Claire/proto cleanup (#124)

Co-authored-by: claire <[email protected]>

protos/CMakeLists.txt

@@ -1,17 +1,14 @@
 farm_ng_add_protobufs(farm_ng_amiga_proto_defs
     NAMESPACE farm_ng_amiga
     INCLUDE_DIRS
-      ${Sophus_PROTO_DIR}
       ${farm_ng_core_PROTO_DIR}
     PROTO_FILES
+        farm_ng/amiga/amiga.proto
         farm_ng/canbus/amiga_v6.proto
         farm_ng/canbus/canbus.proto
         farm_ng/gps/gps.proto
-        farm_ng/health_monitor/health_monitor.proto
+        farm_ng/imu/imu.proto
         farm_ng/oak/oak.proto
-        farm_ng/service/service.proto
     DEPENDENCIES
-      Sophus::sophus_linalg_proto_defs
-      Sophus::sophus_lie_proto_defs
-      farm_ng_core::farm_ng_core_proto_defs
+        farm_ng_core::farm_ng_core_proto_defs
 )

protos/farm_ng/amiga/amiga.proto

@@ -0,0 +1,45 @@
+// Copyright (c) farm-ng, inc.
+//
+// Licensed under the Amiga Development Kit License (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     https://github.com/farm-ng/amiga-dev-kit/blob/main/LICENSE
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Copyright (c) farm-ng, inc. All rights reserved.
+
+syntax = "proto3";
+
+import "farm_ng/gps/gps.proto";
+
+import "farm_ng/core/linalg.proto";
+import "farm_ng/core/pose.proto";
+
+package farm_ng.amiga.proto;
+
+message AmigaRobotConfig {
+  repeated WheelConfig wheels = 1;
+  // List of poses
+  farm_ng.core.proto.PoseTree pose_tree = 6;
+}
+
+message WheelConfig {
+  // User friendly identifier (front-left, ...)
+  string name = 1;
+
+  // ID of motor controller on canbus
+  uint32 canbus_id = 2;
+
+  // Gear reduction.
+  // E.g. 1000 rpm motor turns wheel at wheel_from_motor_rate * 1000 rpm.
+  double wheel_from_motor_rate = 4;
+
+  // diameter of wheel (in contact with ground) in meters
+  double wheel_diameter_m = 5;
+}

protos/farm_ng/canbus/canbus.proto

@@ -16,44 +16,6 @@ syntax = "proto3";
 
 package farm_ng.canbus.proto;
 
-service CanbusService {
-  // Streams raw messages received on the CAN bus
-  rpc streamCanbusMessages(StreamCanbusRequest)
-      returns (stream StreamCanbusReply) {}
-  // Sends messages on the CAN bus
-  rpc sendCanbusMessage(stream SendCanbusMessageRequest)
-      returns (stream SendCanbusMessageReply) {}
-
-  // Streams the states of all detected motors.
-  // Motors not actively streaming their state will not appear in the StreamMotorStatesReply
-  rpc streamMotorStates(StreamMotorStatesRequest)
-      returns (stream StreamMotorStatesReply) {}
-
-  // Streams vehicle twist states received on the CAN bus
-  rpc streamVehicleTwistState(StreamVehicleTwistStateRequest)
-    returns (stream StreamVehicleTwistStateReply) {}
-
-  // Sends twist vehicle commands on the CAN bus
-  // and responds with the most recent received twist state.
-  rpc sendVehicleTwistCommand(stream SendVehicleTwistCommandRequest)
-    returns (stream SendVehicleTwistCommandReply) {}
-}
-
-message StreamCanbusRequest {
-}
-
-message StreamCanbusReply {
-  RawCanbusMessages messages = 1;
-}
-
-message SendCanbusMessageRequest {
-  RawCanbusMessage message = 1;
-}
-
-message SendCanbusMessageReply {
-  bool success = 1;
-}
-
 // Message to send a twist command to the vehicle
 message Twist2d {
   // The commanded linear velocity of the vehicle in the x direction in meters per second
@@ -64,34 +26,6 @@ message Twist2d {
   float angular_velocity = 3;
 }
 
-// Message to send a twist command to the vehicle
-  message StreamVehicleTwistStateRequest {
-}
-
-// Message to send a twist command to the vehicle
-message StreamVehicleTwistStateReply {
-  // The time the message is "received" / "sent" on the canbus
-  double stamp = 1;
-  // The state of the vehicle
-  Twist2d state = 2;
-}
-
-// Message to send a twist command to the vehicle
-message SendVehicleTwistCommandRequest {
-  // The commanded twist to the vehicle
-  Twist2d command = 1;
-}
-
-// Message to send a twist command to the vehicle
-message SendVehicleTwistCommandReply {
-  // Whether the command was successfully sent
-  bool success = 1;
-  // The time the message is "received" / "sent" on the canbus
-  double stamp = 2;
-  // The state of the vehicle
-  Twist2d state = 3;
-}
-
 message RawCanbusMessage {
   // The time the message is "received" / "sent" on the canbus
   // in the steady_clock/time.montonic() time domain
@@ -106,9 +40,6 @@ message RawCanbusMessages {
   repeated RawCanbusMessage messages = 1;
 }
 
-message StreamMotorStatesRequest {
-}
-
 // Enum of motor controller states
 enum MotorControllerStatus {
   // TODO: Do we want to replace uint32 status=3; in MotorState with this enum?
@@ -131,9 +62,3 @@ message MotorState {
     double current = 6; // Motor current draw, as measured at motor controller
     int32 temperature = 7; // Motor temperature
 }
-
-// Packages multiple MotorState's for the client
-message StreamMotorStatesReply {
-  // List of MotorState's
-  repeated MotorState motors = 1;
-}

protos/farm_ng/gps/gps.proto

@@ -18,17 +18,6 @@ import "farm_ng/core/timestamp.proto";
 
 package farm_ng.gps.proto;
 
-service GpsService {
-  rpc streamFrames(StreamFramesRequest) returns (stream StreamFramesReply) {}
-  rpc streamRelativePositionFrames(StreamRelPositionRequest) returns (stream StreamRelPositionReply) {}
-}
-
-message StreamRelPositionRequest {
-}
-
-message StreamFramesRequest {
-}
-
 message GpsFrameStatus {
     bool time_fully_resolved = 1; // means that the UTC time is known without full seconds ambiguity
     bool gnss_fix_ok = 2; // fixes not marked valid should not normally be used
@@ -107,14 +96,6 @@ message RelativePositionFrame { // NAV-RELPOSNED
   GpsCoordinates base_coords = 23;   // base / reference station coordinates, if known
 }
 
-message StreamRelPositionReply {
-  RelativePositionFrame frame = 1;
-}
-
-message StreamFramesReply {
-  GpsFrame frame = 1;
-}
-
 message GpsCoordinates{
   // Not necessarily a reading directly from the GPS receiver.
   // Likely a created / calculated set of GPS coordinates.

protos/farm_ng/imu/imu.proto

@@ -0,0 +1,27 @@
+// Copyright (c) farm-ng, inc. All rights reserved.
+
+syntax = "proto3";
+
+import "farm_ng/core/linalg.proto";
+import "farm_ng/core/lie.proto";
+
+package farm_ng.imu.proto;
+
+message ImuBias {
+    // Gyro bias in radians per second
+    farm_ng.core.proto.Vec3F64 gyro_bias = 1;
+    // Accelerometer bias in meters per second squared
+    farm_ng.core.proto.Vec3F64 accelero_bias = 2;
+}
+
+message Imu {
+    // Angular velocity in radians per second
+    farm_ng.core.proto.Vec3F64 angular_velocity = 2;
+    // Linear acceleration in meters per second squared
+    farm_ng.core.proto.Vec3F64 linear_acceleration = 3;
+    // Orientation as a quaternion
+    farm_ng.core.proto.QuaternionF64 orientation = 4;
+    // Gyro and Accelero bias 
+    ImuBias bias = 5;
+}
+