From 9762fb42368b8be4082d1f25718fbd576945862e Mon Sep 17 00:00:00 2001 From: dfd1123 Date: Fri, 20 Feb 2026 10:22:35 +0900 Subject: [PATCH 1/3] refactor: update list type hints to use List instead of list for consistency across models --- manipulate/v1/func_set.fbs | 29 ++++++++++++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/manipulate/v1/func_set.fbs b/manipulate/v1/func_set.fbs index 5c0d5537..3c4584f8 100755 --- a/manipulate/v1/func_set.fbs +++ b/manipulate/v1/func_set.fbs @@ -3,43 +3,51 @@ include "common_struct.fbs"; namespace IPC; +// "set_toollist_num" table Request_Set_Tool_List { target_tool_num: int; } +// "set_userframe_num" table Request_Set_User_Frame { user_frame_num: int; } +// "set_shift" table Request_Set_Shift { shift_no: int; shift_mode: int; target: MoveInput_Target; } +// "set_out_collision_para" table Request_Set_Out_Collision_Para { onoff: int; react_mode: int; threshold: float; } +// "set_self_collision_para" table Request_Set_Self_Collision_Para { mode: int; dist_int: float; dist_ext: float; } +// "set_joint_impedance" table Request_Set_Joint_Impedance { onoff: int; stiffness: N_JOINT_f; torquelimit: N_JOINT_f; } +// "set_freedrive" table Request_Set_Free_Drive { onoff: int; sensitivity: float; } +// "set_userframe_6dof" table Request_Set_User_Frame_6Dof { user_frame_num: int; setting_option: int; @@ -51,11 +59,13 @@ table Request_Set_User_Frame_6Dof { target_rz: float; } +// "set_userframe_tcp" table Request_Set_User_Frame_TCP { user_frame_num: int; setting_option: int; } +// "set_userframe_3points" table Request_Set_User_Frame_3Points { user_frame_num: int; setting_option: int; @@ -74,4 +84,21 @@ table Request_Set_User_Frame_3Points { // "set_master_mode" table Request_Set_Master_Mode { mode: int; -} \ No newline at end of file +} + +// "set_fixed_speed" +table Request_Set_Fixed_Speed_Mode { + target_move: int; + // 0: J-Types + // 1: L-Types + vel_option: int; + // 0: Off + // 1: Fixed mode: % + // 2: Fixed mode: Physical + vel_parameter: float; + acc_option: int; + // 0: Off + // 1: Fixed mode: % + // 2: Fixed mode: Physical + acc_parameter: float; +} From a82114b345fa7bf892a5fd62969fef416e833aec Mon Sep 17 00:00:00 2001 From: dfd1123 Date: Fri, 20 Feb 2026 20:06:35 +0900 Subject: [PATCH 2/3] feat: enhance shutdown handling and improve Zenoh client connection logic --- manipulate/v1/func_set.fbs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/manipulate/v1/func_set.fbs b/manipulate/v1/func_set.fbs index 3c4584f8..6816b799 100755 --- a/manipulate/v1/func_set.fbs +++ b/manipulate/v1/func_set.fbs @@ -15,8 +15,8 @@ table Request_Set_User_Frame { // "set_shift" table Request_Set_Shift { - shift_no: int; - shift_mode: int; + shift_no: int; // 시프트 번호 (Shift 0 ~ Shift 7) 8개 Dropdown + shift_mode: int; // 0 : Off, 1 : Adjust L-Move, 2 : Adjust L,J-Move, 3 : Adjust J-Move target: MoveInput_Target; } From 2b529eb00a5a97f3db8861f4d0bb011b2644b163 Mon Sep 17 00:00:00 2001 From: yujinHeo Date: Mon, 23 Feb 2026 13:44:58 +0900 Subject: [PATCH 3/3] Feat: fbs --- amr/v1/slamnav_status.fbs | 26 ++++++++++++++++++++++---- 1 file changed, 22 insertions(+), 4 deletions(-) diff --git a/amr/v1/slamnav_status.fbs b/amr/v1/slamnav_status.fbs index ac244562..b959946c 100644 --- a/amr/v1/slamnav_status.fbs +++ b/amr/v1/slamnav_status.fbs @@ -64,8 +64,6 @@ struct StatusCondition { category : Data Structure usage : 로봇 상태 플래그 field - - charge : 충전 상태 - - dock : 도킹 상태 - emo : 비상정지 상태 - localization : 위치 추정 상태 ( "good" / "none" / "fail" ) - power : 전원 상태 @@ -78,8 +76,6 @@ struct StatusCondition { - sf_operational_stop : 운영 정지 상태 */ table StatusRobotState { - charge: string; - dock: bool; emo: bool; localization: string; power: bool; @@ -166,6 +162,26 @@ table StatusMap { map_status: string; } +/* + category : Data Structure + usage : 충전 상태 + field + - dock_id : 도킹 ID + - dock_result : 도킹 결과 + - dock : 도킹 상태 + - trigger_id : 충전 트리거 ID + - trigger_result: 충전 트리거 결과 + - charge : 충전 상태 +*/ +table StatusChargeState { + dock_id: string; + dock_result: string; + dock: bool; + trigger_id: string; + trigger_result: string; + charge: string; +} + // ------------------------------------------------- // ----------- -------- @@ -182,6 +198,7 @@ table StatusMap { - imu : IMU 센서 상태 - motor : 모터 상태 배열 - power : 전원 상태 + - charge_state : 충전/도킹 상태 - robot_state : 로봇 상태 플래그 - robot_safety_io_state : Safety IO 상태 - setting : 설정 정보 @@ -193,6 +210,7 @@ table Status { motor: [StatusMotor]; power: StatusPower; robot_state: StatusRobotState; + charge_state: StatusChargeState; robot_safety_io_state: StatusRobotSafetyIoState; setting: StatusSetting; map: StatusMap;