Architecture v1 #1
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codekansas
reviewed
Nov 9, 2024
Cargo.toml
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| edition = "2021" | ||
| license = "MIT" | ||
| repository = "https://github.com/kscalelabs/kscaleos" | ||
| description = "The K-Scale Operating System" | ||
| documentation = "https://docs.kscale.dev/kscaleos/intro" | ||
| readme = "README.md" | ||
| readme = "README.md" |
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vim???
(i mean, no new lines at end of file, this isn't a vscode default right?)
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LOL
no that was vscode........
protos/control.proto
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| // System Messages | ||
| message GetIPAddressResponse { | ||
| string ip_address = 1; |
protos/control.proto
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| message SetCalibrationDataRequest { | ||
| string data = 1; // YAML data as string | ||
| } | ||
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add a config.proto with configuration options for rust-side
protos/control.proto
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| oneof command { | ||
| PositionControl position_control = 2; | ||
| TorqueControl torque_control = 3; | ||
| VelocityControl velocity_control = 4; | ||
| } |
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just use this control format
{
torque: optional[float]
velocity: optional[float]
position: optional[float]
kp: optional[float]
kd: optional[float]
}
protos/control.proto
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| message ActionResult { | ||
| uint32 actuator_id = 1; | ||
| bool success = 2; | ||
| Error error = 3; | ||
| } | ||
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| message ActionResponse { | ||
| bool success = 1; | ||
| Error error = 2; | ||
| } |
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actuator feedback
all optional except position
{
position: float
velocity: optional[float]
torque: optional[float]
temperature: optional[float]
current_load: optional[float]
}
budzianowski
reviewed
Nov 9, 2024
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| @@ -0,0 +1,2 @@ | |||
| // TODO: Implement process manager. | |||
| // This will manage life cycle of non rust services (e.g. gstreamer, mosquitto etc) | |||
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Define supervisor loop called from actuator (Denys)
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@codekansas u ok with merging this in for ci testing? and in general |
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@codekansas pls look if protobuf makes sense. incomplete but most of the essential stuff is there