package bosdyn.api.keepalive

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The Keepalive service allows users to specify what the system should do when one or more clients stop communicating with the robot. The actions, and when those actions happen, are specified in a Policy. Clients will periodically check in with the Keepalive service to prevent the actions from happening. This service is in BETA and may undergo changes in future releases.

• rpc ModifyPolicy (ModifyPolicyRequest, ModifyPolicyResponse)

  keepalive_service.proto:25

  Add and/or remove policies of the session. Adding or removing only happens if all parts of the request are valid. For example, if the policy to be added is valid, but policies to be removed are not valid, no policy is added.

  message ModifyPolicyRequest

  keepalive.proto:82

  • optional RequestHeader header = 1

  • optional Policy to_add = 2

  • repeated uint64 policy_ids_to_remove = 3

  message ModifyPolicyResponse

  keepalive.proto:88

  • optional ResponseHeader header = 1

    If the Policy in the request was invalid, CODE_INVALID_REQUEST will be set in this header. In that case, no policies will have been removed. CODE_INVALID_REQUEST can also happen if the Policy contains unknown fields. This may happen if there is a version mismatch between client and server.

  • ModifyPolicyResponse.Status status = 2

  • optional LivePolicy added_policy = 3

    The policy added to the session, if any.

  • repeated LivePolicy removed_policies = 4

    The policies removed from the session, if any.

• rpc CheckIn (CheckInRequest, CheckInResponse)

  keepalive_service.proto:27

  Refresh the timer on a specific policy.

  message CheckInRequest

  keepalive.proto:114

  • optional RequestHeader header = 1

  • uint64 policy_id = 2

    Specify the policy whose timer should be refreshed.

  message CheckInResponse

  keepalive.proto:120

  • optional ResponseHeader header = 1

  • optional google.protobuf.Timestamp last_checkin = 2

    Time the robot recorded the check in. Specified in robot's clock.

  • CheckInResponse.Status status = 3

• rpc GetStatus (GetStatusRequest, GetStatusResponse)

  keepalive_service.proto:29

  Get the status of the current session.

  message GetStatusRequest

  keepalive.proto:133

  • optional RequestHeader header = 1

  message GetStatusResponse

  keepalive.proto:146

  • optional ResponseHeader header = 1

  • repeated LivePolicy status = 2

    Per-policy status.

  • repeated GetStatusResponse.PolicyControlAction active_control_actions = 3

    Is a Policy controlling the robot? An empty field means that no Policy is actively controlling the robot, though other actions may have triggered. For details, clients must parse the "status" field above.

Used in: Policy

• oneof action

  • ActionAfter.RecordEvent record_event = 2

  • ActionAfter.AutoReturn auto_return = 3

  • ActionAfter.ControlledMotorsOff controlled_motors_off = 4

  • ActionAfter.ImmediateRobotOff immediate_robot_off = 5

  • ActionAfter.LeaseStale lease_stale = 6

• optional google.protobuf.Duration after = 1

  Take the specified action after not hearing from the associated policy_id in this long.

Robot triggers AutoReturn.

Used in: ActionAfter

• repeated Lease leases = 2

  Leases that AutoReturn may use to accomplish its goals when it triggers. This field is required. This should be a newer lease than the last one used to control the robot. For example, if you have acquired lease [6] from the robot, you should begin controlling the robot with [6, 0, 1] and pass [6, 1] here. If you have added an associated lease, it should be the [6] lease.

• optional auto_return.Params params = 3

  Parameters to AutoReturn. See that message's documentation for details.

After coming to a halt, robot sits and powers off its motors. Takes priority over AutoReturn and HaltRobot actions.

Used in: ActionAfter

(message has no fields)

Robot powers off its computer immediately. WARNING: This will cause loss of recent data, and may damage the robot or its payloads if done while the robot is not sitting.

Used in: ActionAfter

(message has no fields)

The leases are marked as stale, making the resource available for other clients. See the LeaseResource message for details.

Used in: ActionAfter

• repeated Lease leases = 1

Record an event.

Used in: ActionAfter

• repeated Event events = 2

  The events to be logged.

Used in: CheckInResponse

• STATUS_UNKNOWN = 0

• STATUS_OK = 1

• STATUS_INVALID_POLICY_ID = 2

  Set if the given policy ID was not valid on the system.

Used in: GetStatusResponse

• POLICY_CONTROL_ACTION_UNKNOWN = 0

• POLICY_CONTROL_ACTION_AUTO_RETURN = 1

• POLICY_CONTROL_ACTION_MOTORS_OFF = 2

• POLICY_CONTROL_ACTION_ROBOT_OFF = 3

Used in: GetStatusResponse, ModifyPolicyResponse

• uint64 policy_id = 1

• optional Policy policy = 2

• optional google.protobuf.Timestamp last_checkin = 3

  What time the policy was last refreshed with a check-in. Specified in robot's clock.

• string client_name = 4

  client_name from the RequestHeader of the most recent CheckInRequest for this policy.

Used in: ModifyPolicyResponse

• STATUS_UNKNOWN = 0

• STATUS_OK = 1

  Policy was added successfully, and/or policies were removed successfully.

• STATUS_INVALID_POLICY_ID = 2

  Set if any given policy ID was not valid on the system. No policy will have been added.

• STATUS_INVALID_LEASE = 3

  Set if given policy's associated_lease was not the same, super, or sub lease of the active lease. No policy will have been removed.

Used in: LivePolicy, ModifyPolicyRequest

• string name = 1

  Human-friendly name of this policy.

• repeated ActionAfter actions = 2

  What to do, when.

• repeated Lease associated_leases = 3

  If provided, this field ties this policy to lease ownership. When any one associated lease is no longer an owner, this policy is automatically removed.

• string user_id = 4

  Optionally provide a unique identifier for this policy. Uniqueness is not enforced by the service; this is entirely for client use.