package bosdyn.api.mission
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The MissionService can be used to specify high level autonomous behaviors for Spot using behavior trees.
rpc LoadMission (, )
mission_service.proto:22RPCs for loading missions to the robot. NOTE: LoadMission and LoadMissionAsChunks may fail for large missions because the request and response may exceed the maximum message size. Use LoadMissionAsChunks2 instead.
message
mission.proto:358The LoadMission request specifies a root node for the mission that should be used.
optional header = 1
Common request header.
optional root = 2
Root node of the mission to load.
repeated leases = 3
Leases that will be needed to validate the mission.
rpc LoadMissionAsChunks (stream , )
mission_service.proto:29This RPC may be deprecated in the future, please use LoadMissionAsChunks2 instead. Non-preferred method for loading large missions to the robot because only the request is a streaming RPC. The data chunks are deserialized into a LoadMissionRequest. NOTE: LoadMissionAsChunks may fail for large missions because the response may exceed the maximum message size.
rpc LoadMissionAsChunks2 (stream , stream )
mission_service.proto:34Preferred RPC for loading large missions to the robot because both the request and response are streaming RPCs, allowing you to break the message up into multiple streamed messages. The data chunks are deserialized into a LoadMissionRequest and LoadMissionResponse.
rpc PlayMission (, )
mission_service.proto:38Start executing a loaded mission. Will not restart a mission that has run to completion. Use RestartMission to do that.
message
mission.proto:246A request to play the currently loaded mission for a fixed amount of time.
optional header = 1
Common request header.
optional pause_time = 3
Run the mission until this time. Pause the mission at that time if we have not received a new PlayMissionRequest. This ensures the mission stops relatively quickly if there is an unexpected client drop-out. Clients should regularly send PlayMissionRequests with a pause_time that reflects how often they expect to check in with the mission service.
repeated leases = 4
Leases that the mission will need, plus the lease on the mission service.
optional settings = 5
Settings active until the next PlayMission or RestartMission request.
message
mission.proto:289The PlayMission response message will return the status of the play mission request.
optional header = 1
Common response header.
PlayMissionResponse.Status status = 2
The result of the play request.
repeated lease_use_results = 3
Results from any leases that may have been provided with the play request.
rpc PauseMission (, )
mission_service.proto:41Pause mission execution.
message
mission.proto:417The PauseMission request message will pause the mission that is currently executing, if there is one.
optional header = 1
Common request header.
optional lease = 2
Lease on the mission service.
message
mission.proto:425The PauseMission response message will return the status of the request.
optional header = 1
Common response header.
PauseMissionResponse.Status status = 2
Result of the pause request.
optional lease_use_result = 3
Result of the lease in the pause request.
rpc StopMission (, )
mission_service.proto:45Stop a running mission. Must use RestartMission, not PlayMission, to begin from the beginning.
message
mission.proto:446The StopMission request message will fully stop the mission.
optional header = 1
Common request header.
optional lease = 2
Lease on the mission service.
message
mission.proto:454The StopMission response message will return the status of the request.
optional header = 1
Common response header.
StopMissionResponse.Status status = 2
Result of the stop request.
optional lease_use_result = 3
Result of the lease in the stop request.
Start executing a loaded mission from the beginning. Does not need to be called after LoadMission.
message
mission.proto:311A request to restart the currently loaded mission.
optional header = 1
Common request header.
optional pause_time = 2
Run the mission until this time. Pause the mission at that time if we have not received a new PlayMissionRequest. This ensures the mission stops relatively quickly if there is an unexpected client drop-out. Clients should regularly send PlayMissionRequests with a pause_time that reflects how often they expect to check in with the mission service.
repeated leases = 3
Leases that the mission will need, plus the lease on the mission service.
optional settings = 4
Settings active until the next PlayMission or RestartMission request.
message
mission.proto:331The RestartMission response includes the status and any failed nodes for the request.
optional header = 1
Common response header.
RestartMissionResponse.Status status = 2
The result of the restart request.
repeated lease_use_results = 3
Results from any leases that may have been used. As part of mission validation, some of the non-mission leases may have been used.
repeated failed_nodes = 4
If certain nodes failed validation, they will be reported back in this field.
rpc GetState (, )
mission_service.proto:52Get the state of the mission.
message
mission.proto:26Get the state of the mission.
optional header = 1
Common request header.
optional history_upper_tick_bound = 2
Upper bound on the node state to retrieve, inclusive. Leave unset for the latest data.
oneof lower_bound
Specify the lower bound of per-node state history to retrieve. The service may not remember all the state you ask for. In this case, all of the state available between the specified bounds will be returned. This is optional -- if left unset, you will get exactly one set of per-node state.
int64 history_lower_tick_bound = 3
Tick counter for the lower bound of per-node state to retrieve.
int64 history_past_ticks = 4
Number of ticks to look into the past from the upper bound.
message
mission.proto:44Response to a GetStateRequest.
optional header = 1
Common response header.
optional state = 2
The requested mission state.
rpc GetInfo (, )
mission_service.proto:57RPCs for getting static information regarding the mission. Used to interpret mission state. NOTE: GetInfo may fail for large missions because the response may exceed the maximum message size. Use GetInfoAsChunks instead.
message
mission.proto:406Provides the currently loaded mission's information.
optional header = 1
Common response header.
optional mission_info = 2
Description of the loaded mission's structure. Unset if no mission has been successfully loaded.
rpc GetInfoAsChunks (, stream )
mission_service.proto:62Preferred RPC for getting the status of large missions from the robot because the response is a streaming streaming RPC, allowing you to break the message up into multiple streamed messages. THe data chunks are deserialized into a GetInfoResponse.
rpc GetMission (, )
mission_service.proto:65Download the mission as it was uploaded to the service.
message
mission.proto:483Responding with the mission as it was loaded in LoadMission.
optional header = 1
Common response header.
optional root = 2
Root node of the mission loaded. Unset if no mission has been loaded.
int64 id = 3
Mission ID as reported in MissionInfo. -1 if no mission has been loaded.
rpc GetMissionAsChunks (, stream )
mission_service.proto:70Alternative method to download large missions that allows you to break the mission up into multiple streamed requests. Each data chunk message should be deserialized as a GetMissionResponse protobuf message.
Specify an answer to the question asked by the mission.
message
mission.proto:166Answer one of the outstanding questions.
optional header = 1
Common request header.
int64 question_id = 2
Identifier of the question being answered.
oneof answer
int64 code = 3
The answer_code from the Question corresponding to the user's choice.
custom_params = 4
The answers for the Question corresponding to custom_params specification from the Question.
message
mission.proto:181Response from the server after a client has answered one of its questions.
optional header = 1
Common response header.
AnswerQuestionResponse.Status status = 2
The result of the AnswerQuestionRequest.
optional custom_param_error = 3
Filled out if status is STATUS_CUSTOM_PARAMS_ERROR.
Interface for mission callbacks. Mission RemoteGrpc nodes will act as clients to this service type, calling out to this service when loaded, ticked, or unloaded.
Call this once at mission load time, once for each node that references this remote service.
message
remote.proto:20Information to initialize a session to the remote service for a particular mission node.
optional header = 1
Common request header.
repeated leases = 2
All leases that the remote service may need.
repeated inputs = 3
Use this to provide other data (e.g. from the blackboard). The RemoteGrpc node will provide the name of the node automatically. DEPRECATED as of 3.3. Please use 'params' in [TickRequest] instead.
message
remote.proto:37Provide the id to use for the particular mission node to tick this remote service.
optional header = 1
Common response header.
EstablishSessionResponse.Status status = 2
Result of this establish session request.
string session_id = 3
On success, contains an ID for this session.
repeated string missing_lease_resources = 4
Need to provide leases on these resources.
repeated lease_use_results = 5
Details about how any leases were used. Allowed to be empty, if leases were not actually used.
repeated missing_inputs = 6
The inputs required by the contacted node that were not mentioned in the request. DEPRECATED as of 3.3. Please use 'params_error' instead.
rpc Tick (, )
remote_service.proto:21Call this every time the RemoteGrpc node is ticked.
message
remote.proto:77Request that the remote tick itself for a particular node in the mission.
optional header = 1
Common request header.
string session_id = 2
Session ID as returned by the EstablishSessionResponse. Used to guarantee coherence between a single client and a servicer.
repeated leases = 3
All leases that the remote service may need.
repeated inputs = 4
Inputs provided to the servicer. DEPRECATED as of 3.3. Please use 'params' instead.
optional params = 5
Parameters set by the client. Depending on the structure of the mission, the value may change during ticking.
string group_name = 6
Callbacks can be used to record data using Data Acquisition. The mission can provide a hint to the callback with the current group, so that the data the callback saves is correctly grouped with other data generated by the mission. The value may change during ticking.
message
remote.proto:104Response with the results of the tick. Remote services should strive to return quickly, even if only returning RUNNING.
optional header = 1
Common response header.
TickResponse.Status status = 3
Result of the current tick.
repeated string missing_lease_resources = 4
Need to provide leases on these resources.
repeated lease_use_results = 5
Details about how any leases were used. Allowed to be empty, if leases were not actually used.
repeated missing_inputs = 7
Filled out when status is STATUS_MISSING_INPUTS, indicating what inputs were not in the request.
string error_message = 8
If you need to report other error details, you can use this field.
optional custom_param_error = 9
Filled out if status is STATUS_CUSTOM_PARAMS_ERROR.
rpc Stop (, )
remote_service.proto:24Call this every time the RemoteGrpc node WAS ticked in the previous cycle, but was NOT ticked in this cycle. Signals that the next tick will be a restart, rather than a continuation.
message
remote.proto:153Used to stop a node that was previously ticked, so that it knows that the next Tick represents a restart rather than a continuation.
optional header = 1
Common request header.
string session_id = 2
Session ID as returned by the EstablishSessionResponse. Used to guarantee coherence between a single client and a servicer.
message
remote.proto:162Results of attempting to stop a remote node.
optional header = 1
Common response header.
StopResponse.Status status = 2
Result of the stop request.
Tells the service it can forget any data associated with the given session ID. Should be called once for every EstablishSession call.
message
remote.proto:179End the session originally established by an EstablishSessionRequest.
optional header = 1
Common request header.
string session_id = 2
Session ID as returned by the EstablishSessionResponse. Used to guarantee coherence between a single client and a servicer.
message
remote.proto:188Results of ending a session.
optional header = 1
Common response header.
TeardownSessionResponse.Status status = 2
The result of a TeardownSessionRequest.
Asks the service what to describe itself Can be called by clients at mission record time to parameterize a RemoteGrpc node.
message
remote.proto:206optional header = 1
Common request header.
message
remote.proto:211optional header = 1
Common response header.
optional custom_params = 2
The parameters the service expects to be called at runtime with.
Possible results for answering a question.
Used in:
STATUS_UNKNOWN = 0
Invalid; do not use.
STATUS_OK = 1
Answer accepted.
STATUS_INVALID_QUESTION_ID = 2
Question ID is not valid / unknown by the mission service.
STATUS_INVALID_CODE = 3
Answer code is not applicable for the question indicated.
STATUS_ALREADY_ANSWERED = 4
Question was already answered.
STATUS_CUSTOM_PARAMS_ERROR = 5
One or more keys or values in custom_params are unsupported by the question. See the custom_param_error for details.
STATUS_INCOMPATIBLE_ANSWER = 6
Answer format is not applicable for the question indicated.
message
nodes.proto:317Get the state of the docking service from the robot.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
optional child = 3
Child node. Children will have access to the state gathered by this node.
string state_name = 4
Name of the bosdyn.api.DockState object in the blackboard. For example, if this is set to "power_status", children can look up "power_status" in the blackboard.
message
nodes.proto:429Tell GraphNav to re-localize the robot using a SetLocalizationRequest. This overrides whatever the current localization is. This can be useful to reinitialize the system at a known state.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
optional localization_request = 3
If no localization_request is provided, the default options used are FIDUCIAL_INIT_NEAREST (the system will initialize to the nearest fiducial). Otherwise, the options inside the set_localization_request will be used. Note that ko_tform_body in the request will be ignored (it will be recalculated at runtime).
bool allow_bad_quality = 4
If true, a poor quality check will not result in the node returning FAILURE. If false, the localization will be checked for quality by comparing against the map data, and if the localization is poor quality, the node returns FAILURE.
string response_bb_key = 5
If non-empty, the blackboard variable with this name will contain the response of the graph nav SetLocalization request after this node receives it.
string localization_request_bb_key = 6
If specified, the value of this blackboard variable will be merged with the localization_request. The value of this variable must be a bosdyn.api.graph_nav.SetLocalizationRequest proto.
message
nodes.proto:409Get GraphNav state from the robot and save it to the blackboard.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
optional child = 3
Child node. Children will have access to the state gathered by this node.
string state_name = 4
Name of the bosdyn.api.GetLocalizationStateResponse object in the blackboard. For example, if this is set to "nav", children can look up "nav.localization.waypoint_id" in the blackboard to get the waypoint the robot is localized to.
string waypoint_id = 5
Id of the waypoint that we want the localization to be relative to. If this is empty, the localization will be relative to the waypoint that the robot is currently localized to.
message
nodes.proto:619Get the state of the gripper camera params from the robot.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
optional child = 3
Child node. Children will have access to the state gathered by this node.
string state_name = 4
Name of the bosdyn.api.GripperCameraParams object in the blackboard. For example, if this is set to "gripper_params", children can look up "gripper_params.camera_mode" in the blackboard.
message
nodes.proto:380Tell the robot to navigate a route.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
optional route = 3
A route for the robot to follow.
optional route_follow_params = 4
What should the robot do if it is not at the expected point in the route, or the route is blocked.
optional travel_params = 5
Parameters that define how to traverse and end the route.
string navigation_feedback_response_blackboard_key = 6
If provided, this will write the last NavigationFeedbackResponse message to a blackboard variable with this name.
string navigate_route_response_blackboard_key = 7
If provided, this will write the last NavigateRouteResponse message to a blackboard variable with this name.
string navigate_route_request_blackboard_key = 8
If provided, parameters from this request will be merged with the other parameters defined in the node and be used in the NavigateRoute RPC.
message
nodes.proto:354Tell the robot to navigate to a waypoint.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
string destination_waypoint_id = 3
ID of the waypoint to go to.
optional route_gen_params = 4
Preferences on how to pick the route.
optional travel_params = 5
Parameters that define how to traverse and end the route.
string navigation_feedback_response_blackboard_key = 6
If provided, this will write the last NavigationFeedbackResponse message to a blackboard variable with this name.
string navigate_to_response_blackboard_key = 7
If provided, this will write the last NavigateToResponse message to a blackboard variable with this name.
graph_nav.RouteFollowingParams.RouteBlockedBehavior route_blocked_behavior = 8
Defines robot behavior when route is blocked. Defaults to reroute when route is blocked.
message
nodes.proto:343Make a robot power request
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
PowerCommandRequest.Request request = 4
The request to make. See the PowerCommandRequest documentation for details.
message
nodes.proto:977Write the QueryStoredCapturesResponse for a given QueryParameters message to the blackboard.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the data acquisition service is registered with.
string key = 3
The key of the variable that the QueryStoredCapturesResponse will be written to.
optional query_params = 4
The QueryParameters message for the QueryStoredCapturesRequest that will be made.
repeated capture_action_ids_format = 5
If specified, these CaptureActionIds will be added to the QueryParameters at runtime.
message
nodes.proto:992Format strings that will be used together with the blackboard to generate a CaptureActionId.
Used in:
string action_name_format = 1
string group_name_format = 2
message
nodes.proto:453Record an APIEvent
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
optional event = 3
The event to be logged. Note that everything should be populated except the id, start_time and end_time. The start and end time will be populated by the mission, using the node's start time. The id field shouldn't be set when the start and end times are the same.
bool succeed_early = 4
If set to false, this node will wait for the RecordEvents rpc to complete. If set to true, this node will send the RecordEventsRequest, and then return SUCCESS without waiting for the RecordEventsResponse.
map<string, > additional_parameters = 5
In addition to the parameters specified in the event field, this field can be used to specify events only known at runtime. Map key will be parameter label, map value will be evaluated then packed into parameter value.
message
nodes.proto:332Execute a RobotCommand. These nodes will "succeed" once a feedback response is received indicating success. Any commands that require an "end time" will have that information set based on the end time of the mission.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the directory is running on.
optional command = 3
The command to execute. See the RobotCommand documentation for details.
message
nodes.proto:304Get state from the robot.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
optional child = 3
Child node. Children will have access to the state gathered by this node.
string state_name = 4
Name of the bosdyn.api.RobotState object in the blackboard. For example, if this is set to "robot", children can look up "robot.power_state.motor_power_state" in the blackboard.
message
nodes.proto:1072This node will: 1. Check if there are behavior faults. If there are none, it will return success. 2. Check if all behavior faults are clearable. If not, it will return failure. 3. Try to clear the clearable behavior faults. If it cannot, it will return failure.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
string robot_state_blackboard_name = 3
Name of a robot state message defined in the blackboard. Usually provided by embedding this node in a [BosdynRobotState] node.
string cleared_cause_fall_blackboard_name = 4
Optional blackboard variable name. If specified, this node will write the number of cleared behavior faults that had CAUSE_FALL.
string cleared_cause_hardware_blackboard_name = 5
Optional blackboard variable name. If specified, this node will write the number of cleared behavior faults that had CAUSE_HARDWARE.
string cleared_cause_lease_timeout_blackboard_name = 6
Optional blackboard variable name. If specified, this node will write the number of cleared behavior faults that had CAUSE_LEASE_TIMEOUT.
message
nodes.proto:255Checks a simple comparison statement.
Used in:
optional lhs = 1
Left-hand side of the comparison.
optional rhs = 2
Right-hand side of the comparison.
Condition.Compare operation = 5
Comparison operator to compare lhs and rhs.
Condition.HandleStaleness handle_staleness = 6
Comparison operator.
Used in:
COMPARE_UNKNOWN = 0
Invalid, do not use.
COMPARE_EQ = 1
Equal.
COMPARE_NE = 2
Not equal.
COMPARE_LT = 3
Less than.
COMPARE_GT = 4
Greater than.
COMPARE_LE = 5
Less than or equal.
COMPARE_GE = 6
Greater than or equal.
When comparing runtime values in the blackboard, some values might be "stale" (i.e too old). This defines how the comparator should behave when a read value is stale.
Used in:
HANDLE_STALE_UNKNOWN = 0
acts like READ_ANYWAY for backwards compatibility.
HANDLE_STALE_READ_ANYWAY = 1
ignore how stale this data is.
HANDLE_STALE_RUN_UNTIL_FRESH = 2
return the RUNNING status until the data being read is not stale.
HANDLE_STALE_FAIL = 3
return FAILURE status if stale data is read.
message
nodes.proto:257Options for where to retrieve values from.
Used in:
oneof type
var = 1
Reference an existing variable.
const = 2
Use a constant value.
message
nodes.proto:1001Just returns a constant when calling tick().
Used in:
Result result = 1
This result is always returned when calling tick().
message
util.proto:50A constant value. Corresponds to the VariableDeclaration Type enum.
Used in: ,
oneof value
double float_value = 1
string string_value = 2
int64 int_value = 3
bool bool_value = 4
msg_value = 5
message
nodes.proto:1094Creates a message, puts it in the current tick state messages, then ticks the child node. The MissionText will remain active while the node is ticked and RUNNING. Clients can retrieve active mission text through the GetState RPC.
Used in:
string mission_text = 1
The mission text to create. The mission text may contain blackboard variable formatting.
AlertData.SeverityLevel severity = 2
Severity level of the text message. Here are guidelines for severity as it pertains to missions: INFO: Normal operation. For example, waiting for charge; waiting on the dock for logs to download. WARN: Something went wrong, but the mission will try to recover autonomously. ERROR: Something went wrong, and the mission can't recover without human intervention. Intervention is not time sensitive and can be resolved when convenient. CRITICAL: Something went wrong, and the mission can't recover without human intervention. Human needs to rescue the robot before battery runs out because it's not charging.
optional child = 3
Child to tick after creating the mission text The MissionText will be active as long as the child is ticked and RUNNING.
message
nodes.proto:824Trigger the acquisition and storage of data.
Used in: ,
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the data acquisition service is registered with.
optional request = 3
Specification of the data and metadata to store.
DataAcquisition.CompletionBehavior completion_behavior = 4
string group_name_format = 5
Define a format string that will be used together with the blackboard to generate a group_name. If a value is specified in this field, it will override the group_name value specified in the CaptureActionId of the AcquireDataRequest. Values from the blackboard will replace the keys in braces {}. Example: "teleop-{date}", where "date" is a blackboard variable. Example: "{date}_loop_{loop_counter}", where "loop_counter" is a blackboard variable from a Repeat node.
string request_name_in_blackboard = 6
If populated, name of the variable in the blackboard in which to store the AcquireDataRequest after it's created, and sent to the Data Acquisition service.
string metadata_name_in_blackboard = 9
The name of the metadata object in the blackboard to be stored. The metadata object can be any protobuf message. The metadata will be merged with the AcquireDataRequest's metadata field.
string action_name_format = 7
Define a format string that will be used together with the blackboard to generate an action_name. If a value is specified in this field, it will override the action_name value specified in the CaptureActionId of the AcquireDataRequest. Values from the blackboard will replace the keys in braces {}. Example: "element 0 attempt {loop_counter}", where "loop_counter" is a blackboard variable from a Retry.
bool disable_cancel_on_pause_or_stop = 8
If set to false (default), this node will cancel an outgoing AcquireDataRequest when the node is paused / stopped. When the node is resumed, it will restart the AcquireDataRequest. If set to true, this node will NOT cancel outgoing AcquireDataRequest's when the node is paused / stopped. When the node is resumed, it will check feedback on the original outgoing AcquireDataRequest.
bool format_metadata = 10
If true, metadata string values may contain formatted blackboard variables. Please see the documentation in FormatBlackboard for more information about supported string formats.
Used in: ,
COMPLETE_UNKNOWN = 0
COMPLETE_AFTER_SAVED = 1
Node is complete after all data has been saved.
COMPLETE_AFTER_ACQUIRED = 2
Node is complete after all data is acquired, but before processing and storage. This allows the robot to continue on with the mission sooner, but it will be unaware of failures in processing or storage.
message
nodes.proto:1015Send an AcquireDataRequest to the data acquisition service when the mission is interrupted. Interruptions are anything that causes the mission to stop ticking automatically.
Used in:
optional child = 1
Child to run when node starts. If mission is interrupted while the child is still running, the mission service will send an AcquireDataRequest to the data acquisition service. The child will resume when the mission resumes. The DataAcquisitionOnInterruption node will always return the status of this child node.
optional request_when_interrupted = 2
Data acquisition request that will be sent if the mission is interrupted. This is not an actual node. It will only be used for the data acquisition request details. The completion_behavior, request_name_in_blackboard, metadata_name_in_blackboard, and format_metadata fields will not be used.
optional pause_mission_metadata = 4
Interruption reason: PauseMission RPC called.
optional restart_mission_metadata = 5
Interruption reason: RestartMission RPC called.
optional load_mission_metadata = 6
Interruption reason: LoadMission RPC called.
optional stop_mission_metadata = 7
Interruption reason: StopMission RPC called.
optional lease_use_error_metadata = 8
Interruption reason: Lease use error occurred.
optional play_mission_timeout_metadata = 9
Interruption reason: Play mission timeout exceeded.
optional child_node_error_metadata = 10
Interruption reason: Child node returned an error result.
optional child_node_exception_metadata = 11
Interruption reason: Child node threw an exception.
optional default_metadata = 12
This is used if any of the above are empty or if an unexpected interruption occurs.
repeated string keys_for_lease_use_error_message = 13
If key(s) are specified, the additional information about the lease use error will be stored in the AcquireDataRequest metadata. All given key(s) must be used in order to access the error message reason from the JSON metadata. The last key holds error message.
message
nodes.proto:970Record a datetime string into the blackboard. Writes the date according to ISO8601 format.
Used in:
string key = 1
The key of the variable that will be written.
message
nodes.proto:898Defines new blackboard variables within the scope of the child. Shadows blackboard variables in the parent scope.
Used in:
repeated blackboard_variables = 1
The list of variables that should be defined for this subtree, with initial values. Note: Currently the mission service supports blackboard variable keys that contain ".", "[]", and "()". In a future release, this will no longer be supported. Boston Dynamics recommends using letters, numbers, and underscores for blackboard keys.
optional child = 2
The blackboard variables will only persist in the subtree defined by this child node. The child's tick() will be called on the child until it returns either SUCCESS or FAILURE.
message
nodes.proto:742Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the docking service is registered with.
oneof id
ID of docking station to dock at.
uint32 docking_station_id = 3
string docking_station_id_blackboard_key = 11
Blackboard variable key that contains the docking station id.
optional child = 4
Optional child node. Children will have access to the status variables gathered by this node. If specified, child node will determine success/failure of this node. DEPRECATED as of 3.0.0. Use docking_command_response_blackboard_key and docking_command_feedback_response_blackboard_key instead.
string command_status_name = 5
Name of the command status variable in the blackboard. This is the status of the docking command request made to the robot. Please refer to bosdyn.api.docking.DockingCommandResponse.Status for more details. Children can use this name to look up docking command status in the blackboard. If no name is provided, status will not be available. DEPRECATED as of 3.0.0. Use docking_command_response_blackboard_key and docking_command_feedback_response_blackboard_key instead.
string feedback_status_name = 6
Name of the feedback status variable in the blackboard. This is the feedback provided while docking is in progress. Please refer to bosdyn.api.docking.DockingCommandFeedbackResponse.Status for a list of possible status values. Children can use this name to look up docking status in the blackboard. If no name is provided, status will not be available. DEPRECATED as of 3.0.0. Use docking_command_response_blackboard_key and docking_command_feedback_response_blackboard_key instead.
docking.PrepPoseBehavior prep_pose_behavior = 7
Defines how we use the "pre-docking" behavior.
string docking_command_feedback_response_blackboard_key = 8
If provided, this will write the last DockingCommandFeedbackResponse message to a blackboard variable with this name.
string docking_command_response_blackboard_key = 9
If provided, this will write the last DockingCommandResponse message to a blackboard variable with this name.
bool require_fiducial = 10
Require the detection of the dock's fiducial
Possible results of establishing a session.
Used in:
STATUS_UNKNOWN = 0
Status unknown/unset.
STATUS_OK = 1
Provided inputs / outputs are compatible.
STATUS_MISSING_LEASES = 2
Remote service needs leases on additional resources. If set, the missing_lease_resources field should contain the resources needed but not provided.
STATUS_MISSING_INPUTS = 3
Remote service needs additional inputs.
message
nodes.proto:522Sends a request to play a choreography sequence with the given name, and then monitors the state of the dancing robot.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
string sequence_name = 3
The name of the sequence to play.
message
mission.proto:236General message describing a node that has failed, for example as part of a PlayMission or LoadMission RPC.
Used in: , ,
string name = 1
Human-readable name of this node, e.g. "Goto waypoint 1", or "Power On".
string error = 2
The reason why this node failed. May not be provided by all nodes.
string impl_typename = 3
The type of node, e.g. "bosdyn.api.mission.Sequence". May not be provided by all nodes.
message
nodes.proto:203Run this child for a maximum amount of mission execution time. Will exit with child's status if the child finishes early, FAILURE if the child remains in RUNNING state for too long and no timeout_child is specified, or the status of the timeout_child.
Used in:
oneof duration_type
Maximum duration of mission execution time.
duration = 1
string duration_name_in_blackboard = 5
Blackboard variable name that specifies duration. The value of this variable should be of type google.protobuf.Duration.
optional child = 2
Child to execute for the duration.
string time_remaining_name = 3
Optional blackboard variable name. If specified, this node will define a blackboard variable that its child has access to, and write the number of seconds remaining as a double to the blackboard under this name.
optional timeout_child = 4
Optional node that will run if the child times out. If not specified, this node will return FAILURE when the child times out. If specified, and the child times out, this node will return the status of the timeout_child. The timeout_child does not respect the original timeout.
message
nodes.proto:929Sets a blackboard variable to a formatted string, reading from other blackboard vars.
Used in:
string key = 1
The key of the variable that will be written.
string format = 2
Define a format string that will be used together with the blackboard to generate string value. Values from the blackboard will replace the keys in braces {}, i.e. {blackboard_variable_name}. We also allow some string formatting options, namely: 1) Floating point decimal places: {float_variable:.2f} 2) TBD Select examples: Format String: "teleop-{date}" Blackboard: "date" is a blackboard variable with string value: "2021-05-13" Output: "teleop-2021-05-13" Format String: "{date}_loop_{loop_counter}" Blackboard: "date" is a blackboard variable with string value: "2021-05-13" Blackboard: "loop_counter" is a blackboard variable with integer value: "3" Output: "2021-05-13_loop_3" Format String: "battery charge is: {state.power_state.locomotion_charge_percentage.value}" Blackboard: "state" is a protobuf message in the blackboard from a BosdynRobotState, and the power_state submessage has a charge percentage of 30.2148320923085 Output: "battery charge is: 30.2158320923085" Format String: "battery charge is: {state.power_state.locomotion_charge_percentage.value:.2f}" Blackboard: "state" is a protobuf message in the blackboard from a BosdynRobotState, and the power_state submessage has a charge percentage of 30.2148320923085 Output: "battery charge is: 30.21" Format String: "the value is {x:.0f}" Blackboard: "x" is a blackboard variable with float value: "2.71828" Output: "the value is 3"
message
mission.proto:400Request mission information. This covers information that stays static until a new mission is loaded.
Used as request type in: MissionService.GetInfo, MissionService.GetInfoAsChunks
optional header = 1
Common request header.
message
mission.proto:477For requesting the mission as it was loaded in LoadMission.
Used as request type in: MissionService.GetMission, MissionService.GetMissionAsChunks
optional header = 1
Common request header.
message
util.proto:18Key/Value pair, used in other messages.
Used in: , , , , , ,
string key = 1
optional value = 2
message
mission.proto:369The LoadMission response returns the mission info generated by the service if successfully loaded, and a status and other information if the request fails.
Used as response type in: MissionService.LoadMission, MissionService.LoadMissionAsChunks
optional header = 1
Common response header.
LoadMissionResponse.Status status = 2
Result of loading the mission.
repeated lease_use_results = 3
Results from any leases that may have been used. As part of mission validation, some of the non-mission leases may have been used.
optional mission_info = 4
Provides the structure of the mission. Set when loading succeeds.
repeated failed_nodes = 5
If certain nodes failed compilation or validation, they will be reported back in this field.
Possible results of loading a mission.
Used in:
STATUS_UNKNOWN = 0
Invalid status, do not use.
STATUS_OK = 1
The mission was loaded successfully.
STATUS_COMPILE_ERROR = 2
Load-time compilation failed. The mission was malformed.
STATUS_VALIDATE_ERROR = 3
Load-time validation failed. Some part of the mission was unable to initialize.
message
mission.proto:211Static information about the mission. Used to interpret the mission state.
Used in: ,
int64 id = 1
Mission ID assigned by the server.
optional root = 2
The root node of the mission.
message
util.proto:61Nodes can pass arbitrary text back through the mission state.
Used in:
string text = 1
The text of the message.
AlertData.SeverityLevel severity = 2
Severity level of the text message. Here are guidelines for severity as it pertains to missions: INFO: Normal operation. For example, waiting for charge; waiting on the dock for logs to download. WARN: Something went wrong, but the mission will try to recover autonomously. ERROR: Something went wrong, and the mission can't recover without human intervention. Intervention is not time sensitive and can be resolved when convenient. CRITICAL: Something went wrong, and the mission can't recover without human intervention. Human needs to rescue the robot before battery runs out because it's not charging.
int64 node_id = 3
The node which produced the update message.
message
nodes.proto:532Uploads the given set of animations and choreography sequences to the robot.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine the service is running on.
repeated choreography_sequences = 3
Choreography sequences to be loaded (required by the mission).
repeated animated_moves = 4
Any animations we need to load if we want to play the sequences.
message
nodes.proto:38Wrapper for a mission node. Contains the basics common to all mission nodes. Specifics of what the node does are contained in the "impl" field.
Used in: , , , , , , , , , , , , , , , , , , , , ,
string name = 1
Human-readable name of this node, e.g. "Goto waypoint 1", or "Power On".
optional user_data = 2
Collection of user data associated with this node.
string reference_id = 3
Reference identifier of this node. Set iff another node references this one.
oneof type
impl = 4
DEPRECATED as of 4.0. Implementation of this node. For example, this may be a Sequence.
string node_reference = 5
Unique identifier of another node. If this is filled out, rather than the "impl", then the referenced node will be used in place of this one.
condition = 9
sequence = 10
selector = 11
repeat = 12
retain_lease = 13
retry = 14
for_duration = 15
bosdyn_dock_state = 16
bosdyn_power_request = 17
bosdyn_robot_state = 18
bosdyn_robot_command = 19
remote_grpc = 20
sleep = 21
prompt = 22
set_blackboard = 23
date_to_blackboard = 24
define_blackboard = 25
format_blackboard = 26
constant_result = 27
bosdyn_navigate_route = 29
bosdyn_navigate_to = 30
bosdyn_graph_nav_state = 31
bosdyn_graph_nav_localize = 32
bosdyn_record_event = 33
simple_parallel = 34
spot_cam_ptz = 35
spot_cam_store_media = 36
spot_cam_led = 37
spot_cam_focus_state = 58
spot_cam_reset_autofocus = 38
store_metadata = 39
switch = 40
data_acquisition = 41
data_acquisition_on_interruption = 42
dock = 43
restart_when_paused = 49
clear_behavior_faults = 50
bosdyn_gripper_camera_params_state = 51
set_gripper_camera_params = 52
parallel_and = 54
set_grasp_override = 55
execute_choreography = 56
mission_upload_choreography = 57
create_mission_text = 59
bosdyn_query_stored_captures = 60
repeated parameter_values = 6
Defines parameters, used by this node or its children. The "key" in KeyValue is the name of the parameter being defined. The value can be a constant or another parameter value.
repeated overrides = 7
Overwrites a protobuf field in this node's implementation. The "key" in KeyValue is the name of the field to override. The value to write can be sourced from a constant, or a parameter value.
repeated parameters = 8
Declares parameters needed at compile time by this node, or children of this node. This is a way for a node to communicate what parameters its implementation and/or children require, without unpacking the entire subtree.
message
mission.proto:221Provides children and metadata of a single node within the mission.
Used in:
int64 id = 1
Unique to each node within the LOADED mission. Not guaranteed to be consistent between loads of the same mission. Used to identify the nodes in the State message.
string name = 2
Human-readable name of this node, e.g. "Goto waypoint 1", or "Power On".
optional user_data = 3
Any UserData that was associated with this node.
repeated children = 4
Info on all children of this node, if any are present.
message
nodes.proto:243Run many child nodes together, returning only after they have all completed or an early exit is triggered.
Used in:
repeated children = 1
bool finish_every_node = 2
Boolean to finish every child node. If this is false, if one of the nodes fails, the whole ParallelAnd will stop & return the failure immediately. If this is true, if one of the nodes fails, the ParallelAnd will continue to run until all the children have exited, then report the failure. If a node raises an error, the error will always be reported immediately. Default false.
Possible results of a pause request.
Used in:
STATUS_UNKNOWN = 0
Invalid status, do not use.
STATUS_OK = 1
Mission is paused or finished running.
STATUS_NO_MISSION_PLAYING = 2
No mission has started playing. NOT returned when two PauseMissionRequests are received back-to-back. In that case, you will get STATUS_OK.
Possible results for a play request.
Used in:
STATUS_UNKNOWN = 0
Invalid status, do not use.
STATUS_OK = 1
Mission is playing, or the mission has already completed. Use GetStateResponse to tell the difference.
STATUS_NO_MISSION = 2
Call LoadMission first.
message
mission.proto:268"Global" settings to use while a mission is running. Some of these settings are not globally applicable. For example, the velocity_limit does not change the speed at which the robot poses the body.
Used in: ,
optional velocity_limit = 1
Velocity limits on the robot motion. Example use: limit velocity in "navigate to" nodes.
bool disable_directed_exploration = 2
Disable directed exploration to bypass blocked path sections
bool disable_alternate_route_finding = 3
Disable alternate-route-finding; overrides the per-edge setting in the map.
graph_nav.Edge.Annotations.PathFollowingMode path_following_mode = 4
Specifies whether to use default or strict path following mode.
graph_nav.Edge.Annotations.GroundClutterAvoidanceMode ground_clutter_mode = 5
Specify whether or not to enable ground clutter avoidance, and which type.
graph_nav.TravelParams.PathPlannerMode planner_mode = 6
Specify the path planner mode.
message
nodes.proto:545Prompt the world at large to answer a question. This node represents a request for information from ANY listeners that may be out there.
Used in:
bool always_reprompt = 1
Should we always re-prompt when this node is started? If false, this node will only ever prompt if it is started and its question is unanswered. This may be used, for example, to ask the user to check the robot after any self-right. If true, this node will prompt whenever it is started. This may be used, for example, to tell the user to perform some one-time action, like open a door for the robot.
string text = 2
The text of the question itself. The question text may contain formatted blackboard variables. Please see the documentation in FormatBlackboard for more information about supported string formats.
string source = 3
Metadata describing the source of the question. The answer will be written into the state blackboard with this as the variable name.
repeated options = 4
The set of options that can be chosen for this prompt.
oneof answer_spec
options_list = 9
The set of options that can be chosen for this prompt.
string options_list_in_blackboard = 11
Key to an OptionsList protobuf object on the blackboard. The variable is only read when the node starts meaning options cannot change while the node is running.
custom_params = 10
Custom parameter specification for the answer expected for this prompt.
optional child = 5
Child node, run after the prompt has been responded to. Children will have access to the answer code provided by the response.
bool for_autonomous_processing = 6
Hint that Question posed by this Prompt is meant to be answered by some automated system. See the Question message for details.
oneof severity_spec
AlertData.SeverityLevel severity = 7
Severity for this prompt. Used to determine what sort of alerting this prompt will trigger. Here are guidelines for severity as it pertains to missions: INFO: Normal operation. For example, waiting for charge; waiting on the dock for logs to download. WARN: Something went wrong, but the mission will try to recover autonomously. ERROR: Something went wrong, and the mission can't recover without human intervention. Intervention is not time sensitive and can be resolved when convenient. CRITICAL: Something went wrong, and the mission can't recover without human intervention. Human needs to rescue the robot before battery runs out because it's not charging.
string severity_in_blackboard = 12
If specified, this node will read the severity out of the blackboard at the specified location.
string question_name_in_blackboard = 8
If specified, this node will write its current question (bosdyn.api.mission.Question proto) to the blackboard while it is being ticked.
message
nodes.proto:564Data about the options to choose from.
Used in: , ,
string text = 1
Text associated with this option. Should be displayed to the user.
int64 answer_code = 2
Numeric code corresponding to this option. Passed as part of the answer.
message
nodes.proto:571Used in:
repeated options = 1
message
mission.proto:139A question posed by a Prompt node, or by the internal operation of another node.
Used in: ,
int64 id = 1
Identifier of this question, unique across all missions executing on a single host.
string source = 2
What's asking the question. Should be unique in the active mission.
string text = 3
The text of the question itself.
repeated options = 4
Options to choose from. Uses the submessage from the "prompt" node message.
optional custom_params = 7
Custom parameter specification for the answer expected for this question.
bool for_autonomous_processing = 5
Set to true if this question was meant to be answered by some automated system, not a human. Clients should usually avoid generating a UI element to ask such a question.
AlertData.SeverityLevel severity = 6
Severity for this question. See comment in Prompt message in nodes.proto for a better understanding of what levels mean.
message
nodes.proto:474Call out to another system using the RemoteMission service.
Used in:
string host = 1
Host that is running the directory server. Usually, this is just the robot.
string service_name = 3
Name of the service in the directory.
float timeout = 4
Timeout of any single RPC. If the timeout is exceeded, the RPC will fail. The mission service treats each failed RPC differently: - EstablishSession: An error is returned in LoadMission. - Tick: The RPC is retried. - Stop: The error is ignored, and the RPC is not retried. Omit for a default of 60 seconds.
repeated string lease_resources = 5
Resources that we will need leases on.
repeated inputs = 6
The list of variables the remote host should receive. Variables given can be available at either run-time or compile-time. The "key" in KeyValue is the name of the variable as used by the remote system.
string group_name_format = 8
Define a format string that will be used together with the blackboard to generate a group_name. If a value is specified in this field, it will override the group_name value specified in the group_name of the TickRequest. Values from the blackboard will replace the keys in braces {}. Example: "teleop-{date}", where "date" is a blackboard variable. Example: "{date}_loop_{loop_counter}", where "loop_counter" is a blackboard variable from a Repeat node.
optional params = 9
Should match the advertised spec for the RemoteMissionService in question.
message
nodes.proto:170Repeat a child node.
Used in:
int32 max_starts = 1
Start the child node exactly this many times. Note that a value of 1 makes the Repeat node a no-op.
optional child = 4
Child to repeat max_starts times.
string start_counter_state_name = 5
If set, the node will write the start index to the blackboard.
bool respect_child_failure = 6
If set to false, this repeat node will keep running its child regardless of whether or not the child succeeds or fails. If set to true, this repeat node will only keep running its child when the child succeeds. If the child fails, the repeat node will fail.
Possible results of requesting a restart.
Used in:
STATUS_UNKNOWN = 0
Invalid status, do not use.
STATUS_OK = 1
Mission has restarted.
STATUS_NO_MISSION = 2
Call LoadMission first.
STATUS_VALIDATE_ERROR = 3
Validation failed.
message
nodes.proto:1009This node will run and return the status of the child node. If the mission is paused while this node is executing, the child will be restarted when the mission is resumed.
Used in:
optional child = 1
enum Result
util.proto:97Results from executing / ticking / running a single node.
Used in: ,
RESULT_UNKNOWN = 0
Invalid, should not be used.
RESULT_FAILURE = 1
The node completed running, but failed.
RESULT_RUNNING = 2
The node is still in process and has not completed.
RESULT_SUCCESS = 3
The node completed, and succeeded.
RESULT_ERROR = 4
The node encountered an operational error while trying to execute.
message
nodes.proto:888Send RetainLease for every Lease the mission service is given via PlayMissionRequest. Returns RUNNING while there are more leases to retain, SUCCESS once a lease for each resource has been retained, and FAILURE if any one lease cannot be retained.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the lease service is registered with.
message
nodes.proto:188Retry a child node until it succeeds, or exceeds a number of attempts.
Used in:
int32 max_attempts = 1
Only allow this many attempts. Note that a value of 1 makes this Retry node a no-op.
optional child = 2
Child to retry up to max_attempts.
string attempt_counter_state_name = 5
If set, the node will write the attempt index to the blackboard.
message
nodes.proto:129Run all children in order until a child succeeds.
Used in:
bool always_restart = 1
Forces the execution to always begin with the first child. If false, and the Selector ran last tick, it will continue with the node it was ticking.
repeated children = 2
List of all children to iterate through.
message
nodes.proto:120Run all children in order until a child fails.
Used in:
bool always_restart = 1
Forces the execution to always begin with the first child. If false, and the Sequence ran last tick, it will continue with the node it was ticking.
repeated children = 2
List of all children to iterate through.
message
nodes.proto:913Sets existing blackboard variables within this scope to specific values, returning SUCCESS.
Used in:
repeated blackboard_variables = 1
The key of the KeyValue is the name of the blackboard variable. The value will be dereferenced and converted into a value type at runtime inside this node's tick function. For example, if the value is a runtime variable, that variable will be evaluated at tick time, and then stored into the blackboard. If the value is another blackboard variable, that blackboard variable's value will be copied into the variable specified by the key. Note: Currently the mission service supports blackboard variable keys that contain ".", "[]", and "()". In a future release, this will no longer be supported. Boston Dynamics recommends using letters, numbers, and underscores for blackboard keys.
message
nodes.proto:650Set grasp override and carry state override requests
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the gripper camera param service is registered with.
optional grasp_override_request = 3
message
nodes.proto:635Set gripper camera params
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the gripper camera param service is registered with.
oneof params
string params_in_blackboard_key = 3
new_params = 4
message
nodes.proto:229Run two child nodes together, returning the primary child's result when it completes.
Used in:
optional primary = 1
Primary node, whose completion will end the execution of SimpleParallel. The secondary node will be ticked at least once.
optional secondary = 2
Secondary node, which will be ticked as long as the primary is still running.
bool run_secondary_node_once = 3
By default, if the secondary node finishes before the primary node, the secondary node will be restarted. If this flag is set to true, and the secondary node completes before the primary node, it will never be restarted.
message
nodes.proto:508When started, begins a sleep timer for X seconds. Returns "success" after the timer elapses, "running" otherwise.
Used in:
oneof duration
float seconds = 1
Number of seconds to sleep for.
string duration_name_in_blackboard = 5
Blackboard variable name that specifies duration. The value of this variable should be of type google.protobuf.Duration.
bool restart_after_stop = 2
If this node is stopped, should it restart the timer?
message
nodes.proto:721Set the focus on the Spot CAM PTZ
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the Spot CAM registered with.
optional focus_state = 3
Focus State to set the Spot CAM PTZ to, from SetPtzFocusStateRequest
message
nodes.proto:709Set the LEDs to a specified brightness
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the Spot CAM registered with.
map<int32, float> brightnesses = 3
Brightnesses of the LEDs, from SetLEDBrightnessRequest
message
nodes.proto:662Point the PTZ to a specified orientation
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the Spot CAM registered with.
optional ptz_position = 3
The rest of the fields are from bosdyn.api.spot_cam.ptz.SetPtzPositionRequest, see that message for details.
optional adjust_parameters = 4
Setting adjust_parameters will enable auto-adjusting the PTZ pan and tilt at playback time, based on where the robot is, relative to the waypoint. Leave empty to disable auto-adjust features.
message
nodes.proto:673Used in:
string localization_varname = 4
Variable name to retrieve the graph nav state from.
string waypoint_id = 5
Waypoint ID where this PTZ configuration was originally set up.
optional waypoint_tform_body = 6
Pose of body in waypoint frame at the time this PTZ configuration was originally set up.
message
nodes.proto:733Reset the autofocus on the Spot CAM PTZ
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the Spot CAM registered with.
message
nodes.proto:691Store media using the Spot CAM.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the Spot CAM registered with.
optional camera = 3
The rest of the fields are from bosdyn.api.spot_cam.logging.StoreRequest, see that message for details.
spot_cam.Logpoint.RecordType type = 4
What type of media should be stored from this action.
string tag = 5
Extra metadata to store alongside the captured media.
message
mission.proto:52State of the mission service.
Used in:
repeated questions = 1
What questions are outstanding?
repeated answered_questions = 2
History of questions that have been answered. The server will set some limit on the available history.
repeated history = 3
Node states ordered from newest to oldest. history[0] will always be the data from this tick.
State.Status status = 4
Current status of the mission.
string error = 5
Describes the unexpected error encountered by the mission service. Only filled out if STATUS_ERROR is set.
int64 tick_counter = 6
The mission's tick counter when this state was generated. -1 indicates no mission has been started.
int64 mission_id = 7
The mission's ID. -1 indicates no mission has been loaded.
repeated active_mission_text = 9
MissionText which is currently active.
message
mission.proto:56A question that has been answered already.
Used in:
optional question = 1
The question that this state information is related to.
oneof accepted_answer
int64 accepted_answer_code = 2
The code corresponding to the option answered for this prompt.
custom_params = 3
Custom parameter values answered for this prompt.
message
mission.proto:71Used in:
int64 tick_counter = 1
The tick counter when this state was produced.
optional tick_start_timestamp = 2
Time at which this tick started, in host time basis.
repeated node_states = 3
At this tick, the state of every node that was ticked, in the order they were ticked.
message
mission.proto:72Used in:
Result result = 1
The result of this node's tick.
string error = 2
May be set when the 'result' is RESULT_FAILURE or RESULT_ERROR, this describes why the node failed. Not all nodes will have an error explaining why they failed.
int64 id = 3
ID from NodeInfo.
optional blackboard = 5
Nodes can write and read from the blackboard. Every node has a scoped blackboard.
message
mission.proto:80Used in:
repeated variables = 1
Possible overall status states of the mission.
Used in:
STATUS_UNKNOWN = 0
Invalid status, do not use.
STATUS_FAILURE = 1
The mission has failed due to a node failure.
STATUS_RUNNING = 2
The mission is still running.
STATUS_SUCCESS = 3
The mission succeeded!
STATUS_PAUSED = 4
Execution has been paused.
STATUS_ERROR = 5
The mission service itself or the behavior tree encountered an unexpected error, outside of a node failing.
STATUS_NONE = 6
No mission has been loaded.
STATUS_STOPPED = 7
The mission was stopped before completion.
Possible results of a stop request.
Used in:
STATUS_UNKNOWN = 0
Invalid status, do not use.
STATUS_OK = 1
Mission is stopped/complete. The mission state may be in any of the "complete states", e.g. if the mission completed successfully before this RPC took effect, the mission will report STATUS_SUCCESS and not STATUS_STOPPED.
STATUS_NO_MISSION_PLAYING = 2
No mission has started playing. NOT returned if the mission is already stopped. In that case, you will get STATUS_OK.
Possible results for a StopRequest.
Used in:
STATUS_UNKNOWN = 0
Status unknown/unset.
STATUS_OK = 1
Service stopped.
STATUS_INVALID_SESSION_ID = 2
The request provided an invalid session ID.
message
nodes.proto:799Triggers a StoreMetadataRequest to the data acquisition store.
Used in:
string service_name = 1
Name of the service to use.
string host = 2
Host machine of the directory server that the data acquisition service is registered with.
string acquire_data_request_name = 3
The name of the blackboard variable that holds the associated AcquireDataRequest. The reference ID that this metadata is associated with will be copied from the request.
oneof data
string metadata_name = 5
The name of the metadata object in the blackboard to be stored. The metadata object can be any protobuf message.
metadata_json = 7
JSON representation of metadata
string metadata_channel = 6
The data buffer channel on which to store the metadata.
message
nodes.proto:151Run a specific child based on a specified pivot_value. This node exists because of a subtle implementation detail in Selector(always_restart = true). The astute reader might believe that they can construct a switch node by using a selector with sequences & conditions as children. This is ALMOST true, EXCEPT that a selector (with always_restart = true) can leave multiple children in the running state IF: - A later selector child was RUNNING last tick - An earlier selector child returns RUNNING this tick Even though the later selector child won't be ticked, it will still be left in the running state and not restart when the selector advances to it again later. Sometimes this is desirable, sometimes it isn't. Switch is constrained to only have one child running, and if the switch ever switches children and return to a previously running child, that child will be restarted.
Used in:
optional pivot_value = 1
Expresses an integer value that decides which child to run.
bool always_restart = 2
If false, this node will read the pivot_value once when its starts, and execute the specified child until it finishes even if the pivot_value changes. If true, this node will read from the pivot_value every tick, and change which child it's ticking when an underlying blackboard variable changes.
map<int32, > int_children = 3
List of all children to possibly run.
optional default_child = 4
If none of the above cases match, use this child
Possible results of ending a session.
Used in:
STATUS_UNKNOWN = 0
Status unknown/unset.
STATUS_OK = 1
Session was torn down -- servicer has probably wiped all associated data / state.
STATUS_INVALID_SESSION_ID = 2
The request provided an invalid session ID. This may mean the session was already torn down.
Possible results from the node. The FAILURE, RUNNING, and SUCCESS statuses map to the behavior tree terms, all others indicate an error in the TickRequest.
Used in:
STATUS_UNKNOWN = 0
Invalid; do not use.
STATUS_FAILURE = 1
Node completed but failed.
STATUS_RUNNING = 2
Node is processing and may finish in a future tick.
STATUS_SUCCESS = 3
Node completed and succeeded.
STATUS_INVALID_SESSION_ID = 4
The request provided an invalid session ID.
STATUS_MISSING_LEASES = 5
The request was missing required leases.
STATUS_MISSING_INPUTS = 6
The request was missing required inputs.
STATUS_CUSTOM_PARAMS_ERROR = 7
There was another error with the input parameters. See the params_error field for details.
message
util.proto:82Data a user can associate with a node.
Used in: ,
string id = 1
Identifier. Enables matching the Node uploaded to the MissionService with the NodeInfo downloaded from the MissionService.
bytes bytestring = 3
Arbitrary data. We recommend keeping it small, to avoid bloating the size of the mission.
optional source_representation = 4
The source representation is a high level representation of this mission. By analogy, it is the "source code" to this "compiled" mission. At this time this field can either contain: - Nothing - A [bosdyn.api.autowalk.Walk] if the mission was compiled using the Autowalk service.
message
util.proto:24A value of a run-time or compile-time variable.
Used in: , ,
oneof source
constant = 2
A constant value.
runtime_var = 3
Look up a variable provided at run-time.
parameter = 4
Look up a Node Parameter.
message
util.proto:33Declaration of a run-time or compile-time variable.
Used in: , , , , ,
string name = 1
Name of the variable, to be used as the key in KeyValue pairs.
VariableDeclaration.Type type = 2
Type that this variable is expected to have. Used to verify assignments and comparisons.
Supported types for blackboard or parameter values.
Used in:
TYPE_UNKNOWN = 0
TYPE_FLOAT = 1
TYPE_STRING = 2
TYPE_INT = 3
TYPE_BOOL = 4
TYPE_MESSAGE = 5