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Commit 22ead654 authored by René Schöne's avatar René Schöne
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now with actually updated protobuf

parent ccd9be7e
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cgv_connector.proto
+ 15
− 1
View file @ 22ead654
...@@ -42,6 +42,19 @@ message Object { ...@@ -42,6 +42,19 @@ message Object {
ROBOT = 6; ROBOT = 6;
COLLABORATION_ZONE = 7; COLLABORATION_ZONE = 7;
} }
enum State {
STATE_UNKNOWN = 0;
// robot states
STATE_IDLE = 101;
STATE_PICKING = 102;
STATE_PLACING = 103;
STATE_MOVING = 104;
// object
STATE_STATIONARY = 200;
STATE_PICKED = 201;
}
string id = 1; string id = 1;
Type type = 2; Type type = 2;
...@@ -49,7 +62,8 @@ message Object { ...@@ -49,7 +62,8 @@ message Object {
Size size = 4; Size size = 4;
Orientation orientation = 5; Orientation orientation = 5;
Color color = 6; Color color = 6;
bool active = 7; State state = 7;
string owner = 8;
} }
// the scene is stored within the ROS side and sent to clients // the scene is stored within the ROS side and sent to clients
......
cgv_connector_pb2.py
+ 91
− 31
View file @ 22ead654
...@@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor( ...@@ -19,7 +19,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
syntax='proto3', syntax='proto3',
serialized_options=b'\n\030de.tudresden.inf.st.cetiP\001', serialized_options=b'\n\030de.tudresden.inf.st.cetiP\001',
create_key=_descriptor._internal_create_key, create_key=_descriptor._internal_create_key,
serialized_pb=b'\n\x13\x63gv_connector.proto\"\x81\x04\n\x06Object\x12\n\n\x02id\x18\x01 \x01(\t\x12\x1a\n\x04type\x18\x02 \x01(\x0e\x32\x0c.Object.Type\x12\x1d\n\x03pos\x18\x03 \x01(\x0b\x32\x10.Object.Position\x12\x1a\n\x04size\x18\x04 \x01(\x0b\x32\x0c.Object.Size\x12(\n\x0borientation\x18\x05 \x01(\x0b\x32\x13.Object.Orientation\x12\x1c\n\x05\x63olor\x18\x06 \x01(\x0b\x32\r.Object.Color\x12\x0e\n\x06\x61\x63tive\x18\x07 \x01(\x08\x1a+\n\x08Position\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\x1a\x35\n\x04Size\x12\x0e\n\x06length\x18\x01 \x01(\x01\x12\r\n\x05width\x18\x02 \x01(\x01\x12\x0e\n\x06height\x18\x03 \x01(\x01\x1a\x39\n\x0bOrientation\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\x12\t\n\x01w\x18\x04 \x01(\x01\x1a(\n\x05\x43olor\x12\t\n\x01r\x18\x01 \x01(\x02\x12\t\n\x01g\x18\x02 \x01(\x02\x12\t\n\x01\x62\x18\x03 \x01(\x02\"s\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x07\n\x03\x42OX\x10\x01\x12\x07\n\x03\x42IN\x10\x02\x12\x07\n\x03\x41RM\x10\x03\x12\x15\n\x11\x44ROP_OFF_LOCATION\x10\x04\x12\t\n\x05HUMAN\x10\x05\x12\t\n\x05ROBOT\x10\x06\x12\x16\n\x12\x43OLLABORATION_ZONE\x10\x07\"!\n\x05Scene\x12\x18\n\x07objects\x18\x01 \x03(\x0b\x32\x07.Object\"\x17\n\tSelection\x12\n\n\x02id\x18\x01 \x01(\t\"}\n\x07\x43ommand\x12%\n\x0cpickAndPlace\x18\x01 \x01(\x0b\x32\r.PickAndPlaceH\x00\x12%\n\x0c\x63onfigChange\x18\x02 \x01(\x0b\x32\r.ConfigChangeH\x00\x12\x1d\n\x08\x65vacuate\x18\x03 \x01(\x0b\x32\t.EvacuateH\x00\x42\x05\n\x03msg\"@\n\x0cPickAndPlace\x12\x0f\n\x07idRobot\x18\x01 \x01(\t\x12\x0e\n\x06idPick\x18\x02 \x01(\t\x12\x0f\n\x07idPlace\x18\x03 \x01(\t\"D\n\x0c\x43onfigChange\x12\x1b\n\x13idCollaborationZone\x18\x01 \x01(\t\x12\x17\n\x0fidRobotNewOwner\x18\x02 \x01(\t\"8\n\x08\x45vacuate\x12\x0f\n\x07idRobot\x18\x01 \x01(\t\x12\x1b\n\x13idCollaborationZone\x18\x02 \x01(\t\"\x8d\x01\n\x0cReachability\x12\x0f\n\x07idRobot\x18\x01 \x01(\t\x12\x31\n\x07objects\x18\x02 \x03(\x0b\x32 .Reachability.ObjectReachability\x1a\x39\n\x12ObjectReachability\x12\x10\n\x08idObject\x18\x01 \x01(\t\x12\x11\n\treachable\x18\x02 \x01(\x08\x42\x1c\n\x18\x64\x65.tudresden.inf.st.cetiP\x01\x62\x06proto3' serialized_pb=b'\n\x13\x63gv_connector.proto\"\xad\x05\n\x06Object\x12\n\n\x02id\x18\x01 \x01(\t\x12\x1a\n\x04type\x18\x02 \x01(\x0e\x32\x0c.Object.Type\x12\x1d\n\x03pos\x18\x03 \x01(\x0b\x32\x10.Object.Position\x12\x1a\n\x04size\x18\x04 \x01(\x0b\x32\x0c.Object.Size\x12(\n\x0borientation\x18\x05 \x01(\x0b\x32\x13.Object.Orientation\x12\x1c\n\x05\x63olor\x18\x06 \x01(\x0b\x32\r.Object.Color\x12\x1c\n\x05state\x18\x07 \x01(\x0e\x32\r.Object.State\x12\r\n\x05owner\x18\x08 \x01(\t\x1a+\n\x08Position\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\x1a\x35\n\x04Size\x12\x0e\n\x06length\x18\x01 \x01(\x01\x12\r\n\x05width\x18\x02 \x01(\x01\x12\x0e\n\x06height\x18\x03 \x01(\x01\x1a\x39\n\x0bOrientation\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\x12\t\n\x01w\x18\x04 \x01(\x01\x1a(\n\x05\x43olor\x12\t\n\x01r\x18\x01 \x01(\x02\x12\t\n\x01g\x18\x02 \x01(\x02\x12\t\n\x01\x62\x18\x03 \x01(\x02\"s\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x07\n\x03\x42OX\x10\x01\x12\x07\n\x03\x42IN\x10\x02\x12\x07\n\x03\x41RM\x10\x03\x12\x15\n\x11\x44ROP_OFF_LOCATION\x10\x04\x12\t\n\x05HUMAN\x10\x05\x12\t\n\x05ROBOT\x10\x06\x12\x16\n\x12\x43OLLABORATION_ZONE\x10\x07\"\x8c\x01\n\x05State\x12\x11\n\rSTATE_UNKNOWN\x10\x00\x12\x0e\n\nSTATE_IDLE\x10\x65\x12\x11\n\rSTATE_PICKING\x10\x66\x12\x11\n\rSTATE_PLACING\x10g\x12\x10\n\x0cSTATE_MOVING\x10h\x12\x15\n\x10STATE_STATIONARY\x10\xc8\x01\x12\x11\n\x0cSTATE_PICKED\x10\xc9\x01\"!\n\x05Scene\x12\x18\n\x07objects\x18\x01 \x03(\x0b\x32\x07.Object\"\x17\n\tSelection\x12\n\n\x02id\x18\x01 \x01(\t\"}\n\x07\x43ommand\x12%\n\x0cpickAndPlace\x18\x01 \x01(\x0b\x32\r.PickAndPlaceH\x00\x12%\n\x0c\x63onfigChange\x18\x02 \x01(\x0b\x32\r.ConfigChangeH\x00\x12\x1d\n\x08\x65vacuate\x18\x03 \x01(\x0b\x32\t.EvacuateH\x00\x42\x05\n\x03msg\"@\n\x0cPickAndPlace\x12\x0f\n\x07idRobot\x18\x01 \x01(\t\x12\x0e\n\x06idPick\x18\x02 \x01(\t\x12\x0f\n\x07idPlace\x18\x03 \x01(\t\"D\n\x0c\x43onfigChange\x12\x1b\n\x13idCollaborationZone\x18\x01 \x01(\t\x12\x17\n\x0fidRobotNewOwner\x18\x02 \x01(\t\"8\n\x08\x45vacuate\x12\x0f\n\x07idRobot\x18\x01 \x01(\t\x12\x1b\n\x13idCollaborationZone\x18\x02 \x01(\t\"\x8d\x01\n\x0cReachability\x12\x0f\n\x07idRobot\x18\x01 \x01(\t\x12\x31\n\x07objects\x18\x02 \x03(\x0b\x32 .Reachability.ObjectReachability\x1a\x39\n\x12ObjectReachability\x12\x10\n\x08idObject\x18\x01 \x01(\t\x12\x11\n\treachable\x18\x02 \x01(\x08\x42\x1c\n\x18\x64\x65.tudresden.inf.st.cetiP\x01\x62\x06proto3'
) )
...@@ -74,11 +74,61 @@ _OBJECT_TYPE = _descriptor.EnumDescriptor( ...@@ -74,11 +74,61 @@ _OBJECT_TYPE = _descriptor.EnumDescriptor(
], ],
containing_type=None, containing_type=None,
serialized_options=None, serialized_options=None,
serialized_start=422, serialized_start=451,
serialized_end=537, serialized_end=566,
) )
_sym_db.RegisterEnumDescriptor(_OBJECT_TYPE) _sym_db.RegisterEnumDescriptor(_OBJECT_TYPE)
_OBJECT_STATE = _descriptor.EnumDescriptor(
name='State',
full_name='Object.State',
filename=None,
file=DESCRIPTOR,
create_key=_descriptor._internal_create_key,
values=[
_descriptor.EnumValueDescriptor(
name='STATE_UNKNOWN', index=0, number=0,
serialized_options=None,
type=None,
create_key=_descriptor._internal_create_key),
_descriptor.EnumValueDescriptor(
name='STATE_IDLE', index=1, number=101,
serialized_options=None,
type=None,
create_key=_descriptor._internal_create_key),
_descriptor.EnumValueDescriptor(
name='STATE_PICKING', index=2, number=102,
serialized_options=None,
type=None,
create_key=_descriptor._internal_create_key),
_descriptor.EnumValueDescriptor(
name='STATE_PLACING', index=3, number=103,
serialized_options=None,
type=None,
create_key=_descriptor._internal_create_key),
_descriptor.EnumValueDescriptor(
name='STATE_MOVING', index=4, number=104,
serialized_options=None,
type=None,
create_key=_descriptor._internal_create_key),
_descriptor.EnumValueDescriptor(
name='STATE_STATIONARY', index=5, number=200,
serialized_options=None,
type=None,
create_key=_descriptor._internal_create_key),
_descriptor.EnumValueDescriptor(
name='STATE_PICKED', index=6, number=201,
serialized_options=None,
type=None,
create_key=_descriptor._internal_create_key),
],
containing_type=None,
serialized_options=None,
serialized_start=569,
serialized_end=709,
)
_sym_db.RegisterEnumDescriptor(_OBJECT_STATE)
_OBJECT_POSITION = _descriptor.Descriptor( _OBJECT_POSITION = _descriptor.Descriptor(
name='Position', name='Position',
...@@ -121,8 +171,8 @@ _OBJECT_POSITION = _descriptor.Descriptor( ...@@ -121,8 +171,8 @@ _OBJECT_POSITION = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=221, serialized_start=250,
serialized_end=264, serialized_end=293,
) )
_OBJECT_SIZE = _descriptor.Descriptor( _OBJECT_SIZE = _descriptor.Descriptor(
...@@ -166,8 +216,8 @@ _OBJECT_SIZE = _descriptor.Descriptor( ...@@ -166,8 +216,8 @@ _OBJECT_SIZE = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=266, serialized_start=295,
serialized_end=319, serialized_end=348,
) )
_OBJECT_ORIENTATION = _descriptor.Descriptor( _OBJECT_ORIENTATION = _descriptor.Descriptor(
...@@ -218,8 +268,8 @@ _OBJECT_ORIENTATION = _descriptor.Descriptor( ...@@ -218,8 +268,8 @@ _OBJECT_ORIENTATION = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=321, serialized_start=350,
serialized_end=378, serialized_end=407,
) )
_OBJECT_COLOR = _descriptor.Descriptor( _OBJECT_COLOR = _descriptor.Descriptor(
...@@ -263,8 +313,8 @@ _OBJECT_COLOR = _descriptor.Descriptor( ...@@ -263,8 +313,8 @@ _OBJECT_COLOR = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=380, serialized_start=409,
serialized_end=420, serialized_end=449,
) )
_OBJECT = _descriptor.Descriptor( _OBJECT = _descriptor.Descriptor(
...@@ -318,9 +368,16 @@ _OBJECT = _descriptor.Descriptor( ...@@ -318,9 +368,16 @@ _OBJECT = _descriptor.Descriptor(
is_extension=False, extension_scope=None, is_extension=False, extension_scope=None,
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
_descriptor.FieldDescriptor( _descriptor.FieldDescriptor(
name='active', full_name='Object.active', index=6, name='state', full_name='Object.state', index=6,
number=7, type=8, cpp_type=7, label=1, number=7, type=14, cpp_type=8, label=1,
has_default_value=False, default_value=False, has_default_value=False, default_value=0,
message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None,
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
_descriptor.FieldDescriptor(
name='owner', full_name='Object.owner', index=7,
number=8, type=9, cpp_type=9, label=1,
has_default_value=False, default_value=b"".decode('utf-8'),
message_type=None, enum_type=None, containing_type=None, message_type=None, enum_type=None, containing_type=None,
is_extension=False, extension_scope=None, is_extension=False, extension_scope=None,
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
...@@ -330,6 +387,7 @@ _OBJECT = _descriptor.Descriptor( ...@@ -330,6 +387,7 @@ _OBJECT = _descriptor.Descriptor(
nested_types=[_OBJECT_POSITION, _OBJECT_SIZE, _OBJECT_ORIENTATION, _OBJECT_COLOR, ], nested_types=[_OBJECT_POSITION, _OBJECT_SIZE, _OBJECT_ORIENTATION, _OBJECT_COLOR, ],
enum_types=[ enum_types=[
_OBJECT_TYPE, _OBJECT_TYPE,
_OBJECT_STATE,
], ],
serialized_options=None, serialized_options=None,
is_extendable=False, is_extendable=False,
...@@ -338,7 +396,7 @@ _OBJECT = _descriptor.Descriptor( ...@@ -338,7 +396,7 @@ _OBJECT = _descriptor.Descriptor(
oneofs=[ oneofs=[
], ],
serialized_start=24, serialized_start=24,
serialized_end=537, serialized_end=709,
) )
...@@ -369,8 +427,8 @@ _SCENE = _descriptor.Descriptor( ...@@ -369,8 +427,8 @@ _SCENE = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=539, serialized_start=711,
serialized_end=572, serialized_end=744,
) )
...@@ -401,8 +459,8 @@ _SELECTION = _descriptor.Descriptor( ...@@ -401,8 +459,8 @@ _SELECTION = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=574, serialized_start=746,
serialized_end=597, serialized_end=769,
) )
...@@ -452,8 +510,8 @@ _COMMAND = _descriptor.Descriptor( ...@@ -452,8 +510,8 @@ _COMMAND = _descriptor.Descriptor(
create_key=_descriptor._internal_create_key, create_key=_descriptor._internal_create_key,
fields=[]), fields=[]),
], ],
serialized_start=599, serialized_start=771,
serialized_end=724, serialized_end=896,
) )
...@@ -498,8 +556,8 @@ _PICKANDPLACE = _descriptor.Descriptor( ...@@ -498,8 +556,8 @@ _PICKANDPLACE = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=726, serialized_start=898,
serialized_end=790, serialized_end=962,
) )
...@@ -537,8 +595,8 @@ _CONFIGCHANGE = _descriptor.Descriptor( ...@@ -537,8 +595,8 @@ _CONFIGCHANGE = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=792, serialized_start=964,
serialized_end=860, serialized_end=1032,
) )
...@@ -576,8 +634,8 @@ _EVACUATE = _descriptor.Descriptor( ...@@ -576,8 +634,8 @@ _EVACUATE = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=862, serialized_start=1034,
serialized_end=918, serialized_end=1090,
) )
...@@ -615,8 +673,8 @@ _REACHABILITY_OBJECTREACHABILITY = _descriptor.Descriptor( ...@@ -615,8 +673,8 @@ _REACHABILITY_OBJECTREACHABILITY = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=1005, serialized_start=1177,
serialized_end=1062, serialized_end=1234,
) )
_REACHABILITY = _descriptor.Descriptor( _REACHABILITY = _descriptor.Descriptor(
...@@ -653,8 +711,8 @@ _REACHABILITY = _descriptor.Descriptor( ...@@ -653,8 +711,8 @@ _REACHABILITY = _descriptor.Descriptor(
extension_ranges=[], extension_ranges=[],
oneofs=[ oneofs=[
], ],
serialized_start=921, serialized_start=1093,
serialized_end=1062, serialized_end=1234,
) )
_OBJECT_POSITION.containing_type = _OBJECT _OBJECT_POSITION.containing_type = _OBJECT
...@@ -666,7 +724,9 @@ _OBJECT.fields_by_name['pos'].message_type = _OBJECT_POSITION ...@@ -666,7 +724,9 @@ _OBJECT.fields_by_name['pos'].message_type = _OBJECT_POSITION
_OBJECT.fields_by_name['size'].message_type = _OBJECT_SIZE _OBJECT.fields_by_name['size'].message_type = _OBJECT_SIZE
_OBJECT.fields_by_name['orientation'].message_type = _OBJECT_ORIENTATION _OBJECT.fields_by_name['orientation'].message_type = _OBJECT_ORIENTATION
_OBJECT.fields_by_name['color'].message_type = _OBJECT_COLOR _OBJECT.fields_by_name['color'].message_type = _OBJECT_COLOR
_OBJECT.fields_by_name['state'].enum_type = _OBJECT_STATE
_OBJECT_TYPE.containing_type = _OBJECT _OBJECT_TYPE.containing_type = _OBJECT
_OBJECT_STATE.containing_type = _OBJECT
_SCENE.fields_by_name['objects'].message_type = _OBJECT _SCENE.fields_by_name['objects'].message_type = _OBJECT
_COMMAND.fields_by_name['pickAndPlace'].message_type = _PICKANDPLACE _COMMAND.fields_by_name['pickAndPlace'].message_type = _PICKANDPLACE
_COMMAND.fields_by_name['configChange'].message_type = _CONFIGCHANGE _COMMAND.fields_by_name['configChange'].message_type = _CONFIGCHANGE
......
utils.py
+ 1
− 1
View file @ 22ead654
...@@ -51,7 +51,7 @@ def format_scene(scene: cgv_connector_pb2.Scene): ...@@ -51,7 +51,7 @@ def format_scene(scene: cgv_connector_pb2.Scene):
for obj in scene.objects: for obj in scene.objects:
if obj.type != cgv_connector_pb2.Object.Type.DROP_OFF_LOCATION and obj.type != cgv_connector_pb2.Object.Type.UNKNOWN: if obj.type != cgv_connector_pb2.Object.Type.DROP_OFF_LOCATION and obj.type != cgv_connector_pb2.Object.Type.UNKNOWN:
pos = obj.pos pos = obj.pos
result += f"\n<{cgv_connector_pb2.Object.Type.Name(obj.type):20} {obj.id:15} at ({pos.x:6.2} {pos.y:6.2} {pos.z:6.2}) {obj.active}>" result += f"\n<{cgv_connector_pb2.Object.Type.Name(obj.type):20} {obj.id:15} at ({pos.x:6.2} {pos.y:6.2} {pos.z:6.2}) {obj.state}>"
# result += str(obj) # result += str(obj)
# result = scene # result = scene
return result return result
......
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