schema: update from schema/from-yjheo4

amr/v1/slamnav_map.fbs

@@ -7,7 +7,6 @@ namespace SLAMNAV;
 // -----------                              --------
 // -------------------------------------------------
 
-
 /*
     category    :       Data Structure
     usage       :       맵 파일 정보

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;
@@ -130,9 +126,14 @@ struct StatusPower {
     bat_percent: float;
     tabos_voltage: float;
     tabos_current: float;
+    tabos_status: float;
+    tabos_ttf: float;
+    tabos_tte: float;
     tabos_soc: float;
     tabos_soh: float;
     tabos_temp: float;
+    tabos_rc: float;
+    tabos_ae: float;
     charge_current: float;
     contact_voltage: float;
 }
@@ -161,6 +162,25 @@ 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;
+}
 
 
 // -------------------------------------------------
@@ -178,6 +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
@@ -189,6 +210,7 @@ table Status {
     motor: [StatusMotor];
     power: StatusPower;
     robot_state: StatusRobotState;
+    charge_state: StatusChargeState;
     robot_safety_io_state: StatusRobotSafetyIoState;
     setting: StatusSetting;
     map: StatusMap;
@@ -276,7 +298,6 @@ table StatusNode {
 }
 
 
-
 // -------------------------------------------------
 // -----------                              --------
 // -----------         Pub / Sub            --------

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;
+  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;
 }
 
+// "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;
-}
+}
+
+// "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;
+}