general structure

Cargo.toml

@@ -1,6 +1,7 @@
 [workspace]
 
 members = [
+    "actuator/actuator",
     "actuator/bindings",
     "actuator/robstride",
 ]

actuator/actuator/Cargo.toml

@@ -13,21 +13,22 @@ license.workspace = true
 
 [dependencies]
 
+async-trait = "^0.1"
+lazy_static = "^1.4.0"
 pest = "^2.5"
 pest_derive = "^2.5"
-thiserror = "1.0"
-lazy_static = "^1.4.0"
 prost = "0.13"
 prost-types = "0.13"
+serde = { version = "^1.0", features = ["derive"] }
+serde_json = "^1.0"
+thiserror = "1.0"
+tokio = { version = "1", features = ["full"] }
+tonic = { version = "^0.12", features = ["transport"] }
 
 [build-dependencies]
 
 prost-build = "^0.13.3"
-
-[[bin]]
-
-name = "server"
-path = "src/bin/server.rs"
+tonic-build = "^0.12"
 
 [lib]
 

actuator/actuator/build.rs

@@ -2,25 +2,21 @@ use std::env;
 use std::path::PathBuf;
 
 fn main() {
-    let proto_root = "../proto";
+    let proto_root = "proto";
     let out_dir = PathBuf::from(env::var("OUT_DIR").unwrap());
     let protos = [
         "actuator/common.proto",
-        "actuator/robstride.proto",
+        "google/longrunning/operations.proto",
     ];
 
-    tonic_build::configure()
-        .out_dir(out_dir)
-        .compile(&[proto_root], &[proto_root])
-        .unwrap();
+    let includes = [proto_root, &format!("{}/googleapis", proto_root)];
 
     std::fs::create_dir_all(out_dir.join("actuator")).expect("Failed to create actuator directory");
 
     tonic_build::configure()
         .build_server(true)
         .out_dir(out_dir.join("actuator"))
-        .protoc_arg("--experimental_allow_proto3_optional")
-        .compile(&protos, &includes)
+        .compile_protos(&protos, &includes)
         .expect("Failed to compile protos");
 
     for proto in protos {

actuator/proto/actuator/common.proto → actuator/actuator/proto/actuator/common.proto

@@ -2,27 +2,30 @@ syntax = "proto3";
 
 package actuator.common;
 
-service ActuatorService {
+import "google/protobuf/empty.proto";
+import "google/longrunning/operations.proto";
+
+service ActuatorController {
     rpc CommandActuators(CommandActuatorsRequest) returns (CommandActuatorsResponse) {}
 }
 
 message ActuatorCommand {
     uint32 actuator_id = 1;
-    optional double position = 2;
-    optional double velocity = 3;
-    optional double torque = 4;
-    optional double kp = 5;
-    optional double kd = 6;
+    double position = 2;
+    double velocity = 3;
+    double torque = 4;
+    double kp = 5;
+    double kd = 6;
 }
 
 message ActuatorStatus {
     uint32 actuator_id = 1;
-    optional double position = 2;
-    optional double velocity = 3;
+    double position = 2;
+    double velocity = 3;
 }
 
 message CommandActuatorsRequest {
-    repeated SingleActuatorCommand commands = 1;
+    repeated ActuatorCommand commands = 1;
 }
 
 message CommandActuatorsResponse {

actuator/actuator/proto/googleapis/google/api/annotations.proto

@@ -0,0 +1,31 @@
+// Copyright 2024 Google LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+syntax = "proto3";
+
+package google.api;
+
+import "google/api/http.proto";
+import "google/protobuf/descriptor.proto";
+
+option go_package = "google.golang.org/genproto/googleapis/api/annotations;annotations";
+option java_multiple_files = true;
+option java_outer_classname = "AnnotationsProto";
+option java_package = "com.google.api";
+option objc_class_prefix = "GAPI";
+
+extend google.protobuf.MethodOptions {
+  // See `HttpRule`.
+  HttpRule http = 72295728;
+}