package cyberdogapp

Get desktop application:
View/edit binary Protocol Buffers messages

• rpc setMode (CheckoutMode_request, stream CheckoutMode_respond)

  cyberdog_app.proto:26

  app work as client

  message CheckoutMode_request

  cyberdog_app.proto:394

  • optional ModeStamped next_mode = 1

  • fixed32 timeout = 2

  message CheckoutMode_respond

  cyberdog_app.proto:416

  • bool is_feedback = 1

    respond type

  • optional Header header = 2

    action_feedback

  • fixed32 current_state = 3

  • fixed32 err_code = 4

    action_result

  • fixed32 err_state = 5

  • bool succeed = 6

  • optional Mode next_mode = 7

  • fixed32 request_id = 8

• rpc setPattern (CheckoutPattern_request, stream CheckoutPattern_respond)

  cyberdog_app.proto:27

  message CheckoutPattern_request

  cyberdog_app.proto:437

  • optional PatternStamped patternstamped = 1

  • fixed32 timeout = 2

  message CheckoutPattern_respond

  cyberdog_app.proto:442

  • bool is_feedback = 1

    type

  • optional Header header = 2

    feedback_field

  • optional Pattern current_checking = 3

  • bool last_pattern = 4

  • fixed32 err_code = 5

    result

  • optional Pattern err_pattern = 6

  • bool succeed = 7

  • optional PatternStamped patternstamped = 8

  • fixed32 request_id = 9

• rpc setFollowRegion (BodyRegion_Request, stream BodyRegion_Respond)

  cyberdog_app.proto:28

  message BodyRegion_Request

  cyberdog_app.proto:479

  • optional RegionOfInterest roi = 1

  message BodyRegion_Respond

  cyberdog_app.proto:483

  • bool success = 1

• rpc requestCamera (CameraService_request, stream CameraService_respond)

  cyberdog_app.proto:29

  message CameraService_request

  cyberdog_app.proto:517

  • fixed32 command = 1

  • string args = 2

  message CameraService_respond

  cyberdog_app.proto:533

  • fixed32 command = 1

  • fixed32 result = 2

  • string msg = 3

• rpc requestVoice (Voiceprint_Request, stream Voiceprint_Response)

  cyberdog_app.proto:30

  message Voiceprint_Request

  cyberdog_app.proto:644

  • optional VoiceprintEntry info = 1

  message Voiceprint_Response

  cyberdog_app.proto:676

  • fixed32 ask = 1

  • bool accept = 2

• rpc requestFaceManager (FaceManager_Request, stream FaceManager_Response)

  cyberdog_app.proto:31

  message FaceManager_Request

  cyberdog_app.proto:554

  • fixed32 command = 1

  • string args = 2

  message FaceManager_Response

  cyberdog_app.proto:567

  • fixed32 command = 1

  • fixed32 result = 2

  • string msg = 3

  • repeated CompressedImage face_images = 4

• rpc sendAppDecision (Decissage, Result)

  cyberdog_app.proto:32

• rpc sendAiToken (TokenPass_Request, stream TokenPass_Response)

  cyberdog_app.proto:33

  message TokenPass_Request

  cyberdog_app.proto:681

  • fixed32 ask = 1

  • optional Token info = 2

  • fixed32 vol = 3

  message TokenPass_Response

  cyberdog_app.proto:709

  • fixed32 flage = 1

  • string divice_id = 2

  • fixed32 vol = 3

• rpc setNavPosition (Target_Request, stream Target_Response)

  cyberdog_app.proto:34

  message Target_Request

  cyberdog_app.proto:590

  • optional Header header = 1

  • optional MapMetaData info = 2

  • fixed32 target_x = 3

  • fixed32 target_y = 4

  message Target_Response

  cyberdog_app.proto:605

  • optional MapMetaData info = 1

  • bool success = 2

• rpc setExtmonOrder (ExtMonOrder_Request, stream ExtMonOrder_Respond)

  cyberdog_app.proto:35

  message ExtMonOrder_Request

  cyberdog_app.proto:105

  • optional MonOrder order = 1

  • fixed32 timeout = 2

  message ExtMonOrder_Respond

  cyberdog_app.proto:110

  • optional MonOrder order = 1

  • fixed32 err_code = 2

  • bool succeed = 3

  • bool is_feedback = 4

  • fixed32 request_id = 5

• rpc disconnect (Disconnect, stream Result)

  cyberdog_app.proto:36

  message Disconnect

  cyberdog_app.proto:102

  • fixed32 reason = 1

• rpc setBtRemoteCmd (BtRemoteCommand_Request, stream BtRemoteCommand_Respond)

  cyberdog_app.proto:37

  message BtRemoteCommand_Request

  cyberdog_app.proto:86

  • fixed32 command = 1

  • string address = 2

  message BtRemoteCommand_Respond

  cyberdog_app.proto:98

  • bool success = 1

• rpc setBodyPara (Parameters, Result)

  cyberdog_app.proto:38

• rpc sendMotionTestRequest (MotionCommand, Result)

  cyberdog_app.proto:41

  for motion test

  message MotionCommand

  cyberdog_app.proto:177

  • fixed32 command = 1

• rpc getOffsetData (OffsetRequest, stream OffsetCalibationData)

  cyberdog_app.proto:44

  for offset calibration

  message OffsetRequest

  cyberdog_app.proto:155

  • fixed32 gait = 1

• rpc setOffsetData (OffsetCalibationData, stream OffsetRequest_result)

  cyberdog_app.proto:45

  message OffsetRequest_result

  cyberdog_app.proto:146

  • fixed32 gait = 1

  • fixed32 result = 2

• rpc subscribeBms (Bms, Result)

  cyberdog_app.proto:48

  app work as server

  message Bms

  cyberdog_app.proto:302

  • sfixed32 batt_volt = 1

  • sfixed32 batt_curr = 2

  • fixed32 batt_soc = 3

  • sfixed32 batt_temp = 4

  • fixed32 batt_st = 5

  • fixed32 key_val = 6

  • fixed32 disable_charge = 7

  • fixed32 power_supply = 8

  • fixed32 buzze = 9

  • fixed32 status = 10

• rpc subscribeWifiRssi (WifiRssi, Result)

  cyberdog_app.proto:49

  message WifiRssi

  cyberdog_app.proto:226

  • string rssi = 1

• rpc subscribeStatus (StatusStamped, Result)

  cyberdog_app.proto:50

  message StatusStamped

  cyberdog_app.proto:315

  • optional Header header = 1

  • string child_frame_id = 2

  • optional RawStatus status = 3

• rpc subscribeTrackingStatus (TrackingStatus, Result)

  cyberdog_app.proto:51

  message TrackingStatus

  cyberdog_app.proto:459

  • fixed32 status = 1

• rpc subscribeBodySelect (BodyInfo, Result)

  cyberdog_app.proto:52

• rpc subscribeTracking (BodyInfo, Result)

  cyberdog_app.proto:53

• rpc subscribeMap (OccupancyGrid, Result)

  cyberdog_app.proto:54

  message OccupancyGrid

  cyberdog_app.proto:617

  • optional Header header = 1

  • optional MapMetaData info = 2

  • repeated fixed32 data = 3

• rpc subscribePosition (DecisionStamped, Result)

  cyberdog_app.proto:55

  message DecisionStamped

  cyberdog_app.proto:379

  • optional Header header = 1

  • optional Source id = 2

  • optional Decissage decissage = 3

• rpc subscribeVoiceprintResult (VoiceprintResult, Result)

  cyberdog_app.proto:56

  message VoiceprintResult

  cyberdog_app.proto:629

  • optional Header header = 1

  • fixed32 type = 2

  • bool succeed = 3

  • fixed32 error = 4

• rpc subscribeFaceResult (FaceResult, Result)

  cyberdog_app.proto:57

  message FaceResult

  cyberdog_app.proto:623

  • fixed32 result = 1

  • string msg = 2

  • repeated CompressedImage face_images = 3

• rpc heartbeat (Ticks, Result)

  cyberdog_app.proto:58

  message Ticks

  cyberdog_app.proto:223

  • string ip = 1

• rpc subscribeNavStatus (Caution, Result)

  cyberdog_app.proto:59

  message Caution

  cyberdog_app.proto:218

  • fixed32 error_type = 1

  • fixed32 robot_mode = 2

• rpc subscribeOdomOut (Odometry, Result)

  cyberdog_app.proto:60

  message Odometry

  cyberdog_app.proto:610

  • optional Header header = 1

  • string child_frame_id = 2

  • optional PoseWithCovariance pose = 3

  • optional TwistWithCovariance twist = 4

• rpc subscribeObstacleDetection (Around, Result)

  cyberdog_app.proto:61

  message Around

  cyberdog_app.proto:194

  • optional Ultrasonic front_distance = 1

  • optional Ultrasonic back_distance = 2

  • optional Ultrasonic left_distance = 3

  • optional Ultrasonic right_distance = 4

• rpc subscribeDogPose (DogPose, Result)

  cyberdog_app.proto:62

  message DogPose

  cyberdog_app.proto:134

  • optional Freameid frameid = 1

  • optional Timestamp timestamp = 2

  • double position_x = 3

  • double position_y = 4

  • double position_z = 5

  • double rotation_w = 6

  • double rotation_x = 7

  • double rotation_y = 8

  • double rotation_z = 9

• rpc subscribeGpsScene (Scene, Result)

  cyberdog_app.proto:63

• rpc subscribeRemoteEvent (RemoteEvent, Result)

  cyberdog_app.proto:64

  message RemoteEvent

  cyberdog_app.proto:78

  • fixed32 scan_status = 1

  • fixed32 remote_status = 2

  • string address = 3

  • string scan_device_info = 4

  • string error = 5

• rpc subscribePath (Path, Result)

  cyberdog_app.proto:65

  message Path

  cyberdog_app.proto:68

  • optional Header header = 1

  • repeated PoseStamped posestamped = 2

Used in: VoiceprintEntry

• fixed32 id = 1

• DEFAULT = 0

• STARTER = 1

• POWER = 2

• TOUCH = 3

• CAMERA = 4

• APP = 5

• BLUETOOTH = 6

• WIFI = 7

• XIAOAI = 8

Used in: BodyInfo

• optional RegionOfInterest roi = 1

Used as request type in: CyberdogApp.subscribeBodySelect, CyberdogApp.subscribeTracking

• optional Header header = 1

• fixed32 count = 2

• repeated Body infos = 3

• GET_STATUS = 0

• SCAN_DEVICE = 1

• CONNECT_DEVICE = 2

• DISCONNECT_DEVICE = 3

• REMOTE_RECONNECT_DEVICE = 4

• SET_PARAMETERS = 0

• TAKE_PICTURE = 1

• START_RECORDING = 2

• STOP_RECORDING = 3

• GET_STATE = 4

• DELETE_FILE = 5

• GET_ALL_FILES = 6

• START_LIVE_STREAM = 7

• STOP_LIVE_STREAM = 8

• SUCCESS = 0

• INVALID_ARGS = 1

• UNSUPPORTED = 2

• TIMEOUT = 3

• BUSY = 4

• INVALID_STATE = 5

• INNER_ERROR = 6

• UNDEFINED_ERROR = -1

• DEFAULT = 0

• LOCK = 1

• CONFIG = 2

• MANUAL = 3

• SEMI = 13

• EXPLOR = 14

• TRACK = 15

• DEFAULT_TYPE = 0

• TRACK_F = 1

• TRACK_S = 2

• EXPLOR_NAV_AB = 3

• EXPLOR_MAP_U = 4

• EXPLOR_MAP_N = 5

Used in: FaceManager_Response, FaceResult

• optional Header header = 1

• string format = 2

• repeated fixed32 data = 3

Used as request type in: CyberdogApp.sendAppDecision

Used as field type in: DecisionStamped

• optional Twist twist = 1

• optional Pose pose = 2

• optional Safety safety = 3

Used in: RawStatus

• sfixed32 exist_error = 1

• sfixed32 ori_error = 2

• sfixed32 footpos_error = 3

• repeated fixed32 motor_error = 4

• NORMAL = 0

• EXE_FAILED = 1

• REJECT = 2

• CANCELED = 4

• BAD_TIMESTAMP = 8

• ADD_FACE = 0

• CANCLE_ADD_FACE = 1

• CONFIRM_LAST_FACE = 2

• UPDATE_FACE_ID = 3

• DELETE_FACE = 4

• GET_ALL_FACES = 5

• RESULT_SUCCESS = 0

• RESULT_INVALID_ARGS = 1

• RESULT_UNSUPPORTED = 2

• RESULT_TIMEOUT = 3

• RESULT_BUSY = 4

• RESULT_INVALID_STATE = 5

• RESULT_INNER_ERROR = 6

• RESULT_UNDEFINED_ERROR = -1

Used in: DogPose

• fixed32 id = 1

• DEFAULT_FRAME = 0

• BODY_FRAME = 1

• ODOM_FRAME = 2

• VISION_FRAME = 3

• NAVI_FRAME = 4

Used in: BodyInfo, CheckoutMode_respond, CheckoutPattern_respond, CompressedImage, DecisionStamped, ModeStamped, OccupancyGrid, Odometry, Path, PatternStamped, PoseStamped, Range, StatusStamped, Target_Request, Token, VoiceprintEntry, VoiceprintResult

• optional Timestamp stamp = 1

• string frame_id = 2

Used in: OccupancyGrid, Target_Request, Target_Response

• optional Timestamp map_load_time = 1

• float resolution = 2

• fixed32 width = 3

• fixed32 height = 4

• optional Pose origin = 5

Used in: CheckoutMode_respond, ModeStamped, RawStatus

• fixed32 control_mode = 1

• fixed32 mode_type = 2

Used in: CheckoutMode_request

• optional Header header = 1

• optional Mode mode = 2

Used in: ExtMonOrder_Request, ExtMonOrder_Respond, RawStatus

• fixed32 id = 1

• double para = 2

• MONO_ORDER_NULL = 0

• MONO_ORDER_WAKE_STOP = 1

• MONO_ORDER_SHUT_STOP = 2

• MONO_ORDER_STAND_UP = 9

• MONO_ORDER_PROSTRATE = 10

• MONO_ORDER_COME_HERE = 11

• MONO_ORDER_STEP_BACK = 12

• MONO_ORDER_TURN_AROUND = 13

• MONO_ORDER_HI_FIVE = 14

• MONO_ORDER_DANCE = 15

• MONO_ORDER_WELCOME = 16

• MONO_ORDER_TURN_OVER = 17

• MONO_ORDER_SIT = 18

• MONO_ORDER_BOW = 19

• MONO_ORDER_MAX = 20

• DEFAULT = 0

• TEST_INIT = 1

• TEST_DEINIT = 2

• TEST_START = 3

• TEST_STOP = 4

• TURN_LEFT = 5

• TURN_RIGHT = 6

• GO_AHEAD = 7

• GO_BACK = 8

• GO_LEFT = 9

• GO_RIGHT = 10

Used as request type in: CyberdogApp.setOffsetData

Used as response type in: CyberdogApp.getOffsetData

• fixed32 gait = 1

• double x_offset = 2

• double y_offset = 3

• double yaw_offset = 4

• fixed32 result = 5

• SUCCESS = 0

• FAILED = 1

• WALK = 0

• TROT = 1

• FLY_TROT = 2

• SLOW_TROT = 3

• SUCCESS = 0

• FAILED = 1

Used as request type in: CyberdogApp.setBodyPara

Used as field type in: RawStatus

• double body_height = 1

• double gait_height = 2

Used in: CheckoutPattern_respond, PatternStamped, RawStatus

• fixed32 gait_pattern = 1

• GAIT_TRANS = 0

• GAIT_PASSIVE = 1

• GAIT_KNEEL = 2

• GAIT_STAND_R = 3

• GAIT_STAND_B = 4

• GAIT_AMBLE = 5

• GAIT_WALK = 6

• GAIT_SLOW_TROT = 7

• GAIT_TROT = 8

• GAIT_FLYTROT = 9

• GAIT_BOUND = 10

• GAIT_PRONK = 11

• GAIT_DEFAULT = 99

Used in: CheckoutPattern_request, CheckoutPattern_respond

• optional Header header = 1

• optional Pattern pattern = 2

Used in: Pose

• double x = 1

• double y = 2

• double z = 3

Used in: Decissage, MapMetaData, PoseStamped, PoseWithCovariance

• optional Point position = 1

• optional Quaternion orientation = 2

Used in: Path

• optional Header header = 1

• optional Pose pose = 2

Used in: Odometry, RawStatus

• optional Pose pose = 1

• repeated double covariance = 2

Used in: Pose

• double x = 1

• double y = 2

• double z = 3

• double w = 4

Used in: Ultrasonic

• optional Header header = 1

• fixed32 radiation_type = 2

• float field_of_view = 3

• float min_range = 4

• float max_range = 5

• float range = 6

• ULTRASOUND = 0

• INFRARED = 1

Used in: StatusStamped

• optional Mode mode = 1

• optional Pattern pattern = 3

• optional TwistWithCovariance twist = 4

• optional PoseWithCovariance pose = 5

• optional Parameters para = 6

• optional Safety safety = 7

• optional Scene scene = 8

• optional ErrorFlag error_flag = 9

• sfixed32 foot_contact = 10

• optional Pattern cached_pattern = 11

• optional MonOrder order = 12

Used in: Body, BodyRegion_Request

• fixed32 x_offset = 1

• fixed32 y_offset = 2

• fixed32 height = 3

• fixed32 width = 4

• bool do_rectify = 5

Used as response type in: CyberdogApp.disconnect, CyberdogApp.heartbeat, CyberdogApp.sendAppDecision, CyberdogApp.sendMotionTestRequest, CyberdogApp.setBodyPara, CyberdogApp.subscribeBms, CyberdogApp.subscribeBodySelect, CyberdogApp.subscribeDogPose, CyberdogApp.subscribeFaceResult, CyberdogApp.subscribeGpsScene, CyberdogApp.subscribeMap, CyberdogApp.subscribeNavStatus, CyberdogApp.subscribeObstacleDetection, CyberdogApp.subscribeOdomOut, CyberdogApp.subscribePath, CyberdogApp.subscribePosition, CyberdogApp.subscribeRemoteEvent, CyberdogApp.subscribeStatus, CyberdogApp.subscribeTracking, CyberdogApp.subscribeTrackingStatus, CyberdogApp.subscribeVoiceprintResult, CyberdogApp.subscribeWifiRssi

• string result = 1

• FAILED = 0

• SUCCEED = 1

Used in: Decissage, RawStatus

• int32 status = 1

Used as request type in: CyberdogApp.subscribeGpsScene

Used as field type in: RawStatus

• fixed32 type = 1

• float lat = 2

• float lon = 3

• fixed32 if_danger = 4

• UNSET = 0

• INDOOR = 1

• OUTDOOR = 2

Used in: DecisionStamped

• fixed32 source_id = 1

• fixed32 motion_state = 1

Used in: DogPose, Header, MapMetaData

• sfixed32 sec = 1

  The seconds component, valid over all int32 values.

• sfixed32 nanosec = 2

  The nanoseconds component, valid in the range [0, 10e9).

Used in: TokenPass_Request

• optional Header header = 1

• string token = 2

• string token_refresh = 3

• string token_md5 = 4

• string token_refresh_md5 = 5

• fixed32 expire_in = 6

• DEFAULT = 0

• ASK_TOKEN = 1

• ASK_DEVICE_ID = 2

• ASK_XIAOAI_OFF = 3

• ASK_XIAOAI_ON = 4

• ASK_XIAOAI_ONLINE_OFF = 5

• ASK_XIAOAI_ONLINE_ON = 6

• ASK_SET_VOLUME = 7

• ASK_GET_VOLUME = 8

• ASK_XIAOAI_SWITCH_STATUS = 9

• DEFAULT = 0

• TOKEN_SUCCEED = 1

• TOKEN_FAILED = 2

• DID_SUCCEED = 3

• DID_FAILED = 4

• XIAOAI_OFF_SUCCEED = 5

• XIAOAI_OFF_FAILED = 6

• XIAOAI_ON_SUCCEED = 7

• XIAOAI_ON_FAILED = 8

• XIAOAI_ONLINE_OFF_SUCCEED = 9

• XIAOAI_ONLINE_OFF_FAILED = 10

• XIAOAI_ONLINE_ON_SUCCEED = 11

• XIAOAI_ONLINE_ON_FAILED = 12

• SET_VOLUME_SUCCEED = 13

• SET_VOLUME_FAILED = 14

• GET_VOLUME_SUCCEED = 15

• GET_VOLUME_FAILED = 16

• XIAOAI_OFF = 17

• XIAOAI_ONLINE_ON = 18

• XIAOAI_OFFLINE_ON = 19

• OBJECT_FAR = 0

• OBJECT_NEAR = 1

• OBJECT_LOST = 2

• OBJECT_EDGE = 3

Used in: Decissage, TwistWithCovariance

• optional Vector3 linear = 1

• optional Vector3 angular = 2

Used in: Odometry, RawStatus

• optional Twist twist = 1

• repeated double covariance = 2

Used in: Around

• optional Range range_info = 1

Used in: Twist

• double x = 1

• double y = 2

• double z = 3

Used in: Voiceprint_Request

• optional Header header = 1

• optional AudioUser user = 2

• fixed32 ask = 3

• DEFAULT = 0

• START = 1

• STOP = 2

• HAS_DATA = 3

• DELETE_DATA = 4

• NORMAL = 0

• UNKNOWN_ERROR = 1

• RECORD_FAILED = 2

• PLAY_FAILED = 4

• TOO_NOISY_BACKGROUND = 8

• TIMEOUT = 16