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For this document, a parameter represents some value on the controller.
It may be read-only, writable in different states, continuously-updating etc.
It may represent a configuration item, a file on disk, a sensor reading, a control input etc.
## Custom types
### Kinematics
```yaml
joint_state:
position:
type: float64
unit: m (linear joints) or rad (angular joints)
velocity:
type: float64
unit: m/s (linear joints) or rad/s (angular joints)
effort:
type: float64
unit: N (linear joints) or Nm (angular joints)
```
### State
```yaml
controller_state:
mode:
type: enum
enum_options:
- offline
- configure
- e-stop
- manual-control
- active-pause
- active-run
```
### ...
Other types will be required...
## Generic API
### Parameters
Interact with a parameter at a single point in time.
```yaml
parameter_list:
request:
namespace:
type: string
description: Fetch all parameters underneath this namespace
recursive:
type: bool
default: False
description: If true, fetch nested parameters as well
response:
parameters:
type: string[]
description: List of all parameters in this namespace
```
```yaml
parameter_info:
request:
name:
type: string
description: Full name of parameter including namespace (eg /joint/1/state)
response:
type:
type: string
description: Name of parameter type
description:
type: string
description: Human-readable description of the parameter's purpose
read_only:
type: bool
description: Is the parameter read-only?
permission_level:
type: int32
description: Client permission level required to change this value
states:
type: controller_state[]
description: States in which this value may be changed
```
```yaml
parameter_fetch:
request:
name:
type: string
description: Name of parameter to fetch, including namespace
response:
data:
type: Any
description: Current parameter value, type as specified by a parameter_info call
```
```yaml
parameter_set:
request:
name:
type: string
value:
type: Any
description: New parameter value, type as specified by a parameter_info call
response:
ok:
type: bool
description: True if the update succeeded
```
### Streaming
Request that the controller pushes a stream of messages whenever a given parameter changes.
```yaml
subscribe:
request:
name:
type: string
description: Full name of parameter including namespace to subscribe to
rate_limit:
type: int32
description: Maximum number of values to send per minute. Depending on the parameter, excess will be dropped silently or an average will be created.
response:
null
```
```yaml
list_subscriptions:
request:
null
response:
subscriptions:
type: string[]
description: List of parameters currently subscribed to
```
```yaml
unsubscribe:
request:
name:
type: string
response:
null
```
### Control streams
Indicate to the controller that you would like to push a stream of set-value messages to it.
```yaml
init_control_stream:
request:
name:
type: string
description: Full name of parameter including namespace to open a control stream for
response:
ok:
type: bool
```
```yaml
list_control_streams:
request:
null
response:
subscriptions:
type: string[]
description: List of parameters with active control streams
```
```yaml
cancel_control_stream:
request:
name:
type: string
response:
null
```
## Parameters
Some example parameters.
```yaml
/joint/state:
description: State of all joints on the controller
type: joint_state[]
read_only: true
/joint/*/controller/current:
description: Joint PID current controller proportional value
type: pid_value
/joint/${joint_index}/jog:
description: Jog input for the given joint.
type: joint_control
permission_level: 3
states: manual-control
/filesystem/download-file/${file_path}:
description: Get the contents of a given filee
type: string
permission_level: 1
```
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