Protocol Documentation

Table of Contents

auto.proto

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GetAutoRequest

FieldTypeLabelDescription
name AutoCfg

配置项

GetAutoResponse

FieldTypeLabelDescription
value bool optional

SetAutoRequest

FieldTypeLabelDescription
name AutoCfg

配置项

value bool

使能

AutoCfg

NameNumberDescription
ARM_POWER 0

开机后自动上电
ENABLE_JOINT 1

开机后自动使能手臂
INIT_CLAW 2

上电后自动初始化夹爪

AutoService

自动配置项相关服务

Method NameRequest TypeResponse TypeDescription
SetAuto SetAutoRequest .google.protobuf.Empty

设置自动配置项
GetAuto GetAutoRequest GetAutoResponse

获取自动配置项

backup.proto

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BackupInfo

FieldTypeLabelDescription
system lebai.system.SystemInfo

robot lebai.system.RobotInfo

hardware lebai.system.HardwareInfo

software lebai.system.SoftwareInfo

timestamp google.protobuf.Timestamp

option Options

BackupRequest

FieldTypeLabelDescription
file string

备份包文件在文件系统.backup文件夹下的路径

option Options

GetBackupInfoRequest

FieldTypeLabelDescription
file string

备份包文件在文件系统.backup文件夹下的路径

Options

FieldTypeLabelDescription
tmp bool

临时数据（任务运行历史、日志）

syslog bool

系统日志

arm bool

手臂配置（精标、关节圈数、伺服参数）

config bool

用户配置（安装方向、负载、TCP、速度因子、安全设置、仿真模式）

data bool

用户数据（工作空间、场景库、位置库等资源库，以及文件系统中以`.`开头的文件及文件夹）

file bool

用户文件（文件系统中非以`.`开头的文件及文件夹）

docker bool

Docker数据

ds bool

UI2.0数据

RestoreRequest

FieldTypeLabelDescription
file string

备份包文件在文件系统.backup文件夹下的路径

option Options

BackupService

备份恢复相关服务

Method NameRequest TypeResponse TypeDescription
Clean Options .google.protobuf.Empty

清理数据
Backup BackupRequest .google.protobuf.Empty

备份
GetBackupInfo GetBackupInfoRequest BackupInfo

获取备份包的设备信息
Restore RestoreRequest .google.protobuf.Empty

恢复

claw.proto

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Claw

FieldTypeLabelDescription
force double

力度

amplitude double

开度

weight double

负载重量（已弃用）

hold_on bool

开度是否稳定

GetClawAiRequest

FieldTypeLabelDescription
address Address

GetClawAiResponse

FieldTypeLabelDescription
value double

InitClawRequest

FieldTypeLabelDescription
force bool

强制

SetClawAoRequest

FieldTypeLabelDescription
address Address

value double

SetClawRequest

FieldTypeLabelDescription
force double optional

力度

amplitude double optional

开度

WaitClawAiRequest

FieldTypeLabelDescription
address Address

value double

relation lebai.cmp.Relation

Address

NameNumberDescription
AMPLITUDE 0

目标开度
FORCE 1

目标力度
VOLTAGE 2

上传电压数字
DISTANCE 3

上传激光测距
DO 4

接收DO指令
ACTUAL_AMPLITUDE 5

当前开度
ACTUAL_FORCE 6

当前力度（已弃用）
WEIGHT 7

当前负载重量（已弃用）
INIT 8

强制初始化手爪
FLAG 9

手爪状态标识符
ERROR 10

手爪错误标识符
DISABLE_INIT 90

禁用自动初始化
SAVE_TRAVEL 91

保存理论行程

ClawService

手爪相关服务

Method NameRequest TypeResponse TypeDescription
InitClaw InitClawRequest .google.protobuf.Empty

初始化手爪
SetClaw SetClawRequest .google.protobuf.Empty

设置手爪数据
GetClaw .google.protobuf.Empty Claw

获取手爪幅度是否稳定
SetClawAo SetClawAoRequest .google.protobuf.Empty

设置手爪指定数据
GetClawAi GetClawAiRequest GetClawAiResponse

读取手爪指定数据
WaitClawAi WaitClawAiRequest .google.protobuf.Empty

等待手爪指定数据

cmp.proto

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Logic

NameNumberDescription
AND 0

与
OR 2

或
NOT 3

非

Relation

NameNumberDescription
EQ 0

等于
NEQ 2

不等于
LT 3

小于
LTE 4

小于或等于
GT 5

大于
GTE 6

大于或等于

db.proto

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DeleteRequest

FieldTypeLabelDescription
name string

dir string

Dir

FieldTypeLabelDescription
name string

id uint32

内部ID，重命名后ID不变

Dirs

FieldTypeLabelDescription
dirs Dir repeated

LoadListRequest

FieldTypeLabelDescription
dir string

LoadListResponse

FieldTypeLabelDescription
names string repeated

list of data name

LoadRequest

FieldTypeLabelDescription
name string

dir string

LoadResponse

FieldTypeLabelDescription
data string

通用JSON数据

SaveRequest

FieldTypeLabelDescription
name string

data string

通用JSON数据

dir string

UpdateDirRequest

FieldTypeLabelDescription
from string

to string

DbService

数据库存储相关服务

Method NameRequest TypeResponse TypeDescription
CreateDir Dir .google.protobuf.Empty

创建目录
UpdateDir UpdateDirRequest .google.protobuf.Empty

目录重命名
GetDirs .google.protobuf.Empty Dirs

获取目录列表

dynamic.proto

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Payload

FieldTypeLabelDescription
mass double

负载质量

cog lebai.posture.Position

负载重心偏移位置

SavePayloadRequest

FieldTypeLabelDescription
name string

data Payload

dir string

SetPayloadRequest

FieldTypeLabelDescription
mass double optional

负载质量

cog lebai.posture.Position

负载重心偏移位置

DynamicService

动力学相关服务

Method NameRequest TypeResponse TypeDescription
SavePayload SavePayloadRequest .google.protobuf.Empty

保存/修改/删除负载
LoadPayload .lebai.db.LoadRequest Payload

查询负载
LoadPayloadList .lebai.db.LoadListRequest .lebai.db.LoadListResponse

查询负载列表
SetPayload SetPayloadRequest .google.protobuf.Empty

设置当前负载
GetPayload .google.protobuf.Empty Payload

获取当前负载
SetGravity .lebai.posture.Position .google.protobuf.Empty

设置当前地心引力方向
GetGravity .google.protobuf.Empty .lebai.posture.Position

获取当前地心引力方向

file.proto

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DownloadFileRequest

FieldTypeLabelDescription
dir string

name string

url string

File

FieldTypeLabelDescription
is_dir bool

data bytes

FileIndex

FieldTypeLabelDescription
dir string

name string

FileName

FieldTypeLabelDescription
name string

is_dir bool

LoadFileListRequest

FieldTypeLabelDescription
dir string

prefix string

suffix string

LoadFileListResponse

FieldTypeLabelDescription
files FileName repeated

LoadZipListRequest

将zip文件的files解压到文件系统中的dir目录下

FieldTypeLabelDescription
zip FileIndex

zip文件在文件系统中的路径

dir string

zip文件内部目录

prefix string

suffix string

LoadZipListResponse

FieldTypeLabelDescription
files FileName repeated

RenameFileRequest

FieldTypeLabelDescription
from FileIndex

to FileIndex

SaveFileRequest

FieldTypeLabelDescription
dir string

name string

file File

UnzipRequest

将zip文件的files解压到文件系统中的dir目录下

FieldTypeLabelDescription
zip FileIndex

zip文件在文件系统中的路径

files string repeated

zip文件内部文件

dir string

文件系统的路径

ZipRequest

将文件系统中的files压缩到zip文件的dir目录下

FieldTypeLabelDescription
zip FileIndex

zip文件在文件系统中的路径

files string repeated

文件系统中的文件或目录

dir string

zip文件内部目录

FileService

文件存储相关服务

Method NameRequest TypeResponse TypeDescription
SaveFile SaveFileRequest .google.protobuf.Empty

保存文件
DownloadFile DownloadFileRequest .google.protobuf.Empty

下载文件
RenameFile RenameFileRequest .google.protobuf.Empty

重命名文件
LoadFile FileIndex File

查询文件
LoadFileList LoadFileListRequest LoadFileListResponse

查询文件列表
Zip ZipRequest .google.protobuf.Empty

将文件从文件系统中压缩到zip文件中
Unzip UnzipRequest .google.protobuf.Empty

将文件从zip文件中解压到文件系统中
LoadZipList LoadZipListRequest LoadZipListResponse

查询zip文件中的文件列表

flange.proto

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SetFlangeBaudRateRequest

FieldTypeLabelDescription
baud_rate uint32

FlangeService

法兰相关服务

Method NameRequest TypeResponse TypeDescription
SetFlangeBaudRate SetFlangeBaudRateRequest .google.protobuf.Empty

hardware.proto

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FirmwareInfo

固件信息

FieldTypeLabelDescription
sn string

version string

partition FirmwarePartition

OtaState

FieldTypeLabelDescription
address Address

partition FirmwarePartition

step Step

progress uint32

StartOtaRequest

FieldTypeLabelDescription
address Address

partition FirmwarePartition

file string

固件包文件在文件系统.hardware文件夹下的路径

SwitchPartitionRequest

FieldTypeLabelDescription
address Address

partition FirmwarePartition

Address

NameNumberDescription
EMPTY 0

发送时代表广播，接收时代表无设备
JOINT1 1

关节1（离基座最近）
JOINT2 2

关节2
JOINT3 3

关节3
JOINT4 4

关节4
JOINT5 5

关节5
JOINT6 6

关节6
JOINT7 7

关节7
FLANGE 8

法兰
CLAW 9

夹爪
LED 10

灯板
DIAL 13

百分表
COMM_BOARD 14

通信板
TEST_BOARD 15

测试板

FirmwarePartition

NameNumberDescription
A 0

B 1

C 2

UNKNOWN 3

Step

NameNumberDescription
NONE 0

未升级
WAIT 1

准备升级
DOWNLOADING 2

正在上传固件
FLASHING 3

正在烧录固件
DONE 4

完成
FAIL 5

失败
RESTART 11

重启硬件

HardwareService

硬件相关服务

Method NameRequest TypeResponse TypeDescription
StartOta StartOtaRequest .google.protobuf.Empty

开始升级
SwitchPartition SwitchPartitionRequest .google.protobuf.Empty

切换固件分区
GetOtaState .google.protobuf.Empty OtaState

获取升级进度

io.proto

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ButtonIndex

FieldTypeLabelDescription
device IoDevice

pin uint32

DI引脚号

ButtonStatus

FieldTypeLabelDescription
state ButtonState

time uint32

长按的毫秒数 或 连击的次数

ButtonsStatus

FieldTypeLabelDescription
button ButtonIndex

status ButtonStatus

GetAioPinRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

GetAioPinResponse

FieldTypeLabelDescription
value double

GetAioPinsRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

count uint32

GetAioPinsResponse

FieldTypeLabelDescription
values double repeated

GetDioModeRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

GetDioModeResponse

FieldTypeLabelDescription
mode DigitalMode

GetDioPinRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

GetDioPinResponse

FieldTypeLabelDescription
value uint32

GetDioPinsRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

count uint32

GetDioPinsResponse

FieldTypeLabelDescription
values uint32 repeated

GetDiosModeRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

count uint32

GetDiosModeResponse

FieldTypeLabelDescription
modes DigitalMode repeated

SetAoPinRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

value double

SetAoPinsRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

values double repeated

SetDioModeRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

mode DigitalMode

SetDoPinRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

value uint32

SetDoPinsRequest

FieldTypeLabelDescription
device IoDevice

pin uint32

values uint32 repeated

AnalogMode

模拟IO类型

NameNumberDescription
VOLTAGE 0

CURRENT 1

ButtonState

NameNumberDescription
EMPTY 0

无动作
UP 1

松开长按
LONG_DOWN 2

长按
CLICK 3

点击

DigitalMode

数字IO类型

NameNumberDescription
INPUT 0

OUTPUT 1

IoDevice

IO设备类型

NameNumberDescription
ROBOT 0

机箱IO
FLANGE 1

法兰IO
EXTRA 2

拓展IO
ROBOT_BTN 10

机箱按钮DI
SHOULDER 11

肩部按钮DI
FLANGE_BTN 12

法兰按钮DI

IoPinKind

IO引脚类型

NameNumberDescription
DI 0

DO 1

AI 2

AO 3

IoService

IO相关服务

Method NameRequest TypeResponse TypeDescription
GetDi GetDioPinRequest GetDioPinResponse

GetDis GetDioPinsRequest GetDioPinsResponse

GetDo GetDioPinRequest GetDioPinResponse

GetDos GetDioPinsRequest GetDioPinsResponse

SetDo SetDoPinRequest .google.protobuf.Empty

SetDos SetDoPinsRequest .google.protobuf.Empty

GetAi GetAioPinRequest GetAioPinResponse

GetAis GetAioPinsRequest GetAioPinsResponse

GetAo GetAioPinRequest GetAioPinResponse

GetAos GetAioPinsRequest GetAioPinsResponse

SetAo SetAoPinRequest .google.protobuf.Empty

SetAos SetAoPinsRequest .google.protobuf.Empty

EnableButton ButtonIndex .google.protobuf.Empty

DisableButton ButtonIndex .google.protobuf.Empty

SubButtonsStatus .google.protobuf.Empty ButtonsStatus stream

SetDioMode SetDioModeRequest .google.protobuf.Empty

GetDioMode GetDioModeRequest GetDioModeResponse

GetDiosMode GetDiosModeRequest GetDiosModeResponse

kinematic.proto

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CalcFrameRequest

FieldTypeLabelDescription
o lebai.posture.CartesianPose

x lebai.posture.CartesianPose

xy lebai.posture.CartesianPose

CalcTcpRequest

FieldTypeLabelDescription
poses lebai.posture.CartesianPose repeated

DhParam

关节DH参数

FieldTypeLabelDescription
a double

alpha double

d double

theta double

DhParams

FieldTypeLabelDescription
params DhParam repeated

KinData

运动数据

FieldTypeLabelDescription
actual_joint_pose double repeated

actual_joint_speed double repeated

actual_joint_acc double repeated

actual_joint_torque double repeated

target_joint_pose double repeated

target_joint_speed double repeated

target_joint_acc double repeated

target_joint_torque double repeated

actual_tcp_pose lebai.posture.CartesianPose

target_tcp_pose lebai.posture.CartesianPose

actual_flange_pose lebai.posture.CartesianPose

KinFactor

运动因子

FieldTypeLabelDescription
speed_factor int32

速度因子(0~100)

SaveTcpRequest

FieldTypeLabelDescription
name string

data lebai.posture.CartesianPose

dir string

KinematicService

运动学相关服务

Method NameRequest TypeResponse TypeDescription
SaveTcp SaveTcpRequest .google.protobuf.Empty

保存/修改/删除工具中心点
LoadTcp .lebai.db.LoadRequest .lebai.posture.CartesianPose

查询工具中心点
LoadTcpList .lebai.db.LoadListRequest .lebai.db.LoadListResponse

查询工具中心点列表
SetDh DhParams .google.protobuf.Empty

设置DH参数
GetDh .google.protobuf.Empty DhParams

获取DH参数
SetKinFactor KinFactor .google.protobuf.Empty

设置运动因子
GetKinFactor .google.protobuf.Empty KinFactor

获取运动因子
GetKinData .google.protobuf.Empty KinData

获取运动数据
SubKinData .lebai.SubscribeRequest KinData stream

订阅运动数据
CalcFrame CalcFrameRequest .lebai.posture.CartesianPose

三点采样计算原点特征
CalcTcp CalcTcpRequest .lebai.posture.CartesianPose

三点采样计算工具中心点
SetTcp .lebai.posture.CartesianPose .google.protobuf.Empty

设置工具中心点
GetTcp .google.protobuf.Empty .lebai.posture.CartesianPose

获取工具中心点

lebai.proto

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CommandStdout

FieldTypeLabelDescription
done bool

未开始 或 已完成

stdout string

调试信息

stderr string

警告信息

code int32

返回码，非0为失败

SubscribeRequest

FieldTypeLabelDescription
interval_min uint64

保证每次推送至少间隔interval时间(ms)

interval_max uint64

保证interval时间(ms)内至少推送1次

led.proto

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FanData

FieldTypeLabelDescription
mode FanMode

LedData

LED样式

FieldTypeLabelDescription
mode LedMode

speed LedSpeed

colors LedColor repeated

LedStyle

声光交互样式

FieldTypeLabelDescription
led LedData

voice VoiceKind

volume Volume

LedStyleItem

机器人状态对应的声光交互样式

FieldTypeLabelDescription
state lebai.system.RobotState

style LedStyle

LedStyles

声光交互样式集

FieldTypeLabelDescription
styles LedStyles.StylesEntry repeated

LedStyles.StylesEntry

FieldTypeLabelDescription
key int32

value LedStyle

SaveLedStyleRequest

FieldTypeLabelDescription
name string

data LedStyle

dir string

VoiceData

声音样式

FieldTypeLabelDescription
voice VoiceKind

volume Volume

FanMode

风扇工作模式

NameNumberDescription
HOLD_FAN 0

无动作
CLOSE_FAN 1

关闭
OPEN_FAN 2

打开

LedColor

LED颜色

NameNumberDescription
RED 0

#FF0000
GREEN 1

#00FF00
BLUE 2

#0000FF
PINK 3

#FF00FF
YELLOW 4

#FFFF00
CYAN 5

#00FFF
GRAY 6

#808080
BROWN 7

#A52A2A
ORANGE 8

#FFA500
GOLD 9

#FFD700
INDIGO 10

#4B0082
LIGHT_SKY_BLUE 11

#87CEFA
DARK_VIOLET 12

#9400D3
CHOCOLATE 13

#D2691E
LIGHT_RED 14

#FF9E9A
WHITE 15

#FFFFFF

LedMode

LED工作模式

NameNumberDescription
HOLD_LED 0

无动作
CLOSE_LED 1

关闭
OPEN_LED 2

常亮
BREATH 3

呼吸
FOUR 4

四块流水
WATER 5

同色流水
BLINK 6

闪烁

LedSpeed

LED运行速度

NameNumberDescription
HOLD_LED_SPEED 0

无动作
FAST 1

快速
NORMAL 2

中速
SLOW 3

慢速

VoiceKind

语音ID

NameNumberDescription
OFF 0

BOOTING 1

STOPING 2

COLLISION_DETECTED 3

UPGRADE 4

TEACH_MODE_ON 5

TEACH_MODE_OFF 6

FINE_TUNNING_ON 7

FINE_TUNNING_OFF 8

FINE_TUNNING_CHANGE 9

BORING 10

CUSTOM1 11

CUSTOM2 12

CUSTOM3 13

CUSTOM4 14

CUSTOM5 15

Volume

语音音量

NameNumberDescription
MUTE 0

静音
LOW 1

低
MID 2

中
HIGH 3

高

LedService

灯板声光风扇相关服务

Method NameRequest TypeResponse TypeDescription
SaveLedStyle SaveLedStyleRequest .google.protobuf.Empty

保存/修改/删除声光样式
LoadLedStyle .lebai.db.LoadRequest LedStyle

查询声光样式
LoadLedStyleList .lebai.db.LoadListRequest .lebai.db.LoadListResponse

查询声光样式列表
SetLedStyle LedStyleItem .google.protobuf.Empty

SetLedStyles LedStyles .google.protobuf.Empty

GetLedStyles .google.protobuf.Empty LedStyles

SetLed LedData .google.protobuf.Empty

SetVoice VoiceData .google.protobuf.Empty

SetFan FanData .google.protobuf.Empty

message.proto

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Message

FieldTypeLabelDescription
level Level

kind Kind

信息类型，前端提供国际化

detail string

详细信息，供内部人员查看

time google.protobuf.Timestamp

消息产生时间

Messages

FieldTypeLabelDescription
messages Message repeated

Kind

消息类型

NameNumberDescription
ESTOP 0

急停
HARD_ESTOP_LOCK 1

请释放硬件急停开关后重试
DRIVER_ERROR 2

硬件驱动故障
REACH_JOINT_LIMIT 3

关节超出临界位置
COLLISION_DETECTED 4

机器人可能被碰撞
JONIT_SPEED_EXCEED 5

关节速度超出限制
TRAJECTOR_ERROR 6

机器人运动规划出错
OTA_FAILED 7

OTA升级失败

Level

消息等级

NameNumberDescription
INFO 0

提示
WARN 1

警告
ERROR 2

故障

MessageService

消息相关服务

Method NameRequest TypeResponse TypeDescription
GetMessages .google.protobuf.Empty Messages

SubMessage .google.protobuf.Empty Message stream

modbus.proto

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DisconnectModbusRequest

FieldTypeLabelDescription
device string

GetCoilRequest

FieldTypeLabelDescription
device string

pin string

GetCoilResponse

FieldTypeLabelDescription
value bool

GetCoilsRequest

FieldTypeLabelDescription
device string

pin string

count uint32

GetCoilsResponse

FieldTypeLabelDescription
values bool repeated

GetRegisterRequest

FieldTypeLabelDescription
device string

pin string

GetRegisterResponse

FieldTypeLabelDescription
value uint32

GetRegistersRequest

FieldTypeLabelDescription
device string

pin string

count uint32

GetRegistersResponse

FieldTypeLabelDescription
values uint32 repeated

LoadModbusRegisterListRequest

FieldTypeLabelDescription
device string

LoadModbusRegisterRequest

FieldTypeLabelDescription
device string

name string

Modbus

Modbus设备

FieldTypeLabelDescription
kind ModbusKind

类型

address string

IP地址 或 串口地址

port uint32

TCP端口号

slave_id uint32

ModBus从机地址

ModbusRegister

Modbus寄存器

FieldTypeLabelDescription
kind ModbusRegisterKind

address uint32

ModBus内存地址

SaveModbusRegisterRequest

FieldTypeLabelDescription
device string

name string

data ModbusRegister

SaveModbusRequest

FieldTypeLabelDescription
name string

data Modbus

SetCoilRequest

FieldTypeLabelDescription
device string

pin string

value bool

SetCoilsRequest

FieldTypeLabelDescription
device string

pin string

values bool repeated

SetModbusRetryRequest

FieldTypeLabelDescription
device string

retry uint32

接收超时重试次数，默认0

SetModbusTimeoutRequest

FieldTypeLabelDescription
device string

timeout uint32

单次接收超时时间，默认600ms，特殊地0为不超时

SetRegisterRequest

FieldTypeLabelDescription
device string

pin string

value uint32

SetRegistersRequest

FieldTypeLabelDescription
device string

pin string

values uint32 repeated

ModbusKind

Modbus设备类型

NameNumberDescription
ROBOT 0

机箱IO
FLANGE 1

法兰IO
EXTRA 2

拓展IO
MODBUS_FLANGE 3

法兰ModBus
MODBUS_RTU 4

ModBus RTU
MODBUS_TCP 5

ModBus TCP

ModbusRegisterKind

Modbus寄存器类型

NameNumberDescription
DISCRETE_INPUT 0

DI
COIL 1

DO
INPUT_REGISTER 2

AI
HOLDING_REGISTER 3

AO

ModbusService

Modbus相关服务

Method NameRequest TypeResponse TypeDescription
SaveModbus SaveModbusRequest .google.protobuf.Empty

保存Modbus设备
LoadModbus .lebai.db.LoadRequest Modbus

查询Modbus设备
LoadModbusList .lebai.db.LoadListRequest .lebai.db.LoadListResponse

查询Modbus设备列表
SaveModbusRegister SaveModbusRegisterRequest .google.protobuf.Empty

保存Modbus寄存器
LoadModbusRegister LoadModbusRegisterRequest ModbusRegister

查询Modbus寄存器
LoadModbusRegisterList LoadModbusRegisterListRequest .lebai.db.LoadListResponse

查询Modbus寄存器列表
DisconnectModbus DisconnectModbusRequest .google.protobuf.Empty

断开Modbus连接
SetModbusTimeout SetModbusTimeoutRequest .google.protobuf.Empty

设置单次接收超时时间
SetModbusRetry SetModbusRetryRequest .google.protobuf.Empty

设置接收超时重发次数
ReadDiscreteInputs GetCoilsRequest GetCoilsResponse

Get DIs
ReadCoils GetCoilsRequest GetCoilsResponse

Get DOs
WriteSingleCoil SetCoilRequest .google.protobuf.Empty

Set DO
WriteMultipleCoils SetCoilsRequest .google.protobuf.Empty

Set DOs
ReadInputRegisters GetRegistersRequest GetRegistersResponse

Get AIs
ReadHoldingRegisters GetRegistersRequest GetRegistersResponse

Get AOs
WriteSingleRegister SetRegisterRequest .google.protobuf.Empty

Set AO
WriteMultipleRegisters SetRegistersRequest .google.protobuf.Empty

Set AOs

motion.proto

Top

EndRecordTrajectoryRequest

FieldTypeLabelDescription
name string

dir string

ForceModeParam

FieldTypeLabelDescription
threshold double

启动力阈值

damping double

阻尼系数

mass double

物体重量

GetMotionStateResponse

FieldTypeLabelDescription
state MotionState

JointMove

FieldTypeLabelDescription
pose double

velocity double optional

acc double optional

MotionIndex

FieldTypeLabelDescription
id uint32

MoveParam

FieldTypeLabelDescription
velocity double

acc double

time double

radius double

MovePvatRequest

FieldTypeLabelDescription
joints JointMove repeated

duration double

执行时间(0.01秒的倍数)

MoveRequest

FieldTypeLabelDescription
pose lebai.posture.Pose

param MoveParam

MoveTrajectoryRequest

FieldTypeLabelDescription
name string

dir string

MovecRequest

FieldTypeLabelDescription
pose_via lebai.posture.Pose

pose lebai.posture.Pose

rad double

param MoveParam

SaveTrajectoryRequest

FieldTypeLabelDescription
name string

data Trajectory

dir string

SetForceModeParamRequest

FieldTypeLabelDescription
damping double optional

阻尼系数

mass double optional

物体重量

force_threshold double optional

启动力阈值

torque_threshold double optional

启动力矩阈值

SetForceSensorRequest

FieldTypeLabelDescription
sensor ForceSensor

address uint32

SpeedJRequest

FieldTypeLabelDescription
speed lebai.posture.JointPose

param SpeedParam

SpeedLRequest

FieldTypeLabelDescription
speed lebai.posture.CartesianPose

param SpeedParam

frame lebai.posture.CartesianFrame

参考系方向

SpeedParam

FieldTypeLabelDescription
acc double

time double

constrained bool

StartForceModeRequest

FieldTypeLabelDescription
limit lebai.posture.CartesianPose

限速

wrench Wrench

控制力

StartRecordTrajectoryRequest

FieldTypeLabelDescription
kind PvatKind

duration double

采样周期(0.01秒的倍数)

Trajectory

FieldTypeLabelDescription
kind PvatKind

data MovePvatRequest repeated

Wrench

FieldTypeLabelDescription
force lebai.posture.Position

受力大小

torque lebai.posture.Position

扭矩大小

ForceSensor

NameNumberDescription
DISABLE 0

禁用外力传感器
INSTANTANEOUS 1

内部瞬时算法估算
CONTINUOUS 2

内部连续算法估算
WEIGHT1 11

一维重力传感器
TORQUE6 21

六维力矩传感器

MotionState

NameNumberDescription
WAIT 0

RUNNING 1

FINISHED 2

PvatKind

NameNumberDescription
PT 0

PVT 1

PVAT 2

MotionService

机器人运动相关服务

Method NameRequest TypeResponse TypeDescription
PauseMove .google.protobuf.Empty .google.protobuf.Empty

暂停所有运动
ResumeMove .google.protobuf.Empty .google.protobuf.Empty

恢复所有运动
StopMove .google.protobuf.Empty .google.protobuf.Empty

停止所有运动
SkipMove .google.protobuf.Empty .google.protobuf.Empty

跳过当前运动(已弃用)
WaitMove MotionIndex .google.protobuf.Empty

等待指定运动结束(特殊地, 0为等待全部运动)
GetRunningMotion .google.protobuf.Empty MotionIndex

查询当前正在运行的MotionId(特殊地, 无运动时返回上次MotionId)
GetMotionState MotionIndex GetMotionStateResponse

查询MotionId的运动状态
TowardJoint MoveRequest MotionIndex

关节空间跟随运动
MoveJoint MoveRequest MotionIndex

关节空间运动
MoveLinear MoveRequest MotionIndex

直线运动
MoveCircular MovecRequest MotionIndex

圆形运动
MovePvat MovePvatRequest .google.protobuf.Empty

关节空间运动
SpeedJoint SpeedJRequest MotionIndex

关节匀速运动
SpeedLinear SpeedLRequest MotionIndex

沿直线匀速运动
SaveTrajectory SaveTrajectoryRequest .google.protobuf.Empty

保存/修改/删除轨迹
LoadTrajectory .lebai.db.LoadRequest Trajectory

查询轨迹
LoadTrajectoryList .lebai.db.LoadListRequest .lebai.db.LoadListResponse

查询轨迹列表
StartRecordTrajectory StartRecordTrajectoryRequest .google.protobuf.Empty

开始记录轨迹
EndRecordTrajectory EndRecordTrajectoryRequest .google.protobuf.Empty

结束记录轨迹
MoveTrajectory .lebai.db.LoadRequest MotionIndex

执行轨迹运行
StartTeachMode .google.protobuf.Empty .google.protobuf.Empty

进入示教模式
EndTeachMode .google.protobuf.Empty .google.protobuf.Empty

退出示教模式
SetTcpForce Wrench .google.protobuf.Empty

设置末端受力
GetTcpForce .google.protobuf.Empty Wrench

读取末端受力
SetForceModeSensor SetForceSensorRequest .google.protobuf.Empty

设置力控传感器选型
SetForceModeParam SetForceModeParamRequest .google.protobuf.Empty

设置力控参数
StartForceMode StartForceModeRequest .google.protobuf.Empty

进入力控模式
EndForceMode .google.protobuf.Empty .google.protobuf.Empty

退出力控模式

motor.proto

Top

ExtraServoParam

FieldTypeLabelDescription
acc_position_kp double

acc_speed_kp double

acc_speed_it double

uni_position_kp double

uni_speed_kp double

uni_speed_it double

dec_position_kp double

dec_speed_kp double

dec_speed_it double

ResetExtraServoParamsRequest

FieldTypeLabelDescription
valids bool repeated

ServoParam

伺服参数

FieldTypeLabelDescription
position_kp double

speed_kp double

speed_it double

torque_cmd_filter double

ServoParams

FieldTypeLabelDescription
params ServoParam repeated

SetExtraServoParamsRequest

FieldTypeLabelDescription
params ExtraServoParam repeated

valids bool repeated

SetZeroRequest

FieldTypeLabelDescription
pose double repeated

valids bool repeated

MotorMode

电机运行模式

NameNumberDescription
POSITION 0

位置环
TORQUE 1

扭矩环
SPEED 2

速度环

MotorService

关节电机相关服务

Method NameRequest TypeResponse TypeDescription
SetServoParams ServoParams .google.protobuf.Empty

设置伺服参数
GetServoParams .google.protobuf.Empty ServoParams

获取伺服参数
FindZero .google.protobuf.Empty .google.protobuf.Empty

导轨找零
SetZero SetZeroRequest .google.protobuf.Empty

设置关节零位
SetExtraServoParams SetExtraServoParamsRequest .google.protobuf.Empty

设置所有extra伺服参数
ResetExtraServoParams ResetExtraServoParamsRequest .google.protobuf.Empty

重置extra伺服参数

multi_devices.proto

Top

DeviceInfo

FieldTypeLabelDescription
name string

mac string

ip string

online bool

DiscoverRobotsResponse

FieldTypeLabelDescription
devices DeviceInfo repeated

设备列表

MultiDevicesService

多机协同相关服务

Method NameRequest TypeResponse TypeDescription
DiscoverRobots .google.protobuf.Empty DiscoverRobotsResponse

设备发现

plugin.proto

Top

PluginIndex

FieldTypeLabelDescription
name string

PluginInfo

FieldTypeLabelDescription
name string

插件名称

boxs string repeated

适用于机箱型号

arms string repeated

适用于手臂型号

description string

详细介绍

homepage string

项目主页网址

auto_restart bool

daemon异常退出后，是否自动启动

web bool

具备Web功能

daemon bool

具备Daemon功能

cmd bool

具备Cmd功能

enable bool

启用插件

PluginStore

FieldTypeLabelDescription
plugins PluginUrl repeated

插件名称

PluginUrl

FieldTypeLabelDescription
name string

插件名称

url string

下载地址

Plugins

FieldTypeLabelDescription
plugins PluginInfo repeated

RunPluginCmdRequest

FieldTypeLabelDescription
name string

params string repeated

PluginService

插件相关服务

Method NameRequest TypeResponse TypeDescription
GetPluginStore .google.protobuf.Empty PluginStore

查询插件市场
LoadPlugin PluginIndex PluginInfo

查询插件信息
LoadPlugins .google.protobuf.Empty Plugins

查询已安装的插件列表
EnablePlugin PluginIndex .lebai.CommandStdout

启用插件
DisablePlugin PluginIndex .lebai.CommandStdout

禁用插件
RestartPluginDaemon PluginIndex .google.protobuf.Empty

重启守护程序
GetPluginDaemonStdout PluginIndex .lebai.CommandStdout

获取守护程序输出
RunPluginCmd RunPluginCmdRequest .lebai.CommandStdout

执行命令行程序

posture.proto

Top

CartesianFrame

笛卡尔空间参考系

FieldTypeLabelDescription
position_kind CartesianFrame.Kind

position Position

自定义位置，仅position_kind=CUSTOM时生效

rotation_kind CartesianFrame.Kind

rotation Rotation

自定义姿态，仅rotation_kind=CUSTOM时生效

CartesianMatrix

笛卡尔空间 位姿4*4矩阵

FieldTypeLabelDescription
m11 double

m12 double

m13 double

m14 double

m21 double

m22 double

m23 double

m24 double

m31 double

m32 double

m33 double

m34 double

m41 double

m42 double

m43 double

m44 double

CartesianPose

笛卡尔空间 位姿

FieldTypeLabelDescription
position Position

rotation Rotation

EulerZyx

欧拉角

FieldTypeLabelDescription
x double

y double

z double

GetInverseKinRequest

FieldTypeLabelDescription
pose Pose

refer JointPose

GetPoseAddRequest

FieldTypeLabelDescription
pose Pose

关节空间 或 笛卡尔空间

delta Pose

在frame姿态方向的增量

GetPoseTransRequest

FieldTypeLabelDescription
from Pose

from_to Pose

JointFrame

关节空间参考系

FieldTypeLabelDescription
kind JointFrame.Kind

pose JointPose

自定义关节位置，仅kind=CUSTOM时生效

JointPose

关节空间 关节角

FieldTypeLabelDescription
joint double repeated

关节度数（PI代表180°）

Manipulation

FieldTypeLabelDescription
manipulation double

Pose

枚举 机器人空间

FieldTypeLabelDescription
kind Pose.Kind

cart CartesianPose

笛卡尔空间位姿，仅kind=CARTESIAN时生效

cart_frame_index lebai.db.LoadRequest

笛卡尔空间参考系索引，仅kind=CARTESIAN时生效

cart_frame CartesianFrame

笛卡尔空间参考系，仅内部使用，仅kind=CARTESIAN时生效

joint JointPose

关节空间位姿，仅kind=CARTESIAN时表示反解的参考位置

PoseRequest

FieldTypeLabelDescription
pose Pose

Position

位置

FieldTypeLabelDescription
x double

y double

z double

Quaternion

四元组

FieldTypeLabelDescription
w double

i double

j double

k double

Rotation

枚举 姿态

FieldTypeLabelDescription
euler_zyx EulerZyx

quaternion Quaternion

matrix RotationMatrix

RotationMatrix

姿态3*3矩阵

FieldTypeLabelDescription
m11 double

m12 double

m13 double

m21 double

m22 double

m23 double

m31 double

m32 double

m33 double

SaveFrameRequest

FieldTypeLabelDescription
name string

data CartesianFrame

dir string

SavePoseRequest

FieldTypeLabelDescription
name string

data Pose

dir string

CartesianFrame.Kind

笛卡尔空间参考系类型

NameNumberDescription
BASE 0

基座
FLANGE 1

当前位置的法兰平面，以收到指令时为准
TCP 2

当前位置的TCP，以收到指令时为准
LAST_FLANGE 11

上个目标点的法兰平面
LAST_TCP 12

上个目标点的TCP
CUSTOM 99

自定义

JointFrame.Kind

关节空间参考系类型

NameNumberDescription
BASE 0

关节零位
CURRENT 1

当前位置的关节位置，以收到指令时为准
LAST 11

上个目标点的关节位置
CUSTOM 99

指定关节位置

Pose.Kind

位姿类型，默认无效

NameNumberDescription
UNKNOWN 0

JOINT 1

CARTESIAN 2

PostureService

位姿算法相关服务

Method NameRequest TypeResponse TypeDescription
SavePose SavePoseRequest .google.protobuf.Empty

保存/修改/删除路点
LoadPose .lebai.db.LoadRequest Pose

查询路点
LoadPoseList .lebai.db.LoadListRequest .lebai.db.LoadListResponse

查询路点列表
SaveFrame SaveFrameRequest .google.protobuf.Empty

保存/修改/删除特征
LoadFrame .lebai.db.LoadRequest CartesianFrame

查询特征
LoadFrameList .lebai.db.LoadListRequest .lebai.db.LoadListResponse

查询特征列表
MeasureManipulation JointPose Manipulation

估算关节位置的灵活性
GetForwardKin PoseRequest CartesianPose

正解
GetInverseKin GetInverseKinRequest JointPose

反解
GetPoseTrans GetPoseTransRequest CartesianPose

位姿乘
GetPoseAdd GetPoseAddRequest CartesianPose

位姿加
GetPoseInverse PoseRequest CartesianPose

位姿逆

quality.proto

Top

Auth

FieldTypeLabelDescription
time string

auth string

BoxTestResponse

FieldTypeLabelDescription
status int32

EmptyRequest

FieldTypeLabelDescription
auth Auth

InitRobotRequest

FieldTypeLabelDescription
auth Auth

info lebai.system.RobotInfo

InitRobotResponse

FieldTypeLabelDescription
cup string

QualityService

质量平台相关服务

Method NameRequest TypeResponse TypeDescription
BoxTest EmptyRequest BoxTestResponse

主机箱测试
InitRobot InitRobotRequest InitRobotResponse

整机初始化

safety.proto

Top

CartesianLimit

FieldTypeLabelDescription
max_a double

max_v double

eq_radius double

CollisionDetector

FieldTypeLabelDescription
action CollisionDetectorAction

碰撞后执行操作

pause_time uint32

action为PAUSE时生效，暂停时间(s)

sensitivity uint32

灵敏度[0~100]

CollisionTorqueDiff

碰撞监测误差

FieldTypeLabelDescription
diffs double repeated

JointLimit

FieldTypeLabelDescription
min_position double

max_position double

max_a double

max_v double

JointsLimit

FieldTypeLabelDescription
joints JointLimit repeated

CollisionDetectorAction

碰撞后执行操作

NameNumberDescription
ESTOP 0

碰撞后急停
PAUSE 1

碰撞后暂停
STOP_MOVE 2

碰撞后停止运动
NONE 99

关闭碰撞监测

SafetyService

操作安全相关服务

Method NameRequest TypeResponse TypeDescription
EnableCollisionDetector .google.protobuf.Empty .google.protobuf.Empty

使能碰撞检测
DisableCollisionDetector .google.protobuf.Empty .google.protobuf.Empty

临时禁用碰撞检测
SetCollisionTorqueDiff CollisionTorqueDiff .google.protobuf.Empty

设置碰撞监测误差
GetCollisionTorqueDiff .google.protobuf.Empty CollisionTorqueDiff

读取碰撞监测误差
SetCollisionDetector CollisionDetector .google.protobuf.Empty

设置碰撞监测
GetCollisionDetector .google.protobuf.Empty CollisionDetector

读取碰撞监测
EnableLimit .google.protobuf.Empty .google.protobuf.Empty

使能限位检测
DisableLimit .google.protobuf.Empty .google.protobuf.Empty

临时禁用限位检测
SetJointsLimit JointsLimit .google.protobuf.Empty

设置关节限位
GetJointsLimit .google.protobuf.Empty JointsLimit

读取关节限位
SetCartLimit CartesianLimit .google.protobuf.Empty

设置空间限位
GetCartLimit .google.protobuf.Empty CartesianLimit

读取空间限位

serial.proto

Top

ClearSerialRequest

FieldTypeLabelDescription
device string

ReadSerialRequest

FieldTypeLabelDescription
device string

len uint32

单次接收的最大缓冲长度

ReadSerialResponse

FieldTypeLabelDescription
data uint32 repeated

u8数组

SetSerialBaudRateRequest

FieldTypeLabelDescription
device string

baud_rate uint32

波特率，默认115200

SetSerialParityRequest

FieldTypeLabelDescription
device string

parity Parity

校验位

SetSerialTimeoutRequest

FieldTypeLabelDescription
device string

timeout uint32

超时时间，默认800ms，特殊地0为不超时

WriteSerialRequest

FieldTypeLabelDescription
device string

data uint32 repeated

u8数组

Parity

NameNumberDescription
None 0

No parity bit.
Odd 1

Parity bit sets odd number of 1 bits.
Even 2

Parity bit sets even number of 1 bits.

SerialService

串口相关服务

Method NameRequest TypeResponse TypeDescription
SetSerialTimeout SetSerialTimeoutRequest .google.protobuf.Empty

设置超时时间
SetSerialBaudRate SetSerialBaudRateRequest .google.protobuf.Empty

设置波特率
SetSerialParity SetSerialParityRequest .google.protobuf.Empty

设置校验位
WriteSerial WriteSerialRequest .google.protobuf.Empty

发送数据
ReadSerial ReadSerialRequest ReadSerialResponse

读取数据
ClearSerial ClearSerialRequest .google.protobuf.Empty

清除收发缓存的数据

shortcut.proto

Top

Shortcut

FieldTypeLabelDescription
id uint32

dir string

name string

ShortcutIndex

FieldTypeLabelDescription
id uint32

ShortcutList

FieldTypeLabelDescription
list Shortcut repeated

ShortcutService

快捷方式相关服务

Method NameRequest TypeResponse TypeDescription
SetShortPose Shortcut .google.protobuf.Empty

设置快捷路点
GetShortPose ShortcutIndex Shortcut

获取单个快捷路点
GetShortPoses .google.protobuf.Empty ShortcutList

获取所有快捷路点
SetShortTask Shortcut .google.protobuf.Empty

设置快捷任务
GetShortTask ShortcutIndex Shortcut

获取单个快捷任务
GetShortTasks .google.protobuf.Empty ShortcutList

获取所有快捷任务

signal.proto

Top

GetSignalRequest

FieldTypeLabelDescription
key uint32

取值范围0~255

GetSignalResponse

FieldTypeLabelDescription
value int32

GetSignalsRequest

FieldTypeLabelDescription
key uint32

取值范围0~255

len uint32

GetSignalsResponse

FieldTypeLabelDescription
values int32 repeated

SetSignalRequest

FieldTypeLabelDescription
key uint32

取值范围0~255

value int32

SetSignalsRequest

FieldTypeLabelDescription
key uint32

取值范围0~255

values int32 repeated

WaitSignalRequest

FieldTypeLabelDescription
key uint32

取值范围0~255

value int32

relation lebai.cmp.Relation

SignalService

信号量相关服务

Method NameRequest TypeResponse TypeDescription
SetSignal SetSignalRequest .google.protobuf.Empty

SetSignals SetSignalsRequest .google.protobuf.Empty

GetSignal GetSignalRequest GetSignalResponse

GetSignals GetSignalsRequest GetSignalsResponse

WaitSignal WaitSignalRequest .google.protobuf.Empty

AddSignal SetSignalRequest .google.protobuf.Empty

storage.proto

Top

GetItemsRequest

FieldTypeLabelDescription
prefix string

Item

FieldTypeLabelDescription
key string

value string

ItemIndex

FieldTypeLabelDescription
key string

Items

FieldTypeLabelDescription
items Item repeated

StorageService

用户数据存储相关服务

Method NameRequest TypeResponse TypeDescription
SetItem Item .google.protobuf.Empty

设置kv数据
GetItem ItemIndex Item

获取kv数据
GetItems GetItemsRequest Items

获取指定前缀的全部kv数据

structure.proto

Top

SaveStructureRequest

FieldTypeLabelDescription
name string

data Structure

dir string

Structure

FieldTypeLabelDescription
active bool

激活状态

name string

名称

kind lebai.system.ArmModel

型号

dof uint32

自由度

dh string

DH参数

dyn string

动力学参数

servo string

伺服参数

StructureService

机器人手臂相关服务

Method NameRequest TypeResponse TypeDescription
SaveStructure SaveStructureRequest .google.protobuf.Empty

保存机器人模型
LoadStructure .lebai.db.LoadRequest Structure

查询机器人模型
LoadStructureList .lebai.db.LoadListRequest .lebai.db.LoadListResponse

查询机器人模型列表

system.proto

Top

CpuInfo

FieldTypeLabelDescription
brand string

num uint32

CPU核心数

frequency uint64

CPU核心频率MHz

temperature float

各个核心中的最高温度

critical float

CPU能容忍的临界温度

DeviceInfo

FieldTypeLabelDescription
invalid bool

sn string

version string

partition lebai.hardware.FirmwarePartition

di_num uint32

do_num uint32

dio_num uint32

ai_num uint32

ao_num uint32

DiskInfo

FieldTypeLabelDescription
name string

硬盘节点

used uint64

已用字节

total uint64

总共字节

GetBoxDevicesRequest

FieldTypeLabelDescription
prefix string

GetBoxDevicesResponse

FieldTypeLabelDescription
devices string repeated

GetEstopReasonResponse

FieldTypeLabelDescription
reason EstopReason

GetRobotStateResponse

FieldTypeLabelDescription
state RobotState

HardwareInfo

FieldTypeLabelDescription
comboard DeviceInfo

joints DeviceInfo repeated

flange DeviceInfo

led DeviceInfo

extra_io DeviceInfo

HelloData

FieldTypeLabelDescription
data string

MemoryInfo

FieldTypeLabelDescription
used uint64

已用字节

total uint64

总共字节

used_swap uint64

已用字节

total_swap uint64

总共字节

NetworkInfo

FieldTypeLabelDescription
ifname string

网卡接口名

kind NetworkKind

网卡接口类型

mac string

MAC地址

ips string repeated

IP地址

virtual_ips string repeated

虚拟IP地址

gateway string

网关地址

netmask string

子网掩码

PhyData

物理数据

FieldTypeLabelDescription
joint_temp double repeated

关节温度

joint_voltage double repeated

关节电压

flange_voltage double

法兰电压

RobotInfo

FieldTypeLabelDescription
name string

设备名称（唯一），形如 `lebai-123456`

mac string

设备物理唯一标识（以太网 MAC 地址）

box_model BoxModel

控制箱型号

box_sn string

控制箱序列号 `C`

arm_model ArmModel

手臂型号

arm_sn string

手臂序列号 `R`

SetVirtualIpRequest

FieldTypeLabelDescription
ifname string

网卡接口名

ip string

IP地址

SoftwareInfo

FieldTypeLabelDescription
software SoftwareInfo.SoftwareEntry repeated

SoftwareInfo.SoftwareEntry

FieldTypeLabelDescription
key string

value SoftwareItemInfo

SoftwareItemInfo

FieldTypeLabelDescription
version string

branch string

SystemInfo

FieldTypeLabelDescription
name string

kernel_version string

os_version string

host_name string

memory MemoryInfo

disks DiskInfo repeated

networks NetworkInfo repeated

cpu CpuInfo

ArmModel

NameNumberDescription
J6M1 0

6轴常规臂。简写时可省略
J6L1 1

6轴加长臂。简写为L1
J5L1 11

5轴加长臂
J5T1 51

5轴轨道臂

BoxModel

NameNumberDescription
LM3 0

初代常规机箱
LA3 10

树莓派机箱

EstopReason

急停原因

NameNumberDescription
NONE 0

未急停
SYSTEM 2

软件
MANUAL 3

手动调用接口
HARD_ESTOP 4

硬急停按钮
COLLISION 5

碰撞
JOINT_LIMIT 6

关节限位
EXCEED 7

超速
TRAJECTORY_ERROR 8

运动规划错误
COMM_ERROR 11

通信故障
CAN_ERROR 12

CAN通信故障
JOINT_ERROR 13

关节故障

NetworkKind

NameNumberDescription
UNKNOWN 0

未知
LOOPBACK 1

本地回环
ETHERNET 2

以太网
WIRELESS 3

无线网
CELLULAR 4

蜂窝网
USB 5

USB共享网络
DOCKER 11

Docker网络

RobotState

机器人状态

NameNumberDescription
DISCONNECTED 0

已断开连接
ESTOP 1

急停停止状态
BOOTING 2

启动中
ROBOT_OFF 3

电源关闭
ROBOT_ON 4

电源开启
IDLE 5

空闲中
PAUSED 6

已暂停
MOVING 7

机器人运动中
UPDATING 8

更新固件中
STARTING 9

启动中
STOPPING 10

停止中
TEACHING 11

示教中
STOP 12

普通停止

SystemService

系统控制相关服务

Method NameRequest TypeResponse TypeDescription
Hello HelloData HelloData

Hello
GetSystemInfo .google.protobuf.Empty SystemInfo

系统信息
GetRobotInfo .google.protobuf.Empty RobotInfo

机械臂信息
GetHardwareInfo .google.protobuf.Empty HardwareInfo

硬件信息
GetSoftwareInfo .google.protobuf.Empty SoftwareInfo

软件信息
GetBoxDevices GetBoxDevicesRequest GetBoxDevicesResponse

获取控制箱dev设备列表
SetVirtualIp SetVirtualIpRequest .google.protobuf.Empty

设置虚拟IP
GetRobotState .google.protobuf.Empty GetRobotStateResponse

获取机器人状态
SubRobotState .lebai.SubscribeRequest GetRobotStateResponse stream

订阅机器人状态
GetPhyData .google.protobuf.Empty PhyData

获取物理数据
SubPhyData .lebai.SubscribeRequest PhyData stream

订阅物理数据
Powerdown .google.protobuf.Empty .google.protobuf.Empty

关闭机器人电源（关机）
Reboot .google.protobuf.Empty .google.protobuf.Empty

重启系统
StartSys .google.protobuf.Empty .google.protobuf.Empty

启动机器人
StopSys .google.protobuf.Empty .google.protobuf.Empty

停止机器人（失能）
Stop .google.protobuf.Empty .google.protobuf.Empty

停止机器人运动
Estop .google.protobuf.Empty .google.protobuf.Empty

急停（下电）
GetEstopReason .google.protobuf.Empty GetEstopReasonResponse

获取急停原因

task.proto

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StartTaskRequest

FieldTypeLabelDescription
name string

is_parallel bool

是否以子任务形式同时运行多个任务

loop_to uint32

循环次数，默认0永久循环运行

dir string

kind TaskKind

params string repeated

Task

FieldTypeLabelDescription
id uint32

block_id string

代码高亮块ID

event_id uint32

事件ID，已弃用

state TaskState

任务运行状态

loop_count uint32

已完成的循环次数

loop_to uint32

循环次数，0为无限循环

is_parallel bool

是否以子任务形式同时运行多个任务

is_simu bool

是否为仿真模式

stdout string

输出

started_at google.protobuf.Timestamp

启动运行时间

ended_at google.protobuf.Timestamp

结束运行时间

pause_at google.protobuf.Timestamp

暂停运行时间

pre_pause uint32

之前总共暂停用时ms，不包括本次暂停

kind TaskKind

任务类型

dir string

任务存储目录

name string

任务名称

params string repeated

任务运行参数

TaskIds

FieldTypeLabelDescription
ids uint32 repeated

TaskIndex

FieldTypeLabelDescription
id uint32

TaskStdout

FieldTypeLabelDescription
id uint32

done bool

stdout string

Tasks

FieldTypeLabelDescription
tasks Task repeated

TaskKind

任务类型

NameNumberDescription
LUA 0

Lua
APP 10

应用程序

TaskState

任务运行状态

NameNumberDescription
NONE 0

等待启动运行
RUNNING 1

运行中
PAUSE 2

已暂停
SUCCESS 3

运行成功
INTERRUPT 4

已中止
FAIL 5

运行失败
WAIT 10

等待启动运行
BEGIN 11

开始运行，已弃用
INTERRUPTING 14

任务停止中

TaskService

任务相关服务

Method NameRequest TypeResponse TypeDescription
LoadTask TaskIndex Task

查询任务
LoadTaskList .google.protobuf.Empty TaskIds

查询任务列表
LoadRunningTasks .google.protobuf.Empty Tasks

查询运行中的任务列表
StartTask StartTaskRequest TaskIndex

启动新任务
GetTaskStdout TaskIndex TaskStdout

获取任务输出
SubTaskStdout TaskIndex TaskStdout stream

订阅任务输出流
WaitTask TaskIndex TaskStdout

等待运动完成
PauseTask TaskIndex .google.protobuf.Empty

暂停任务与运动
ResumeTask TaskIndex .google.protobuf.Empty

恢复任务与运动
CancelTask TaskIndex .google.protobuf.Empty

取消任务与运动

trigger.proto

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Condition

FieldTypeLabelDescription
pressed lebai.io.ButtonIndex repeated

当一系列按键被同时按下时

button lebai.io.ButtonIndex

当指定按键处于某状态时

status lebai.io.ButtonStatus

Trigger

FieldTypeLabelDescription
condition Condition

function Function

Triggers

FieldTypeLabelDescription
triggers Trigger repeated

Function

NameNumberDescription
NONE 0

无
START_TEACH_MODE 1

进入示教模式
END_TEACH_MODE 2

退出示教模式
SET_ZERO 3

设置关节零位
CHANGE_POWER 4

改变手臂启停状态
SHORT_TASK1 11

运行快捷任务1对应的场景
SHORT_TASK2 12

运行快捷任务2对应的场景
SHORT_TASK3 13

运行快捷任务3对应的场景
SHORT_TASK4 14

运行快捷任务4对应的场景
SHORT_TASK5 15

运行快捷任务5对应的场景
SHORT_TASK6 16

运行快捷任务6对应的场景
SHORT_TASK7 17

运行快捷任务7对应的场景
SHORT_TASK8 18

运行快捷任务8对应的场景
SHORT_TASK9 19

运行快捷任务9对应的场景

TriggerService

条件任务触发器相关服务

Method NameRequest TypeResponse TypeDescription
SetTrigger Trigger .google.protobuf.Empty

GetTriggers .google.protobuf.Empty Triggers

upgrade.proto

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CheckUpgradeResponse

FieldTypeLabelDescription
need_upgrade bool

introduction string

UpgradeService

系统升级相关服务

Method NameRequest TypeResponse TypeDescription
CheckUpgrade .google.protobuf.Empty CheckUpgradeResponse

查询是否需要升级
StartUpgrade .google.protobuf.Empty .google.protobuf.Empty

开始系统升级，升级完成后需重启才生效
GetUpgradeStdout .google.protobuf.Empty .lebai.CommandStdout

获取更新信息

Scalar Value Types

.proto TypeNotesC++JavaPythonGoC#PHPRuby
double double double float float64 double float Float
float float float float float32 float float Float
int32 Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead. int32 int int int32 int integer Bignum or Fixnum (as required)
int64 Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead. int64 long int/long int64 long integer/string Bignum
uint32 Uses variable-length encoding. uint32 int int/long uint32 uint integer Bignum or Fixnum (as required)
uint64 Uses variable-length encoding. uint64 long int/long uint64 ulong integer/string Bignum or Fixnum (as required)
sint32 Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s. int32 int int int32 int integer Bignum or Fixnum (as required)
sint64 Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s. int64 long int/long int64 long integer/string Bignum
fixed32 Always four bytes. More efficient than uint32 if values are often greater than 2^28. uint32 int int uint32 uint integer Bignum or Fixnum (as required)
fixed64 Always eight bytes. More efficient than uint64 if values are often greater than 2^56. uint64 long int/long uint64 ulong integer/string Bignum
sfixed32 Always four bytes. int32 int int int32 int integer Bignum or Fixnum (as required)
sfixed64 Always eight bytes. int64 long int/long int64 long integer/string Bignum
bool bool boolean boolean bool bool boolean TrueClass/FalseClass
string A string must always contain UTF-8 encoded or 7-bit ASCII text. string String str/unicode string string string String (UTF-8)
bytes May contain any arbitrary sequence of bytes. string ByteString str []byte ByteString string String (ASCII-8BIT)