=530
-  _globals['_FIRMWAREVERSION']._serialized_start=533
-  _globals['_FIRMWAREVERSION']._serialized_end=661
-  _globals['_SOFTWAREVERSION']._serialized_start=664
-  _globals['_SOFTWAREVERSION']._serialized_end=842
-  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_start=759
-  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_end=842
-  _globals['_SINGLECOMPONENTSTATE']._serialized_start=845
-  _globals['_SINGLECOMPONENTSTATE']._serialized_end=1002
-  _globals['_COMPONENTSTATES']._serialized_start=1005
-  _globals['_COMPONENTSTATES']._serialized_end=1160
-  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_start=1081
-  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_end=1160
+  _globals['_COMPONENTSTATUS']._serialized_start=1547
+  _globals['_COMPONENTSTATUS']._serialized_end=1595
+  _globals['_SETARMMODE']._serialized_start=39
+  _globals['_SETARMMODE']._serialized_end=229
+  _globals['_SETARMMODE_MODE']._serialized_start=140
+  _globals['_SETARMMODE_MODE']._serialized_end=229
+  _globals['_SETHEADMODE']._serialized_start=232
+  _globals['_SETHEADMODE']._serialized_end=367
+  _globals['_SETHEADMODE_MODE']._serialized_start=336
+  _globals['_SETHEADMODE_MODE']._serialized_end=367
+  _globals['_SETESTOP']._serialized_start=369
+  _globals['_SETESTOP']._serialized_end=395
+  _globals['_SETLED']._serialized_start=397
+  _globals['_SETLED']._serialized_end=421
+  _globals['_CLEARERROR']._serialized_start=424
+  _globals['_CLEARERROR']._serialized_end=554
+  _globals['_CLEARERROR_COMPONENT']._serialized_start=491
+  _globals['_CLEARERROR_COMPONENT']._serialized_end=554
+  _globals['_REBOOTCOMPONENT']._serialized_start=556
+  _globals['_REBOOTCOMPONENT']._serialized_end=677
+  _globals['_REBOOTCOMPONENT_COMPONENT']._serialized_start=633
+  _globals['_REBOOTCOMPONENT_COMPONENT']._serialized_end=677
+  _globals['_FIRMWAREVERSION']._serialized_start=680
+  _globals['_FIRMWAREVERSION']._serialized_end=808
+  _globals['_SOFTWAREVERSION']._serialized_start=811
+  _globals['_SOFTWAREVERSION']._serialized_end=989
+  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_start=906
+  _globals['_SOFTWAREVERSION_FIRMWAREVERSIONENTRY']._serialized_end=989
+  _globals['_SINGLECOMPONENTSTATE']._serialized_start=992
+  _globals['_SINGLECOMPONENTSTATE']._serialized_end=1149
+  _globals['_COMPONENTSTATES']._serialized_start=1152
+  _globals['_COMPONENTSTATES']._serialized_end=1307
+  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_start=1228
+  _globals['_COMPONENTSTATES_STATESENTRY']._serialized_end=1307
+  _globals['_NTPREQUEST']._serialized_start=1309
+  _globals['_NTPREQUEST']._serialized_end=1394
+  _globals['_NTPRESPONSE']._serialized_start=1397
+  _globals['_NTPRESPONSE']._serialized_end=1545
 # @@protoc_insertion_point(module_scope)

dexcontrol/proto/dexcontrol_query_pb2.pyi

@@ -1,3 +1,4 @@
+from collections.abc import Iterable as _Iterable
 from collections.abc import Mapping as _Mapping
 from typing import ClassVar as _ClassVar
 from typing import Optional as _Optional
@@ -20,19 +21,29 @@ NA: ComponentStatus
 ERROR: ComponentStatus
 
 class SetArmMode(_message.Message):
-    __slots__ = ("mode",)
+    __slots__ = ("mode", "modes")
     class Mode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
         __slots__ = ()
         POSITION: _ClassVar[SetArmMode.Mode]
         DISABLE: _ClassVar[SetArmMode.Mode]
+        CURRENT: _ClassVar[SetArmMode.Mode]
+        VELOCITY: _ClassVar[SetArmMode.Mode]
+        ENABLE: _ClassVar[SetArmMode.Mode]
+        CALIBRATION: _ClassVar[SetArmMode.Mode]
     POSITION: SetArmMode.Mode
     DISABLE: SetArmMode.Mode
+    CURRENT: SetArmMode.Mode
+    VELOCITY: SetArmMode.Mode
+    ENABLE: SetArmMode.Mode
+    CALIBRATION: SetArmMode.Mode
     MODE_FIELD_NUMBER: _ClassVar[int]
+    MODES_FIELD_NUMBER: _ClassVar[int]
     mode: SetArmMode.Mode
-    def __init__(self, mode: _Optional[_Union[SetArmMode.Mode, str]] = ...) -> None: ...
+    modes: _containers.RepeatedScalarFieldContainer[SetArmMode.Mode]
+    def __init__(self, mode: _Optional[_Union[SetArmMode.Mode, str]] = ..., modes: _Optional[_Iterable[_Union[SetArmMode.Mode, str]]] = ...) -> None: ...
 
 class SetHeadMode(_message.Message):
-    __slots__ = ("mode",)
+    __slots__ = ("mode", "modes")
     class Mode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
         __slots__ = ()
         ENABLE: _ClassVar[SetHeadMode.Mode]
@@ -40,8 +51,10 @@ class SetHeadMode(_message.Message):
     ENABLE: SetHeadMode.Mode
     DISABLE: SetHeadMode.Mode
     MODE_FIELD_NUMBER: _ClassVar[int]
+    MODES_FIELD_NUMBER: _ClassVar[int]
     mode: SetHeadMode.Mode
-    def __init__(self, mode: _Optional[_Union[SetHeadMode.Mode, str]] = ...) -> None: ...
+    modes: _containers.RepeatedScalarFieldContainer[SetHeadMode.Mode]
+    def __init__(self, mode: _Optional[_Union[SetHeadMode.Mode, str]] = ..., modes: _Optional[_Iterable[_Union[SetHeadMode.Mode, str]]] = ...) -> None: ...
 
 class SetEstop(_message.Message):
     __slots__ = ("enable",)
@@ -136,3 +149,27 @@ class ComponentStates(_message.Message):
     STATES_FIELD_NUMBER: _ClassVar[int]
     states: _containers.MessageMap[str, SingleComponentState]
     def __init__(self, states: _Optional[_Mapping[str, SingleComponentState]] = ...) -> None: ...
+
+class NTPRequest(_message.Message):
+    __slots__ = ("client_send_time_ns", "sample_count", "sample_index")
+    CLIENT_SEND_TIME_NS_FIELD_NUMBER: _ClassVar[int]
+    SAMPLE_COUNT_FIELD_NUMBER: _ClassVar[int]
+    SAMPLE_INDEX_FIELD_NUMBER: _ClassVar[int]
+    client_send_time_ns: int
+    sample_count: int
+    sample_index: int
+    def __init__(self, client_send_time_ns: _Optional[int] = ..., sample_count: _Optional[int] = ..., sample_index: _Optional[int] = ...) -> None: ...
+
+class NTPResponse(_message.Message):
+    __slots__ = ("client_send_time_ns", "server_receive_time_ns", "server_send_time_ns", "sample_index", "total_samples")
+    CLIENT_SEND_TIME_NS_FIELD_NUMBER: _ClassVar[int]
+    SERVER_RECEIVE_TIME_NS_FIELD_NUMBER: _ClassVar[int]
+    SERVER_SEND_TIME_NS_FIELD_NUMBER: _ClassVar[int]
+    SAMPLE_INDEX_FIELD_NUMBER: _ClassVar[int]
+    TOTAL_SAMPLES_FIELD_NUMBER: _ClassVar[int]
+    client_send_time_ns: int
+    server_receive_time_ns: int
+    server_send_time_ns: int
+    sample_index: int
+    total_samples: int
+    def __init__(self, client_send_time_ns: _Optional[int] = ..., server_receive_time_ns: _Optional[int] = ..., server_send_time_ns: _Optional[int] = ..., sample_index: _Optional[int] = ..., total_samples: _Optional[int] = ...) -> None: ...