robot_controller_description.proto

//======================================================================================================================
//
// Messages for structuring key information about an ABB robot controller
//
//======================================================================================================================

syntax = "proto2";

package abb.robot;

//======================================================================================================================
//
// Primary messages
//
//======================================================================================================================

message Header
{
  optional string           ip_address         = 1;
  optional uint32           rws_port_number    = 2;
  optional RobotWareVersion robot_ware_version = 3;
  optional string           system_name        = 4;
  optional string           system_type        = 5;
  repeated string           options            = 6;
}

message RobotControllerDescription
{
  optional Header              header                  = 1;
  optional SystemIndicators    system_indicators       = 2;
  repeated MechanicalUnitGroup mechanical_units_groups = 3;
  repeated RAPIDTask           rapid_tasks             = 4;
}

//======================================================================================================================
//
// Auxiliary messages
//
//======================================================================================================================

message RobotWareVersion
{
  optional string name         = 1;
  optional uint32 major_number = 2;
  optional uint32 minor_number = 3;
  optional uint32 patch_number = 4;
}

message Cartesian
{
  optional double x = 1;
  optional double y = 2;
  optional double z = 3;
}

// Note: The quaternion is defined as: q1 + q2*i + q3*j + q4*k.
message Quaternion
{
  optional double q1 = 1;
  optional double q2 = 2;
  optional double q3 = 3;
  optional double q4 = 4;
}

message Pose
{
  optional Cartesian  position = 1;
  optional Quaternion rotation = 2;
}

//==========================================================
//
// System indicator messages
//
//==========================================================

message RobotIndicators
{
  optional bool irb14000 = 1;
}

message OptionIndicators
{
  optional bool egm         = 1;
  optional bool leadthrough = 2;
  optional bool multimove   = 3;
}

message AddInIndicators
{
  optional bool smart_gripper     = 1;
  optional bool state_machine_1_0 = 2;
  optional bool state_machine_1_1 = 3;
}

message SystemIndicators
{
  optional RobotIndicators  robots  = 1;
  optional OptionIndicators options = 2;
  optional AddInIndicators  addins  = 3;
}

//==========================================================
//
// Mechanical unit group messages
//
//==========================================================

message Transmission
{
  optional string name          = 1;
  optional bool   rotating_move = 2;
}

message Arm
{
  optional string name              = 1;
  optional double lower_joint_bound = 2;
  optional double upper_joint_bound = 3;
}

message Joint
{
  optional string       name                  = 1;
  optional int32        logical_axis          = 2;
  optional int32        kinematic_axis_number = 3;
  optional Arm          arm                   = 4;
  optional Transmission transmission          = 5;
}

message StandardizedJoint
{
  optional string original_name     = 1;
  optional string standardized_name = 2;
  optional bool   rotating_move     = 3;
  optional double lower_joint_bound = 4;
  optional double upper_joint_bound = 5;
}

message Single
{
  optional string name                = 1;
  optional string type                = 2;
  optional Joint  joint               = 3;
  optional Pose   base_frame          = 4;
  optional string base_frame_moved_by = 5;
}

message Robot
{
  optional string name                = 1;
  optional string type                = 2;
  repeated Joint  joints              = 3;
  optional Pose   base_frame          = 4;
  optional string base_frame_moved_by = 5;
}

message MechanicalUnit
{
  enum Type
  {
    UNDEFINED = 0;
    NONE      = 1;
    TCP_ROBOT = 2;
    ROBOT     = 3;
    SINGLE    = 4;
  }

  enum Mode
  {
    DEACTIVATED = 0;
    ACTIVATED   = 1;
  }

  optional string            name                = 1;
  optional Robot             robot               = 2;
  repeated Single            singles             = 3;
  optional Type              type                = 4 [default = UNDEFINED];
  optional string            task_name           = 5;
  optional int32             axes                = 6;
  optional int32             axes_total          = 7;
  optional string            is_integrated_unit  = 8;
  optional string            has_integrated_unit = 9;
  optional string            status              = 10;
  optional Mode              mode                = 11 [default = DEACTIVATED];
  repeated StandardizedJoint standardized_joints = 12;
}

message MechanicalUnitGroup
{
  optional string         name             = 1;
  optional MechanicalUnit robot            = 2;
  repeated MechanicalUnit mechanical_units = 3;
}

//==========================================================
//
// RAPID task messages
//
//==========================================================

message RAPIDModule
{
  optional string name = 1;
  optional string type = 2;
}

message RAPIDTask
{
  enum ExecutionState
  {
    UNKNOWN       = 1;
    READY         = 2;
    STOPPED       = 3;
    STARTED       = 4;
    UNINITIALIZED = 5;
  }

  optional string         name            = 1;
  optional bool           is_motion_task  = 2;
  optional bool           is_active       = 3;
  optional ExecutionState execution_state = 4 [default = UNKNOWN];
  repeated RAPIDModule    modules         = 5;
}