api-amr/proto/vda5050.proto

syntax = "proto3";  

package vda5050;  

// 服务定义  
service AgvManagement {  
  // 双向流通信通道  
  rpc CommunicationChannel(stream AgvMessage) returns (stream ControlMessage) {}  
}  

// 节点位置
message NodePosition {
  float x = 1;
  float y = 2;
  optional float theta = 3;
  optional float allowedDeviationXy = 4;
  optional float allowedDeviationTheta = 5;
  string mapId = 6;
  optional string mapDescription = 7;
}

// 节点信息  
message Node {  
  string nodeId = 1;  
  uint32 sequenceId = 2;  
  optional string nodeDescription = 3;  
  bool released = 4;  
  optional NodePosition nodePosition = 5;  
  repeated Action actions = 6;  
}  

// 边信息  
message Edge {  
  string edgeId = 1;  
  uint32 sequenceId = 2;  
  optional string edgeDescription = 3;  
  bool released = 4;  
  string startNodeId = 5;  
  string endNodeId = 6;  
  optional float maxSpeed = 7;  
  optional float maxHeight = 8;  
  optional float minHeight = 9;  
  optional float orientation = 10;  
  optional string direction = 11;  
  optional bool rotationAllowed = 12;  
  optional float maxRotationSpeed = 13;  
  optional Trajectory trajectory = 14;  
  optional float length = 15;  
}  

// 动作信息  
message Action {  
  string actionType = 1;  
  string actionId = 2;  
  optional string actionDescription = 3;  
  string blockingType = 4;  
  repeated ActionParameter actionParameters = 5;  
}  

// 动作参数  
message ActionParameter {  
  string key = 1;  
  string value = 2;  
}  

// 即时动作  
message InstantActions {  
  uint32 headerId = 1;  
  string timestamp = 2;  
  string version = 3;  
  string manufacturer = 4;  
  string serialNumber = 5;  
  repeated Action instantActions = 6;  
}  

// 订单  
message Order {  
  uint32 headerId = 1;  
  string timestamp = 2;  
  string version = 3;  
  string manufacturer = 4;  
  string serialNumber = 5;  
  string orderId = 6;  
  uint32 orderUpdateId = 7;  
  optional string zoneSetId = 8;  
  repeated Node nodes = 9;  
  repeated Edge edges = 10;  
}  

// 连接信息  
message Connection {  
  uint32 headerId = 1;  
  string timestamp = 2;  
  string version = 3;  
  string manufacturer = 4;  
  string serialNumber = 5;  
  string connectionState = 6;  
}  

// 状态消息  
message State {  
  uint32 headerId = 1;  
  string timestamp = 2;  
  string version = 3;  
  string manufacturer = 4;  
  string serialNumber = 5;  
  string orderId = 6;  
  uint32 orderUpdateId = 7;  
  string lastNodeId = 8;  
  uint32 lastNodeSequenceId = 9;  
  bool driving = 10;  
  optional bool waitingForInteractionZoneRelease = 11;  
  optional bool paused = 12;  
  optional ForkState forkState = 13;  
  optional bool newBaseRequest = 14;  
  optional float distanceSinceLastNode = 15;  
  string operatingMode = 16;  
  repeated NodeState nodeStates = 17;  
  repeated EdgeState edgeStates = 18;  
  optional AgvPosition agvPosition = 19;  
  optional Velocity velocity = 20;  
  repeated Load loads = 21;  
  repeated ActionState actionStates = 22;  
  BatteryState batteryState = 23;  
  repeated Error errors = 24;  
  repeated Information information = 25;  
  SafetyState safetyState = 26;  
}  

// AGV位置  
message AgvPosition {  
  float x = 1;  
  float y = 2;  
  float theta = 3;  
  string mapId = 4;  
  optional string mapDescription = 5;  
  bool positionInitialized = 6;  
  optional float deviationRange = 7;  
  optional float localizationScore = 8;  
}  

// 速度  
message Velocity {  
  optional float vx = 1;  
  optional float vy = 2;  
  optional float omega = 3;  
}  

// 错误  
message Error {  
  string errorType = 1;  
  repeated ErrorReference errorReferences = 2;  
  optional string errorDescription = 3;  
  string errorLevel = 4;  
}  

// 错误引用  
message ErrorReference {
  string referenceKey = 1;
  string referenceValue = 2;
}

// 信息
message Information {
  string infoType = 1;
  repeated InfoReference infoReferences = 2;
  optional string infoDescription = 3;
  string infoLevel = 4;
}

// 信息引用
message InfoReference {
  string referenceKey = 1;
  string referenceValue = 2;
}

// 动作状态  
message ActionState {  
  string actionId = 1;  
  optional string actionType = 2;  
  optional string actionDescription = 3;  
  string actionStatus = 4;  
  optional string resultDescription = 5;  
}

// 节点状态
message NodeState {
  string nodeId = 1;
  uint32 sequenceId = 2;
  optional string nodeDescription = 3;
  optional NodePosition nodePosition = 4;
  bool released = 5;
}

// 边状态
message EdgeState {
  string edgeId = 1;
  uint32 sequenceId = 2;
  optional string edgeDescription = 3;
  bool released = 4;
  optional Trajectory trajectory = 5;
}

// 负载
message Load {
  optional string loadId = 1;
  optional string loadType = 2;
  optional string loadPosition = 3;
  optional BoundingBoxReference boundingBoxReference = 4;
  optional LoadDimensions loadDimensions = 5;
  optional float weight = 6;
}

// 边界框引用
message BoundingBoxReference {
  float x = 1;
  float y = 2;
  float z = 3;
  optional float theta = 4;
}

// 负载尺寸
message LoadDimensions {
  float length = 1;
  float width = 2;
  optional float height = 3;
}

// 控制点
message ControlPoint {
  float x = 1;
  float y = 2;
  optional float weight = 3;
  optional float orientation = 4;
}

// 轨迹
message Trajectory {
  int64 degree = 1;
  repeated float knotVector = 2;
  repeated ControlPoint controlPoints = 3;
}

// 货叉状态
message ForkState {
  float forkHeight = 1;
}

// 安全状态  
message SafetyState {  
  string eStop = 1;  
  bool fieldViolation = 2;  
}  

// 电池状态  
message BatteryState {  
  float batteryCharge = 1;  
  optional float batteryVoltage = 2;  
  optional uint32 batteryHealth = 3;  
  bool charging = 4;  
  optional float reach = 5;  
}  

// 可视化信息  
message Visualization {  
  uint32 headerId = 1;  
  string timestamp = 2;  
  string version = 3;  
  string manufacturer = 4;  
  string serialNumber = 5;  
  optional AgvPosition agvPosition = 6;  
  optional Velocity velocity = 7;  
}  

// 控制消息（从控制系统到AGV）  
message ControlMessage {  
  string targetAgvId = 1;  
  oneof message_type {  
    Order order = 2;  
    InstantActions instantActions = 3; 
  }  
}  

// AGV消息（从AGV到控制系统）  
message AgvMessage {  
  string agvId = 1;  
  oneof message_type {  
    State state = 2;  
    Connection connection = 3;  
    Error error = 4;  
    Visualization visualization = 5;  
    Factsheet factsheet = 6;
  }  
}

// AGV 数据服务
service AgvDataService {
  // 获取单个 AGV 的数据
  rpc GetAgvData (GetAgvDataRequest) returns (AgvDataResponse) {}
  // 获取所有 AGV 的数据
  rpc GetAllAgvData (GetAllAgvDataRequest) returns (GetAllAgvDataResponse) {}
}

// 请求消息
message GetAgvDataRequest {
  string agvId = 1;
}

message GetAllAgvDataRequest {
  // 可以添加过滤条件
  bool includeRealAgvs = 1;
  bool includeSimulatedAgvs = 2;
}

// 响应消息
message AgvDataResponse {
  string agvId = 1;
  State state = 2;
  uint32 timestamp = 3;
  bool isReal = 4;
}

message GetAllAgvDataResponse {
  repeated AgvDataResponse agvs = 1;
}

// Factsheet provides AGV factsheet information to master control
message Factsheet {
  uint32 headerId = 1;
  string timestamp = 2;
  string version = 3;
  string manufacturer = 4;
  string serialNumber = 5;
  TypeSpecification typeSpecification = 6;
  PhysicalParameters physicalParameters = 7;
  ProtocolLimits protocolLimits = 8;
  ProtocolFeatures protocolFeatures = 9;
  AgvGeometry agvGeometry = 10;
  LoadSpecification loadSpecification = 11;
  VehicleConfig vehicleConfig = 12;
}

message TypeSpecification {
  string seriesName = 1;
  optional string seriesDescription = 2;
  string agvKinematic = 3;
  string agvClass = 4;
  double maxLoadMass = 5;
  repeated string localizationTypes = 6;
  repeated string navigationTypes = 7;
}

message PhysicalParameters {
  double speedMin = 1;
  double speedMax = 2;
  optional double angularSpeedMin = 3;
  optional double angularSpeedMax = 4;
  double accelerationMax = 5;
  double decelerationMax = 6;
  double heightMin = 7;
  double heightMax = 8;
  double width = 9;
  double length = 10;
}

message ProtocolLimits {
  MaxStringLens maxStringLens = 1;
  MaxArrayLens maxArrayLens = 2;
  Timing timing = 3;
}

message MaxStringLens {
  optional uint32 msgLen = 1;
  optional uint32 topicSerialLen = 2;
  optional uint32 topicElemLen = 3;
  optional uint32 idLen = 4;
  optional bool idNumericalOnly = 5;
  optional uint32 enumLen = 6;
  optional uint32 loadIdLen = 7;
}

message MaxArrayLens {
  optional uint32 orderNodes = 1;
  optional uint32 orderEdges = 2;
  optional uint32 nodeActions = 3;
  optional uint32 edgeActions = 4;
  optional uint32 actionParameters = 5;
  optional uint32 instantActions = 6;
  optional uint32 trajectoryKnotVector = 7;
  optional uint32 trajectoryControlPoints = 8;
  optional uint32 stateNodeStates = 9;
  optional uint32 stateEdgeStates = 10;
  optional uint32 stateLoads = 11;
  optional uint32 stateActionStates = 12;
  optional uint32 stateErrors = 13;
  optional uint32 stateInformation = 14;
  optional uint32 errorErrorReferences = 15;
  optional uint32 informationInfoReferences = 16;
}

message Timing {
  optional float minOrderInterval = 1;
  optional float minStateInterval = 2;
  optional float defaultStateInterval = 3;
  optional float visualizationInterval = 4;
}

message ProtocolFeatures {
  repeated OptionalParameter optionalParameters = 1;
  repeated AgvAction agvActions = 2;
}

message OptionalParameter {
  string parameter = 1;
  string support = 2;
  optional string description = 3;
}

message AgvAction {
  string actionType = 1;
  optional string actionDescription = 2;
  repeated string actionScopes = 3;
  repeated ActionParameterDefinition actionParameters = 4;
  optional string resultDescription = 5;
  repeated string blockingTypes = 6;
}

message ActionParameterDefinition {
  string key = 1;
  string valueDataType = 2;
  optional string description = 3;
  optional bool isOptional = 4;
}

message AgvGeometry {
  repeated WheelDefinition wheelDefinitions = 1;
  repeated Envelope2d envelopes2d = 2;
  repeated Envelope3d envelopes3d = 3;
}

message WheelDefinition {
  string type = 1;
  bool isActiveDriven = 2;
  bool isActiveSteered = 3;
  Position position = 4;
  double diameter = 5;
  double width = 6;
  optional double centerDisplacement = 7;
  optional string constraints = 8;
}

message Position {
  double x = 1;
  double y = 2;
  optional double theta = 3;
}

message Envelope2d {
  string set = 1;
  repeated PolygonPoint polygonPoints = 2;
  optional string description = 3;
}

message PolygonPoint {
  double x = 1;
  double y = 2;
}

message Envelope3d {
  string set = 1;
  string format = 2;
  string data = 3;
  optional string url = 4;
  optional string description = 5;
}

message LoadSpecification {
  repeated string loadPositions = 1;
  repeated LoadSet loadSets = 2;
}

message LoadSet {
  string setName = 1;
  string loadType = 2;
  repeated string loadPositions = 3;
  BoundingBoxReference boundingBoxReference = 4;
  LoadDimensions loadDimensions = 5;
  optional double maxWeight = 6;
  optional double minLoadhandlingHeight = 7;
  optional double maxLoadhandlingHeight = 8;
  optional double minLoadhandlingDepth = 9;
  optional double maxLoadhandlingDepth = 10;
  optional double minLoadhandlingTilt = 11;
  optional double maxLoadhandlingTilt = 12;
  optional double agvSpeedLimit = 13;
  optional double agvAccelerationLimit = 14;
  optional double agvDecelerationLimit = 15;
  optional double pickTime = 16;
  optional double dropTime = 17;
  optional string description = 18;
}

message VehicleConfig {
  repeated VersionInfo versions = 1;
  optional NetworkInfo network = 2;
}

message VersionInfo {
  string key = 1;
  string value = 2;
}

message NetworkInfo {
  repeated string dnsServers = 1;
  repeated string ntpServers = 2;
  string localIpAddress = 3;
  string netmask = 4;
  string defaultGateway = 5;
}