package farm_ng.core.proto

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EventService is a generic service for publishing and subscribing to events.

• rpc listUris (ListUrisRequest, ListUrisReply)

  event_service.proto:25

  return a list of all the URIs this service can publish

  message ListUrisRequest

  event_service.proto:70

  request to list all the URIs this service can publish

  (message has no fields)

  message ListUrisReply

  event_service.proto:74

  reply to list all the URIs this service can publish

  • repeated Uri uris = 1

    list of URIs

• rpc requestReply (RequestReplyRequest, RequestReplyReply)

  event_service.proto:31

  send a single message request/reply

• rpc subscribe (SubscribeRequest, stream SubscribeReply)

  event_service.proto:28

  subscribe to single URI topic

  message SubscribeReply

  event_service.proto:43

  reply to subscribe to a URI

  • optional Event event = 1

    the event received

  • bytes payload = 2

    the data payload associated with the event

Used in: ImuModel

• string model_type = 1

• repeated double params = 2

Used in: RecorderAnnotation

• ANNOTATION_UNKNOWN = 0

• ANNOTATION_ROW_START = 1

• ANNOTATION_ROW_END = 2

• ANNOTATION_PATH_START = 3

• ANNOTATION_PATH_END = 4

• ANNOTATION_WAYPOINT = 5

• ANNOTATION_NOTE = 6

Used in: CameraModels, RigidCamera

• optional ImageSize image_size = 1

• string distortion_type = 2

  Specifies the type of distortion model.

• repeated double params = 3

  Parameters. Typically the first four are: fx, fy, px, py

• repeated CameraModel camera_models = 1

• float near = 1

• float far = 2

Used in: plotting.proto.ColoredRect, plotting.proto.Curve, plotting.proto.Vec3Curve, plotting.proto.Vec3CurveWithConfInterval

• float r = 1

• float g = 2

• float b = 3

• float a = 4

• optional ImageLayout layout = 1

• optional PixelFormat pixel_format = 2

• bytes data = 3

A message that represents a single event in the system.

Used in: RequestReplyReply, RequestReplyRequest, SubscribeReply

• optional Uri uri = 1

  The URI of the event.

• repeated Timestamp timestamps = 2

  The timestamp of the event.

• int64 payload_length = 3

  The length of the payload in bytes.

• int64 sequence = 4

  The sequence number of the event.

configuration for an event service

Used in: EventServiceConfigList

• string name = 1

  name of the service

• int32 port = 2

  port to listen on

• string host = 3

  host to listen on

• repeated SubscribeRequest subscriptions = 4

  list of URIs to subscribe to

• repeated Uri uris = 5

  list of URIs to publish to NOTE: the uris are already in the subscriptions, but we need to

• repeated string args = 6

  arguments that are service specific

• EventServiceConfig.LogLevel log_level = 7

Use naming and number convention from python logging library.

Used in: EventServiceConfig

• NOTSET = 0

• CRITICAL = 50

• FATAL = 50

• ERROR = 40

• WARNING = 30

• WARN = 30

• INFO = 20

• DEBUG = 10

list of event service configurations

• repeated EventServiceConfig configs = 1

  the list of configurations

Used in: plotting.proto.Curve, plotting.proto.RectPlot, plotting.proto.Vec3Curve, plotting.proto.Vec3CurveWithConfInterval

• string path_string = 1

Used in: ImuModel

• string model_type = 1

• repeated double params = 2

• optional UnitVec3F64 normal = 1

• double offset = 2

Used in: DynImage

• optional ImageSize size = 1

• uint32 pitch_bytes = 2

Used in: CameraModel, ImageLayout

• int32 width = 1

  Image width in pixels.

• int32 height = 2

  Image height in pixels.

• optional GyroModel gyro_model = 1

• optional AcceleroModel accelero_model = 2

• optional Rotation2F64 rotation = 1

• optional Vec2F64 translation = 2

Used in: Pose, RigidCamera

• optional Rotation3F64 rotation = 1

• optional Vec3F64 translation = 2

Used in: Pose

• optional Vec3F64 linear_velocity = 1

• optional Vec3F64 angular_velocity = 2

• optional Vec2F32 col_0 = 1

• optional Vec2F32 col_1 = 2

• optional Vec2F64 col_0 = 1

• optional Vec2F64 col_1 = 2

• optional Vec3F32 col_0 = 1

• optional Vec3F32 col_1 = 2

• optional Vec3F32 col_2 = 3

• optional Vec3F64 col_0 = 1

• optional Vec3F64 col_1 = 2

• optional Vec3F64 col_2 = 3

• int32 rows = 1

• int32 cols = 2

• repeated float data = 3

• int32 rows = 1

• int32 cols = 2

• repeated float data = 3

• bool value = 1

• bool has_value = 2

Used in: plotting.proto.XCoordinateBounds, plotting.proto.YCoordinateBounds

• double value = 1

• bool has_value = 2

• float value = 1

• bool has_value = 2

• int32 value = 1

• bool has_value = 2

• int64 value = 1

• bool has_value = 2

• string value = 1

• bool has_value = 2

Used in: DynImage

• string number_type = 1

• int32 num_components = 2

• int32 num_bytes_per_component = 3

A position, orientation, and velocity for an object or reference frame in 3D space

Used in: PoseTree

• optional Isometry3F64 a_from_b = 1

  point_in_a = a_from_b * point_in_b

• string frame_a = 2

• string frame_b = 3

• optional Isometry3F64Tangent tangent_of_b_in_a = 4

  Egocentric linear velocity of frame_b with respect to frame a. This is the movement of the body relative to the parent, but in the body's axes. For velocities, frame_b is assumed to be the body and frame_a is assumed to be the parent / reference. If frame_a is the body and b is the parent (e.g., this pose represents imu_from_robot), then this velocity is likely the inverse of what you want. Example 1: If 'b' is the robot and 'a' is world (world_from_robot), this is the linear velocity of the robot. x is moving forward, y laterally left, & z up. All without regard for heading / orientation. Example 2: If 'b' is a tool and 'a' is the robot, this represents the actuation of the tool. The directions are in the tools axes, but the movement is relative to the robot's body. If the tools convention is that x points down, then lowering the tool would be a positive x velocity, and any driving / turning of the robot would not be included.

A sequence of poses

• repeated Pose poses = 1

Used in: Rotation3F64

• optional Vec3F64 imag = 1

• double real = 2

• repeated Timestamp stamps = 1

  The timestamp of the annotation.

• AnnotationKind kind = 2

  The kind of annotation.

• string message = 3

  An optional message of the annotation. E.g., "Start of row 1".

• string name = 1

• repeated SubscribeRequest subscriptions = 2

• optional google.protobuf.Struct metadata = 3

Used in: plotting.proto.ColoredRect, RepeatedG0Region2F64

• bool is_empty = 1

• optional Vec2F64 min = 2

• optional Vec2F64 max = 3

• bool is_empty = 1

• float min = 2

• float max = 3

• bool is_empty = 1

• double min = 2

• double max = 3

• bool is_empty = 1

• int32 min = 2

• int32 max = 3

• repeated Region2F64 value = 1

• optional RequestReplyRequest request = 1

• optional RequestReplyReply reply = 2

reply to send a single message

Used as response type in: EventService.requestReply

Used as field type in: RequestReply

• optional Event event = 1

• bytes payload = 2

request to send a single message

Used as request type in: EventService.requestReply

Used as field type in: RequestReply

• optional Event event = 1

  the event to send

• bytes payload = 2

  the data payload associated with the event

• optional CameraModel intrinsics = 1

• optional Isometry3F64 rig_from_camera = 2

Used in: Isometry2F64

• double theta = 1

Used in: Isometry3F64

• optional QuaternionF64 unit_quaternion = 1

  Quaternion which is required to be unit length.

Used in: StructExample2

• double integer = 1

• float f = 2

• string name = 1

• optional StructExample1 ex1 = 2

request to subscribe to a URI

Used as request type in: EventService.subscribe

Used as field type in: EventServiceConfig, RecorderProfile

• optional Uri uri = 1

  the URI to subscribe to

• uint32 every_n = 2

  frequency to receive messages

Used in: Event, RecorderAnnotation

• double stamp = 1

• string clock_name = 2

• string semantics = 3

Used in: Hyperplane3F64

• optional Vec3F64 vec3 = 1

Used in: Event, EventServiceConfig, ListUrisReply, SubscribeRequest

• string scheme = 1

• string authority = 2

• string path = 3

• string query = 4

Used in: Mat2F32

• float x = 1

• float y = 2

Used in: Isometry2F64, Mat2F64, Region2F64

• double x = 1

• double y = 2

• int64 x = 1

• int64 y = 2

Used in: Mat3F32

• float x = 1

• float y = 2

• float z = 3

Used in: Isometry3F64, Isometry3F64Tangent, Mat3F64, QuaternionF64, UnitVec3F64

• double x = 1

• double y = 2

• double z = 3

• int64 x = 1

• int64 y = 2

• int64 z = 3

• repeated float data = 1

• repeated double data = 1