From 477901d28c3040560eb78e1533b0a7a8683a60d9 Mon Sep 17 00:00:00 2001 From: "dlalstn0079@naver.com" Date: Sun, 22 Feb 2026 18:41:57 +0900 Subject: [PATCH 1/4] WIP: local schemas changes before sync --- amr/v1/slamnav_map.fbs | 71 ++++++++++-------------------------------- 1 file changed, 17 insertions(+), 54 deletions(-) diff --git a/amr/v1/slamnav_map.fbs b/amr/v1/slamnav_map.fbs index 071fe19a..7173025a 100644 --- a/amr/v1/slamnav_map.fbs +++ b/amr/v1/slamnav_map.fbs @@ -183,7 +183,7 @@ table ResponseTopoLoad { /* category : RPC - response : ??? + response : One-shot topic : {robotType}/map/list usage : 맵 목록 조회 field @@ -202,7 +202,7 @@ table ResponseMapList { /* category : RPC - response : ??? + response : One-shot topic : {robotType}/map/delete usage : 맵 삭제 field @@ -221,7 +221,7 @@ table ResponseMapDelete { /* category : RPC - response : ??? + response : One-shot topic : {robotType}/map/current usage : 현재 맵 조회 field @@ -239,27 +239,21 @@ table ResponseMapCurrent { /* category : RPC - response : ??? + response : Delayed One-shot topic : {robotType}/map/getCloud usage : 맵 클라우드 조회 field - map_name : 맵 이름 - - file_name : 파일 이름 - - size : cloud 데이터 크기 ??? - data : 클라우드 데이터 */ table RequestGetMapCloud { id: string; map_name: string; - file_name: string; } table ResponseGetMapCloud { id: string; map_name: string; - file_name: string; data: [float]; - column_count: uint32; - row_count: uint32; result: string; message: string; } @@ -267,27 +261,21 @@ table ResponseGetMapCloud { /* category : RPC - response : ??? + response : Delayed One-shot topic : {robotType}/map/setCloud usage : 맵 클라우드 설정 field - map_name : 맵 이름 - - file_name : 파일 이름 - - size : cloud 데이터 크기 ??? - data : 클라우드 데이터 */ table RequestSetMapCloud { id: string; map_name: string; - file_name: string; data: [float]; - column_count: uint32; - row_count: uint32; } table ResponseSetMapCloud { id: string; map_name: string; - file_name: string; result: string; message: string; } @@ -295,23 +283,21 @@ table ResponseSetMapCloud { /* category : RPC - response : ??? - topic : {robotType}/map/setTopology - usage : 토폴로지 맵 설정 + response : Delayed One-shot + topic : {robotType}/map/getTopology + usage : 토폴로지 맵 조회 field - map_name : 맵 이름 - data : 노드 데이터 */ -table RequestSetMapTopology { +table RequestGetMapTopology { id: string; map_name: string; - file_name: string; - data: [Node]; } -table ResponseSetMapTopology { +table ResponseGetMapTopology { id: string; map_name: string; - file_name: string; + data: [Node]; result: string; message: string; } @@ -319,44 +305,21 @@ table ResponseSetMapTopology { /* category : RPC - response : ??? - topic : {robotType}/map/getTopology - usage : 토폴로지 맵 조회 + response : Delayed One-shot + topic : {robotType}/map/setTopology + usage : 토폴로지 맵 설정 field - map_name : 맵 이름 - - file_name : 파일 이름 - - page_no : 페이지 번호 - - page_size : 페이지 크기 - - total_page : 전체 페이지 수 - - node_type : 노드 타입 필터 - - search_text : 검색어 - - sort_option : 정렬 옵션 - - sort_direction: 정렬 방향 - data : 노드 데이터 */ -table RequestGetMapTopology { +table RequestSetMapTopology { id: string; map_name: string; - file_name: string; - page_no: int; - page_size: int; - node_type: string; - search_text: string; - sort_option: string; - sort_direction: string; + data: [Node]; } -table ResponseGetMapTopology { +table ResponseSetMapTopology { id: string; map_name: string; - file_name: string; - page_no: int; - page_size: int; - total_page: int; - node_type: string; - search_text: string; - sort_option: string; - sort_direction: string; - data: [Node]; result: string; message: string; } From acb7475e94bbe14c88366a803e0a6c53093835b5 Mon Sep 17 00:00:00 2001 From: "dlalstn0079@naver.com" Date: Sun, 22 Feb 2026 18:58:41 +0900 Subject: [PATCH 2/4] =?UTF-8?q?fix=20:=20zenoh=20map=20flatbuffer=20?= =?UTF-8?q?=EC=88=98=EC=A0=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- amr/v1/slamnav_map.fbs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/amr/v1/slamnav_map.fbs b/amr/v1/slamnav_map.fbs index 7173025a..bb6cca7a 100644 --- a/amr/v1/slamnav_map.fbs +++ b/amr/v1/slamnav_map.fbs @@ -253,7 +253,7 @@ table RequestGetMapCloud { table ResponseGetMapCloud { id: string; map_name: string; - data: [float]; + data: [CloudData]; result: string; message: string; } @@ -271,7 +271,7 @@ table ResponseGetMapCloud { table RequestSetMapCloud { id: string; map_name: string; - data: [float]; + data: [CloudData]; } table ResponseSetMapCloud { id: string; From 9a1aac991e014238f7ba39dc780d12e5051cbb29 Mon Sep 17 00:00:00 2001 From: "dlalstn0079@naver.com" Date: Mon, 23 Feb 2026 09:23:06 +0900 Subject: [PATCH 3/4] fix zenoh map schemas --- amr/v1/slamnav_map.fbs | 33 ++++++++++++++++++++++++++++++++- 1 file changed, 32 insertions(+), 1 deletion(-) diff --git a/amr/v1/slamnav_map.fbs b/amr/v1/slamnav_map.fbs index bb6cca7a..d901b0cd 100644 --- a/amr/v1/slamnav_map.fbs +++ b/amr/v1/slamnav_map.fbs @@ -244,6 +244,7 @@ table ResponseMapCurrent { usage : 맵 클라우드 조회 field - map_name : 맵 이름 + - file_name : 파일 이름 - data : 클라우드 데이터 */ table RequestGetMapCloud { @@ -253,7 +254,10 @@ table RequestGetMapCloud { table ResponseGetMapCloud { id: string; map_name: string; + file_name: string; data: [CloudData]; + column_count: uint32; + row_count: uint32; result: string; message: string; } @@ -266,16 +270,19 @@ table ResponseGetMapCloud { usage : 맵 클라우드 설정 field - map_name : 맵 이름 + - file_name : 파일 이름 - data : 클라우드 데이터 */ table RequestSetMapCloud { id: string; map_name: string; + file_name: string; data: [CloudData]; } table ResponseSetMapCloud { id: string; map_name: string; + file_name: string; result: string; message: string; } @@ -288,15 +295,38 @@ table ResponseSetMapCloud { usage : 토폴로지 맵 조회 field - map_name : 맵 이름 + - file_name : 파일 이름 + - page_no : 페이지 번호 + - page_size : 페이지 크기 + - total_page : 전체 페이지 수 + - node_type : 노드 타입 필터 + - search_text : 검색어 + - sort_option : 정렬 옵션 + - sort_direction: 정렬 방향 - data : 노드 데이터 */ table RequestGetMapTopology { id: string; map_name: string; + file_name: string; + page_no: int; + page_size: int; + node_type: string; + search_text: string; + sort_option: string; + sort_direction: string; } table ResponseGetMapTopology { id: string; map_name: string; + file_name: string; + page_no: int; + page_size: int; + total_page: int; + node_type: string; + search_text: string; + sort_option: string; + sort_direction: string; data: [Node]; result: string; message: string; @@ -315,16 +345,17 @@ table ResponseGetMapTopology { table RequestSetMapTopology { id: string; map_name: string; + file_name: string; data: [Node]; } table ResponseSetMapTopology { id: string; map_name: string; + file_name: string; result: string; message: string; } - /* category : RPC response : One-shot From b863d852c8479abfc95ae63a2f823820b3eb0790 Mon Sep 17 00:00:00 2001 From: "dlalstn0079@naver.com" Date: Mon, 23 Feb 2026 13:26:26 +0900 Subject: [PATCH 4/4] Update schemas from main @ bd6f1f4d --- amr/v1/slamnav_localization.fbs | 2 +- amr/v1/slamnav_map.fbs | 28 ++++++++++------------------ amr/v1/slamnav_status.fbs | 17 +++++++++++++++-- 3 files changed, 26 insertions(+), 21 deletions(-) diff --git a/amr/v1/slamnav_localization.fbs b/amr/v1/slamnav_localization.fbs index 7a2aa1a8..351ffa0f 100644 --- a/amr/v1/slamnav_localization.fbs +++ b/amr/v1/slamnav_localization.fbs @@ -104,7 +104,7 @@ table ResponseLocalizationSemiAutoInit { /* category : RPC - response : Callback + response : One-shot topic : {robotType}/localization/start usage : 위치 추정 시작 field diff --git a/amr/v1/slamnav_map.fbs b/amr/v1/slamnav_map.fbs index d901b0cd..dc0eb330 100644 --- a/amr/v1/slamnav_map.fbs +++ b/amr/v1/slamnav_map.fbs @@ -120,20 +120,6 @@ table Node { type: string; } -/* - category : Data Structure - usage : 포인트 클라우드 데이터 - field - - x, y, z : 3D 좌표 - - intensity : 강도 -*/ -table CloudData { - x: float; - y: float; - z: float; - intensity: float; -} - // ------------------------------------------------- // ----------- -------- @@ -245,7 +231,9 @@ table ResponseMapCurrent { field - map_name : 맵 이름 - file_name : 파일 이름 - - data : 클라우드 데이터 + - data : 클라우드 벡터 데이터 + - column_count : data column ( "3" / "4" ) + - row_count : data row ( cloud size ) */ table RequestGetMapCloud { id: string; @@ -255,7 +243,7 @@ table ResponseGetMapCloud { id: string; map_name: string; file_name: string; - data: [CloudData]; + data: [float]; column_count: uint32; row_count: uint32; result: string; @@ -271,13 +259,17 @@ table ResponseGetMapCloud { field - map_name : 맵 이름 - file_name : 파일 이름 - - data : 클라우드 데이터 + - data : 클라우드 벡터 데이터 + - column_count : data column ( "3" / "4" ) + - row_count : data row ( cloud size ) */ table RequestSetMapCloud { id: string; map_name: string; file_name: string; - data: [CloudData]; + data: [float]; + column_count: uint32; + row_count: uint32; } table ResponseSetMapCloud { id: string; diff --git a/amr/v1/slamnav_status.fbs b/amr/v1/slamnav_status.fbs index ce3ae243..66cb820d 100644 --- a/amr/v1/slamnav_status.fbs +++ b/amr/v1/slamnav_status.fbs @@ -162,6 +162,19 @@ table StatusMap { } +/* + category : Data Structure + usage : 도킹 상태 + field + - dock_id : dock 명령의 id ( 최근에 accept 된 명령 반환 ) + - dock_result : move_result 상태 ( "move" / "success" / "cancel" / "fail" ) + - dock_move : 도킹 이동 상태 ( "stop" ) +*/ +table StatusDock { + dock_id: string; + dock_result: string; + dock_move: string; +} // ------------------------------------------------- // ----------- -------- @@ -182,6 +195,7 @@ table StatusMap { - robot_safety_io_state : Safety IO 상태 - setting : 설정 정보 - map : 맵 상태 + - dock : 도킹 상태 */ table Status { condition: StatusCondition; @@ -192,6 +206,7 @@ table Status { robot_safety_io_state: StatusRobotSafetyIoState; setting: StatusSetting; map: StatusMap; + dock: StatusDock; } @@ -213,7 +228,6 @@ table Status { - move_id : move 명령의 id ( 최근에 accept 된 명령 반환 ) - move_result : move_result 상태 ( "move" / "success" / "cancel" / "fail" ) - auto_move : 자동 이동 상태 ( "stop" / "move" / "pause" / "error" / "not ready" / "vir" ) - - dock_move : 도킹 이동 상태 ( "stop" ) - jog_move : 조그 이동 상태 ( "none" ) - obs : 장애물 상태 ( "none" / "near" / "far" / "vir" ) - path_state : 경로 상태 ( "none" / "req_path" / "recv_path" ) @@ -225,7 +239,6 @@ table StatusMoveState { move_id: string; move_result: string; auto_move: string; - dock_move: string; jog_move: string; obs: string; path_state: string;