feat: add service to send app status

ichiro-its · May 19, 2024 · 24e4258 · 24e4258
1 parent dae339d
commit 24e4258
Showing 1 changed file with 17 additions and 11 deletions.
diff --git a/proto/aruku.proto b/proto/aruku.proto
@@ -8,8 +8,10 @@ service Config {
   rpc SaveConfig (ConfigWalking) returns (Empty) {}
 
   rpc PublishConfig (ConfigWalking) returns (Empty){}
-  
+
   rpc SetMainConfig (SetWalking) returns (Empty) {}
+
+  rpc SetAppStatus (AppStatus) returns (Empty) {}
 }
 
 message Empty {}
@@ -25,18 +27,22 @@ message ConfigWalking {
 }
 
 message SetWalking {
-    bool run = 1;
-    double x_move = 2;
-    double y_move = 3;
-    double a_move = 4;
-    bool aim_on = 5;
+  bool run = 1;
+  double x_move = 2;
+  double y_move = 3;
+  double a_move = 4;
+  bool aim_on = 5;
 }
 
 message Status {
-    bool is_running = 1;
-    double x_amplitude = 2;
-    double y_amplitude = 3;
-    double a_amplitude  = 4;
-    Point2 odometry = 5;
+  bool is_running = 1;
+  double x_amplitude = 2;
+  double y_amplitude = 3;
+  double a_amplitude  = 4;
+  Point2 odometry = 5;
 }
 
+message AppStatus {
+  bool action_manager_status = 1;
+  bool walk_setting_status = 2;
+}