rainbow-rb-schemas 0.0.9.dev5__tar.gz

rainbow_rb_schemas-0.0.9.dev5/PKG-INFO

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+Metadata-Version: 2.4
+Name: rainbow-rb-schemas
+Version: 0.0.9.dev5
+Summary: Rainbow Common Schema
+Author-email: Derek <dfd1123@rainbow-robotics.com>
+Requires-Python: <3.13,>=3.12
+Description-Content-Type: text/markdown
+Requires-Dist: flatbuffers<26.0.0,>=25.2.10
+Requires-Dist: fastapi>=0.116.1
+Requires-Dist: rainbow-rb-utils==0.0.9.dev5
+Requires-Dist: rainbow-rb-flow-manager==0.0.9.dev5
+
+# rb_schemas 사용 설명서
+
+`rb_schemas`는 프로젝트 공통 Pydantic 스키마와 Flow Manager 연동 타입을 제공하는 패키지입니다.
+
+## 1. 제공 구성
+
+- 기본 스키마 (`base.py`)
+  - `Response_ReturnValuePD`
+  - `NJointfPD`, `NInputfPD`, `Vec3fPD` 등 공용 모델
+- Flow Manager 연계 타입 (`sdk.py`)
+  - `FlowManagerArgs`
+- 스키마 유틸 (`utility.py`)
+  - `Pick(base, *include)`
+  - `Omit(base, *omit)`
+- FBS 기반 자동 생성 모델
+  - `rb_schemas.fbs_models.*`
+  - 클래스명은 `...PD` 접미사 규칙
+
+## 2. FlowManagerArgs 용도
+
+`FlowManagerArgs`는 SDK 함수에서 Flow Manager 실행 컨텍스트를 받을 때 사용합니다.
+
+```python
+from rb_schemas.sdk import FlowManagerArgs
+
+def my_step_handler(flow_manager_args: FlowManagerArgs | None = None):
+    # step 로직 수행
+    if flow_manager_args is not None:
+        flow_manager_args.done()
+```
+
+## 3. Pick/Omit 사용 예제
+
+```python
+from pydantic import BaseModel
+from rb_schemas.utility import Omit, Pick
+
+class UserPD(BaseModel):
+    user_id: str
+    email: str
+    password: str
+
+UserPublicPD = Omit(UserPD, "password")
+UserOnlyIdPD = Pick(UserPD, "user_id")
+```
+
+## 4. FBS 모델 사용 예제
+
+```python
+# 예: 자동 생성된 모델 import
+from rb_schemas.fbs_models.nexus.v1.deploy_models import Response_Deploy_ProgressPD
+
+payload = Response_Deploy_ProgressPD(
+    sw_name="example",
+    ip="127.0.0.1",
+    mode="dev",
+    tag="v1",
+    percentage=80,
+    service_name="manipulate",
+    result="success",
+)
+```
+
+## 5. 참고
+
+- FBS 기반 모델은 `backend.flatc` 실행 시 자동 재생성됩니다.
+- 생성 모델은 snake_case 필드와 alias(원본 CamelCase)를 함께 가질 수 있습니다.

rainbow_rb_schemas-0.0.9.dev5/README.md

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+# rb_schemas 사용 설명서
+
+`rb_schemas`는 프로젝트 공통 Pydantic 스키마와 Flow Manager 연동 타입을 제공하는 패키지입니다.
+
+## 1. 제공 구성
+
+- 기본 스키마 (`base.py`)
+  - `Response_ReturnValuePD`
+  - `NJointfPD`, `NInputfPD`, `Vec3fPD` 등 공용 모델
+- Flow Manager 연계 타입 (`sdk.py`)
+  - `FlowManagerArgs`
+- 스키마 유틸 (`utility.py`)
+  - `Pick(base, *include)`
+  - `Omit(base, *omit)`
+- FBS 기반 자동 생성 모델
+  - `rb_schemas.fbs_models.*`
+  - 클래스명은 `...PD` 접미사 규칙
+
+## 2. FlowManagerArgs 용도
+
+`FlowManagerArgs`는 SDK 함수에서 Flow Manager 실행 컨텍스트를 받을 때 사용합니다.
+
+```python
+from rb_schemas.sdk import FlowManagerArgs
+
+def my_step_handler(flow_manager_args: FlowManagerArgs | None = None):
+    # step 로직 수행
+    if flow_manager_args is not None:
+        flow_manager_args.done()
+```
+
+## 3. Pick/Omit 사용 예제
+
+```python
+from pydantic import BaseModel
+from rb_schemas.utility import Omit, Pick
+
+class UserPD(BaseModel):
+    user_id: str
+    email: str
+    password: str
+
+UserPublicPD = Omit(UserPD, "password")
+UserOnlyIdPD = Pick(UserPD, "user_id")
+```
+
+## 4. FBS 모델 사용 예제
+
+```python
+# 예: 자동 생성된 모델 import
+from rb_schemas.fbs_models.nexus.v1.deploy_models import Response_Deploy_ProgressPD
+
+payload = Response_Deploy_ProgressPD(
+    sw_name="example",
+    ip="127.0.0.1",
+    mode="dev",
+    tag="v1",
+    percentage=80,
+    service_name="manipulate",
+    result="success",
+)
+```
+
+## 5. 참고
+
+- FBS 기반 모델은 `backend.flatc` 실행 시 자동 재생성됩니다.
+- 생성 모델은 snake_case 필드와 alias(원본 CamelCase)를 함께 가질 수 있습니다.

rainbow_rb_schemas-0.0.9.dev5/pyproject.toml

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+[build-system]
+requires = ["setuptools>=69", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "rainbow-rb-schemas"
+version = "0.0.9.dev5"
+requires-python = ">=3.12,<3.13"
+description = "Rainbow Common Schema"
+authors = [
+    { name = "Derek", email = "dfd1123@rainbow-robotics.com" },
+]
+readme = "README.md"
+
+dependencies = [
+    "flatbuffers>=25.2.10,<26.0.0",
+    "fastapi>=0.116.1",
+    "rainbow-rb-utils==0.0.9.dev5",
+    "rainbow-rb-flow-manager==0.0.9.dev5",
+]
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+include-package-data = true
+
+[tool.setuptools.packages.find]
+where = ["src"]
+include = ["rainbow.rb_schemas*"]
+
+[tool.setuptools.package-data]
+"*" = ["py.typed"]

rainbow_rb_schemas-0.0.9.dev5/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

rainbow_rb_schemas-0.0.9.dev5/src/rainbow/rb_schemas/base.py

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+from __future__ import annotations
+
+from typing import TypeVar
+
+from pydantic import BaseModel
+
+
+class Response_ReturnValuePD(BaseModel):
+    returnValue: int
+
+
+T = TypeVar("T")
+class Response_List_ObjectPD[T](BaseModel):
+    key: str
+    payload: T
+
+
+class NJointfPD(BaseModel):
+    f: list[float]
+
+
+class NInputfPD(BaseModel):
+    f: list[float]
+
+
+class NCarrefPD(BaseModel):
+    f: list[float]
+
+
+class NDInuPD(BaseModel):
+    u: list[int]
+
+
+class NDOutuPD(BaseModel):
+    u: list[int]
+
+
+class NAinPfPD(BaseModel):
+    f: list[float]
+
+
+class NAOutfPD(BaseModel):
+    f: list[float]
+
+
+class Vec3fPD(BaseModel):
+    v: list[float]
+
+
+class Mat3fPD(BaseModel):
+    m: list[float]

rainbow_rb_schemas-0.0.9.dev5/src/rainbow/rb_schemas/fbs_models/__init__.py

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+# AUTO-GENERATED by scripts/fbs_to_pydantic.py. DO NOT EDIT.
+from __future__ import annotations
+
+from .amr import *  # noqa: F401,F403
+from .manipulate import *  # noqa: F401,F403
+from .nexus import *  # noqa: F401,F403
+from .rby1 import *  # noqa: F401,F403
+from .smbc import *  # noqa: F401,F403
+
+__all__ = []

rainbow_rb_schemas-0.0.9.dev5/src/rainbow/rb_schemas/fbs_models/amr/__init__.py

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+# AUTO-GENERATED by scripts/fbs_to_pydantic.py. DO NOT EDIT.
+from __future__ import annotations
+
+from .v1 import *  # noqa: F401,F403
+
+__all__ = []

rainbow_rb_schemas-0.0.9.dev5/src/rainbow/rb_schemas/fbs_models/amr/v1/__init__.py

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+# AUTO-GENERATED by scripts/fbs_to_pydantic.py. DO NOT EDIT.
+from __future__ import annotations
+
+from .samsung_log_models import *  # noqa: F401,F403
+from .slamnav_accessory_models import *  # noqa: F401,F403
+from .slamnav_capability_models import *  # noqa: F401,F403
+from .slamnav_control_models import *  # noqa: F401,F403
+from .slamnav_file_models import *  # noqa: F401,F403
+from .slamnav_localization_models import *  # noqa: F401,F403
+from .slamnav_map_models import *  # noqa: F401,F403
+from .slamnav_message_models import *  # noqa: F401,F403
+from .slamnav_move_models import *  # noqa: F401,F403
+from .slamnav_multi_models import *  # noqa: F401,F403
+from .slamnav_program_models import *  # noqa: F401,F403
+from .slamnav_setting_models import *  # noqa: F401,F403
+from .slamnav_socket_models import *  # noqa: F401,F403
+from .slamnav_status_models import *  # noqa: F401,F403
+from .slamnav_update_models import *  # noqa: F401,F403
+from .struct_models import *  # noqa: F401,F403
+
+__all__ = []

rainbow_rb_schemas-0.0.9.dev5/src/rainbow/rb_schemas/fbs_models/amr/v1/samsung_log_models.py

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+# AUTO-GENERATED by scripts/backend/fbs_to_pydantic.py. Derek said 'DO NOT EDIT. ㅡㅡ#'
+from __future__ import annotations
+
+from enum import Enum
+from typing import List
+from pydantic import BaseModel, ConfigDict, Field
+
+NAMESPACE = "SAMSUNG"
+
+class RequestGetGeneralLogPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    date: str | None = Field(json_schema_extra={"example": ""}, default=None)
+
+class ResponsePD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    result: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    message: str | None = Field(json_schema_extra={"example": ""}, default=None)
+
+class RequestDeleteGeneralLogPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    date: str | None = Field(json_schema_extra={"example": ""}, default=None)
+
+class RequestSetGeneralLogPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    date_time: str | None = Field(alias="dateTime", json_schema_extra={"example": ""}, default=None)
+    machine_id: str | None = Field(alias="machineId", json_schema_extra={"example": ""}, default=None)
+    log_type: str | None = Field(alias="logType", json_schema_extra={"example": ""}, default=None)
+    lot_id: str | None = Field(alias="lotId", json_schema_extra={"example": ""}, default=None)
+    recipe: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    product_id: str | None = Field(alias="productId", json_schema_extra={"example": ""}, default=None)
+    status: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    scope: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    operation_name: str | None = Field(alias="operationName", json_schema_extra={"example": ""}, default=None)
+    operation_status: str | None = Field(alias="operationStatus", json_schema_extra={"example": ""}, default=None)
+    data: str | None = Field(json_schema_extra={"example": ""}, default=None)
+
+class RequestSetManipulateLogPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    datetime: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    position: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    x: float | None = Field(default=None)
+    y: float | None = Field(default=None)
+    z: float | None = Field(default=None)
+    rx: float | None = Field(default=None)
+    ry: float | None = Field(default=None)
+    rz: float | None = Field(default=None)
+    base: float | None = Field(default=None)
+    shoulder: float | None = Field(default=None)
+    elbow: float | None = Field(default=None)
+    wrist1: float | None = Field(default=None)
+    wrist2: float | None = Field(default=None)
+
+class RequestSetTorsoLogPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    datetime: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    x: float | None = Field(default=None)
+    y: float | None = Field(default=None)
+    theta: float | None = Field(default=None)
+
+class RequestSetAMRLogPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    datetime: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    kind: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    x: float | None = Field(default=None)
+    y: float | None = Field(default=None)
+    theta: float | None = Field(default=None)
+    x_vel: float | None = Field(alias="xVel", default=None)
+    y_vel: float | None = Field(alias="yVel", default=None)
+    status_front: float | None = Field(alias="statusFront", default=None)
+    distance_front: float | None = Field(alias="distanceFront", default=None)
+    theta_front: float | None = Field(alias="thetaFront", default=None)
+    status_back: float | None = Field(alias="statusBack", default=None)
+    distance_back: float | None = Field(alias="distanceBack", default=None)
+    theta_back: float | None = Field(alias="thetaBack", default=None)
+    two_d_marker_recognize_position: float | None = Field(alias="twoDMarkerRecognizePosition", default=None)
+
+__all__ = [
+    "RequestGetGeneralLogPD",
+    "ResponsePD",
+    "RequestDeleteGeneralLogPD",
+    "RequestSetGeneralLogPD",
+    "RequestSetManipulateLogPD",
+    "RequestSetTorsoLogPD",
+    "RequestSetAMRLogPD",
+]

rainbow_rb_schemas-0.0.9.dev5/src/rainbow/rb_schemas/fbs_models/amr/v1/slamnav_accessory_models.py

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+# AUTO-GENERATED by scripts/backend/fbs_to_pydantic.py. Derek said 'DO NOT EDIT. ㅡㅡ#'
+from __future__ import annotations
+
+from enum import Enum
+from typing import List
+from pydantic import BaseModel, ConfigDict, Field
+
+from .struct_models import *  # noqa: F401,F403
+
+NAMESPACE = "SLAMNAV"
+
+class RequestLiftPowerPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    switch: bool | None = Field(default=None)
+
+class ResponseLiftPowerPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    switch: bool | None = Field(default=None)
+    result: ResultEnumPD | None = Field(default=None)
+    message: str | None = Field(json_schema_extra={"example": ""}, default=None)
+
+class RequestFootMovePD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pose: float | None = Field(default=None)
+
+class RequestFootStopPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseFootMovePD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pose: float | None = Field(default=None)
+    result: ResultEnumPD | None = Field(default=None)
+    message: str | None = Field(json_schema_extra={"example": ""}, default=None)
+
+class ResponseFootPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pose: float | None = Field(default=None)
+    result: ResultEnumPD | None = Field(default=None)
+    message: str | None = Field(json_schema_extra={"example": ""}, default=None)
+
+__all__ = [
+    "RequestLiftPowerPD",
+    "ResponseLiftPowerPD",
+    "RequestFootMovePD",
+    "RequestFootStopPD",
+    "ResponseFootMovePD",
+    "ResponseFootPD",
+]

rainbow_rb_schemas-0.0.9.dev5/src/rainbow/rb_schemas/fbs_models/amr/v1/slamnav_capability_models.py

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+# AUTO-GENERATED by scripts/backend/fbs_to_pydantic.py. Derek said 'DO NOT EDIT. ㅡㅡ#'
+from __future__ import annotations
+
+from enum import Enum
+from typing import List
+from pydantic import BaseModel, ConfigDict, Field
+
+from .slamnav_setting_models import *  # noqa: F401,F403
+from .struct_models import *  # noqa: F401,F403
+
+NAMESPACE = "SLAMNAV"
+
+class ChargeStateEnumPD(Enum):
+    NONE = 0
+    CHARGING = 1
+    COMPLETE = 2
+    FAIL = 3
+    CANCEL = 4
+
+class ChargeTypeEnumPD(Enum):
+    CABLE = 0
+    CONTACT = 1
+    INDUCTIVE = 2
+
+class BatteryTypeEnumPD(Enum):
+    DEFAULT = 0
+    TABOS = 1
+
+class CameraTypeEnumPD(Enum):
+    ORBBEC = 0
+
+class LidarTypeEnumPD(Enum):
+    RPLIDAR = 0
+    SICK = 1
+    LAKI = 2
+    LIVOX = 3
+    HOKUYO = 4
+
+class IMUTypeEnumPD(Enum):
+    DEFAULT = 0
+    IMU = 1
+
+class RequestCapabilityDockPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilityDockPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    dock_state: bool | None = Field(alias="dockState", default=None)
+    charge_state: ChargeStateEnumPD | None = Field(alias="chargeState", default=None)
+    battery_percent: float | None = Field(alias="batteryPercent", default=None)
+    charge_current: float | None = Field(alias="chargeCurrent", default=None)
+    contact_voltage: float | None = Field(alias="contactVoltage", default=None)
+    battery_type: BatteryTypeEnumPD | None = Field(alias="batteryType", default=None)
+    charge_type: List[ChargeTypeEnumPD] | None = Field(alias="chargeType", default=None)
+
+class RequestCapabilitySafetyIoPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilitySafetyIoPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    mcu0_dio: List[bool] | None = Field(alias="mcu0Dio", default=None)
+    mcu1_dio: List[bool] | None = Field(alias="mcu1Dio", default=None)
+    mcu0_din: List[bool] | None = Field(alias="mcu0Din", default=None)
+    mcu1_din: List[bool] | None = Field(alias="mcu1Din", default=None)
+
+class CameraInfoPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    connection: bool | None = Field(default=None)
+    index: int | None = Field(default=None)
+    serial: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    tf: List[float] | None = Field(default=None)
+    color_profile: int | None = Field(alias="colorProfile", default=None)
+    depth_profile: int | None = Field(alias="depthProfile", default=None)
+    type: CameraTypeEnumPD | None = Field(default=None)
+
+class RequestCapabilityCameraPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilityCameraPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    enabled: bool | None = Field(default=None)
+    enabled_obs: bool | None = Field(alias="enabledObs", default=None)
+    enabled_depth: bool | None = Field(alias="enabledDepth", default=None)
+    enabled_filter: bool | None = Field(alias="enabledFilter", default=None)
+    info: List[CameraInfoPD] | None = Field(default=None)
+
+class LidarInfoPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    connection: bool | None = Field(default=None)
+    index: int | None = Field(default=None)
+    serial: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    tf: List[float] | None = Field(default=None)
+    ip: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    type: LidarTypeEnumPD | None = Field(default=None)
+    safety: bool | None = Field(default=None)
+
+class RequestCapabilityLidar2DPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilityLidar2DPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    enabled: bool | None = Field(default=None)
+    enabled_obs: bool | None = Field(alias="enabledObs", default=None)
+    info: List[LidarInfoPD] | None = Field(default=None)
+
+class RequestCapabilityLidar3DPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilityLidar3DPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    enabled: bool | None = Field(default=None)
+    enabled_obs: bool | None = Field(alias="enabledObs", default=None)
+    info: List[LidarInfoPD] | None = Field(default=None)
+
+class IMUInfoPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    connection: bool | None = Field(default=None)
+    index: int | None = Field(default=None)
+    serial: str | None = Field(json_schema_extra={"example": ""}, default=None)
+    type: IMUTypeEnumPD | None = Field(default=None)
+
+class RequestCapabilityImuPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilityImuPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    info: List[IMUInfoPD] | None = Field(default=None)
+
+class RequestCapabilitySafetyBumperPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilitySafetyBumperPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    enabled: bool | None = Field(default=None)
+    bumper_state: bool | None = Field(alias="bumperState", default=None)
+
+class RequestCapabilitySafetyInterlockPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilitySafetyInterlockPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    enabled: bool | None = Field(default=None)
+    interlock_state: bool | None = Field(alias="interlockState", default=None)
+
+class RequestCapabilitySafetyObstaclePD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilitySafetyObstaclePD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    enabled: bool | None = Field(default=None)
+    obs_detect: bool | None = Field(alias="obsDetect", default=None)
+
+class RequestCapabilitySafetyOperationStopPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilitySafetyOperationStopPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    enabled: bool | None = Field(default=None)
+    operation_stop_state: bool | None = Field(alias="operationStopState", default=None)
+
+class RequestCapabilitySafetySpeedControlPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilitySafetySpeedControlPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    enabled: bool | None = Field(default=None)
+    speed_control_state: bool | None = Field(alias="speedControlState", default=None)
+
+class RequestCapabilityTabosPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    pass
+
+class ResponseCapabilityTabosPD(BaseModel):
+    model_config = ConfigDict(populate_by_name=True)
+    tabos_voltage: float | None = Field(alias="tabosVoltage", default=None)
+    tabos_current: float | None = Field(alias="tabosCurrent", default=None)
+    tabos_soc: float | None = Field(alias="tabosSoc", default=None)
+    tabos_soh: float | None = Field(alias="tabosSoh", default=None)
+    tabos_temp: float | None = Field(alias="tabosTemp", default=None)
+
+__all__ = [
+    "ChargeStateEnumPD",
+    "ChargeTypeEnumPD",
+    "BatteryTypeEnumPD",
+    "CameraTypeEnumPD",
+    "LidarTypeEnumPD",
+    "IMUTypeEnumPD",
+    "RequestCapabilityDockPD",
+    "ResponseCapabilityDockPD",
+    "RequestCapabilitySafetyIoPD",
+    "ResponseCapabilitySafetyIoPD",
+    "CameraInfoPD",
+    "RequestCapabilityCameraPD",
+    "ResponseCapabilityCameraPD",
+    "LidarInfoPD",
+    "RequestCapabilityLidar2DPD",
+    "ResponseCapabilityLidar2DPD",
+    "RequestCapabilityLidar3DPD",
+    "ResponseCapabilityLidar3DPD",
+    "IMUInfoPD",
+    "RequestCapabilityImuPD",
+    "ResponseCapabilityImuPD",
+    "RequestCapabilitySafetyBumperPD",
+    "ResponseCapabilitySafetyBumperPD",
+    "RequestCapabilitySafetyInterlockPD",
+    "ResponseCapabilitySafetyInterlockPD",
+    "RequestCapabilitySafetyObstaclePD",
+    "ResponseCapabilitySafetyObstaclePD",
+    "RequestCapabilitySafetyOperationStopPD",
+    "ResponseCapabilitySafetyOperationStopPD",
+    "RequestCapabilitySafetySpeedControlPD",
+    "ResponseCapabilitySafetySpeedControlPD",
+    "RequestCapabilityTabosPD",
+    "ResponseCapabilityTabosPD",
+]