// Copyright (c) 2022 Boston Dynamics, Inc. All rights reserved. // // Downloading, reproducing, distributing or otherwise using the SDK Software // is subject to the terms and conditions of the Boston Dynamics Software // Development Kit License (20191101-BDSDK-SL). syntax = "proto3"; package bosdyn.api.docking; option java_outer_classname = "DockingProto"; import "bosdyn/api/header.proto"; import "bosdyn/api/lease.proto"; import "google/protobuf/timestamp.proto"; // Message to command the robot to dock. \ // Note: If the robot is docked, you can undock the robot by issuing a command with // `prep_pose_behavior=PREP_POSE_UNDOCK`. If undocking, `docking_station_id` is not required. message DockingCommandRequest { // Common request header. RequestHeader header = 1; // The Lease to show ownership of the robot. Lease lease = 2; // ID of docking station to dock at. // This is ignored if undocking the robot, the current dock is used. uint32 docking_station_id = 3; // Identifier provided by the time sync service to verify time sync between robot and client. string clock_identifier = 4; // The timestamp (in robot time) by which a command must finish executing. // This is a required field and used to prevent runaway commands. google.protobuf.Timestamp end_time = 5; // [Optional] Specify the prep pose behavior PrepPoseBehavior prep_pose_behavior = 9; } // Response to a DockingCommandRequest message DockingCommandResponse { enum Status { // Status is not specified. STATUS_UNKNOWN = 0; // Docking command accepted STATUS_OK = 1; // ERROR: Lease rejected STATUS_ERROR_LEASE = 4; // ERROR: Dock fiducial not found. STATUS_ERROR_DOCK_NOT_FOUND = 5; // ERROR: Trying to undock while not docked STATUS_ERROR_NOT_DOCKED = 6; // ERROR: Trying to dock when the arm is holding an object. STATUS_ERROR_GRIPPER_HOLDING_ITEM = 8; // ERROR: The dock is not available for docking. STATUS_ERROR_NOT_AVAILABLE = 9; // ERROR: Internal system error during execution // This error cannot be resolved by issuing a new DockingCommand // Check the returned message for details STATUS_ERROR_SYSTEM = 7; } // Common response header. ResponseHeader header = 1; // Details about how the lease was used. LeaseUseResult lease_use_result = 2; // Result of issued command. Status status = 3; // Unique identifier for the command (if accepted, `status=STATUS_OK`). uint32 docking_command_id = 5; } // Message to get the status of a previously issued DockingCommand message DockingCommandFeedbackRequest { // Common request header. RequestHeader header = 1; // Unique identifier of the command to get feedback for. uint32 docking_command_id = 2; } // Response to a DockingCommandFeedbackRequest for a particualar docking command ID message DockingCommandFeedbackResponse { enum Status { // Status is not specified. STATUS_UNKNOWN = 0; // Docking command is executing. STATUS_IN_PROGRESS = 1; // Docking command succeeded, the robot is docked. STATUS_DOCKED = 2; // Final success state for `PREP_POSE_ONLY_POSE` or `PREP_POSE_UNDOCK`. STATUS_AT_PREP_POSE = 11; // Misaligned was detected between the robot and the dock. // The docking command was aborted to save an ending up in an unrecoverable state, please try again. STATUS_MISALIGNED = 10; // This DockingCommand overridden by new docking command. STATUS_OLD_DOCKING_COMMAND = 3; // ERROR: The sensed dock has been lost and is no longer found. STATUS_ERROR_DOCK_LOST = 4; // ERROR: Lease rejected. STATUS_ERROR_LEASE = 5; // ERROR: End time has been reached. STATUS_ERROR_COMMAND_TIMED_OUT = 6; // ERROR: No Timesync with system. STATUS_ERROR_NO_TIMESYNC = 7; // ERROR: Provided end time too far in the future. STATUS_ERROR_TOO_DISTANT = 8; // ERROR: The dock is not available for docking. STATUS_ERROR_NOT_AVAILABLE = 12; // ERROR: The prior could not be confirmed as a real dock STATUS_ERROR_UNREFINED_PRIOR = 13; // ERROR: Internal system error during execution // This error cannot be resolved by issuing a new DockingCommand // Check the returned message for details STATUS_ERROR_SYSTEM = 9; } // Common response header. ResponseHeader header = 1; // Details about how the lease was used (unset if unknown). LeaseUseResult lease_use_result = 2; // Current feedback of specified command ID. Status status = 3; } // Type of dock enum DockType { // Unknown type of dock DOCK_TYPE_UNKNOWN = 0; // Prototype version SpotDock DOCK_TYPE_CONTACT_PROTOTYPE = 2; // Production version SpotDock DOCK_TYPE_SPOT_DOCK = 3; } // The configuration of a range of dock ID's message ConfigRange { // Starting ID uint32 id_start = 1; // Ending ID uint32 id_end = 2; // Type of dock for this range DockType type = 3; } message GetDockingConfigRequest { // Common request header. RequestHeader header = 1; } message GetDockingConfigResponse { // Common response header. ResponseHeader header = 1; // A series of `ConfigRange` specifying details for dock ID numbers. repeated ConfigRange dock_configs = 2; } // Defines how and whether we use the "pre-docking" pose. enum PrepPoseBehavior { PREP_POSE_UNKNOWN = 0; // Default behavior, equivalent to PREP_POSE_USE_POSE. PREP_POSE_USE_POSE = 1; // Goes to the pre-docking pose before docking. PREP_POSE_SKIP_POSE = 2; // Docks before going to the pre-docking pose. PREP_POSE_ONLY_POSE = 3; // Goes to the pre-docking pose, and then returns SUCCESS without docking. PREP_POSE_UNDOCK = 4; // Use this enum to undock a currently docked robot. } // Message describing the overall dock state of the robot, including power & comms connections. \ // Not tied to any particular DockingCommand ID. \ // Note: [*] indicates fields which are only valid if the status is DOCK_STATUS_DOCKED or DOCK_STATUS_DOCKING \ // or DOCK_STATUS_UNDOCKING. \ // Note: [^] indicates fields which are only valid if the status is DOCK_STATUS_DOCKED. \ message DockState { enum DockedStatus { // Unknown DOCK_STATUS_UNKNOWN = 0; // Robot is detected as on a dock DOCK_STATUS_DOCKED = 1; // Robot is currently running a docking command DOCK_STATUS_DOCKING = 2; // Robot is not detected as on dock DOCK_STATUS_UNDOCKED = 3; // Robot is currently running an undocking command DOCK_STATUS_UNDOCKING = 4; } enum LinkStatus { // Unknown or Not applicable LINK_STATUS_UNKNOWN = 0; // The link status is being detected LINK_STATUS_DETECTING = 3; // The link is detected as connected LINK_STATUS_CONNECTED = 1; // The link could not be detected LINK_STATUS_ERROR = 2; } // Status of if the robot is on dock DockedStatus status = 1; // [*] Type of the dock DockType dock_type = 2; // [*] ID of the dock uint32 dock_id = 3; // [^] Status of power detection from the dock LinkStatus power_status = 4; } // Message to get the overall docking state message GetDockingStateRequest { // Common request header. RequestHeader header = 1; } // Response of a GetDockingStateRequest message GetDockingStateResponse { // Common response header. ResponseHeader header = 1; DockState dock_state = 2; }