ActinUR GRPC API

Protocol Documentation

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actin/ur/api/robot/robot_types.proto

BeginConnectionRequest

Request message for RobotService.BeginConnection RPC.

Field Type Label Description
robot_label string

Service-defined label of robot to connect to.

ip_address string

IP address of robot to connect to.

BeginConnectionResponse

Response message for RobotService.BeginConnection RPC.

Field Type Label Description
error Error

Error condition reported for BeginConnectionRequest message.



This will be Error.CODE_BAD_ARGUMENT when an invalid robot label or an ill-formed

IP address is specified in the request.



Else, it will be Error.CODE_ILLEGAL_OPERATION when a connection already exists for

the specified robot or when the robot is not in Remote Mode.



Else, it should normally be Error.CODE_OK.

BeginDisconnectRequest

Request message for RobotService.BeginDisconnect RPC.

Field Type Label Description
robot_label string

Service-defined label of robot to disconnect from.

BeginDisconnectResponse

Response message for RobotService.BeginDisconnect RPC.

Field Type Label Description
error Error

Error condition reported for DisconnectRequest message.



This will be Error.CODE_BAD_ARGUMENT when an invalid robot label is specified

in the request.



Else, it will be Error.CODE_ILLEGAL_OPERATION when no connection currently exists for

the specified robot.



Else, it should normally be Error.CODE_OK.

ClearSafetyStopRequest

Request message for RobotService.ClearSafetyStop RPC.

Field Type Label Description
robot_label string

Service-defined label of robot to clear safety stop from.

clear_type ClearSafetyType

Type of safety stop to be cleared from robot.

ClearSafetyStopResponse

Response message for RobotService.ClearSafetyStop RPC.

Field Type Label Description
error Error

Error condition reported for ClearSafetyStopRequest message.



This will be Error.CODE_BAD_ARGUMENT when an invalid robot label is specified

in the request.



Else, it will be Error.CODE_ILLEGAL_OPERATION when no connection currently exists for

the specified robot.



Else, it should normally be Error.CODE_OK.

Error

Error condition reported by an RobotService RPC response.

Field Type Label Description
code Error.Code

Status code for error condition.

message string

Human-readable description for error condition.

GetRobotInfoRequest

Request message for RobotService.GetRobotInfo RPC.

GetRobotInfoResponse

Response message for RobotService.GetRobotInfo RPC.

Field Type Label Description
info RobotInfo repeated

Information for each robot defined in the service configuration.

GetStatusRequest

Request message for RobotService.GetStatus RPC.

Field Type Label Description
robot_label string

Service-defined label of robot to get status for.

GetStatusResponse

Response message for RobotService.GetStatus RPC.

Field Type Label Description
error Error

Error condition reported for GetStatusRequest message.



This will be Error.CODE_BAD_ARGUMENT when an invalid robot label is specified

in the request.



Else, it should normally be Error.CODE_OK.

status RobotStatus

Most recent status for robot specified by GetStatusRequest message.



NOTE: When .error is not Error.CODE_OK, this field is left undefined.

ReadStatusStreamRequest

Request message for RobotService.ReadStatusStream RPC.

Field Type Label Description
robot_label string

Service-defined label of robot to get status for.

period int32

Polling period for robot status updates (in milliseconds).



This field defines how often the service should poll itself for robot status

changes. The first polling event will always write a ReadStatusUpdate to

the stream. Each subsequent polling event will only write a ReadStatusUpdate

when a change to robot status is detected.

ReadStatusUpdate

Update message for RobotService.ReadStatusStream RPC.

Field Type Label Description
status RobotStatus

Most recent status for robot specified by ReadStatusStream message.

RobotInfo

Configuration information for robot managed by RobotService.

Field Type Label Description
robot_label string

Service-defined label for robot.

robot_model string

Model of robot (e.g. "UR5e", "UR3").

ip_address string

IPv4 address of robot controller.

RobotStatus

Status for robot managed by RobotService.

Field Type Label Description
connection_state ConnectionState

connectivity to service.

robot_mode RobotMode

UR robot mode.

safety_mode SafetyMode

UR safety mode.

runtime_state RuntimeState

UR program state.

actin_mode ActinMode

Actin control mode.

synchronization_state SynchronizationState

Actin synchronization state.

in_remote_mode bool

whether remote mode is enabled.

SetActinControlRequest

Request message for RobotService.SetActinControl RPC.

Field Type Label Description
robot_label string

Service-defined label of robot to enable/disable Actin control for.

state bool

True if Actin control should be enabled; false if it should be disabled.

SetActinControlResponse

Response message for RobotService.SetActinControl RPC.

Field Type Label Description
error Error

Error condition reported for SetActinControlRequest message.



This will be Error.CODE_BAD_ARGUMENT when an invalid robot label is specified

in the request.



Else, it will be Error.CODE_ILLEGAL_OPERATION when no connection currently exists for

the specified robot.



Else, it should normally be Error.CODE_OK.

SetActinModeRequest

Request message for RobotService.SetActinMode RPC.

Field Type Label Description
robot_label string

Service-defined label of robot to configure Actin mode for.

mode ActinMode

New Actin mode for robot.

SetActinModeResponse

Response message for RobotService.SetActinMode RPC.

Field Type Label Description
error Error

Error condition reported for SetActinModeRequest message.



This will be Error.CODE_BAD_ARGUMENT when an invalid robot label is specified

in the request.



Else, it will be Error.CODE_ILLEGAL_OPERATION when no connection currently exists for

the specified robot.



Else, it should normally be Error.CODE_OK.

SetRobotPowerRequest

Request message for RobotService.SetRobotPower RPC.

Field Type Label Description
robot_label string

Service-defined label of robot to power on/off.

power bool

True if the robot should be powered on; false if it should be powered.

SetRobotPowerResponse

Response message for RobotService.SetRobotPower RPC.

Field Type Label Description
error Error

Error condition reported for SetRobotPowerRequest message.



This will be Error.CODE_BAD_ARGUMENT when an invalid robot label is specified

in the request.



Else, it will be Error.CODE_ILLEGAL_OPERATION when no connection currently exists for

the specified robot.



Else, it should normally be Error.CODE_OK.

ActinMode

Name Number Description
ACTIN_SIMULATION 0
ACTIN_SERVO 1
ACTIN_TEACH 2

ClearSafetyType

Name Number Description
CLEAR_FAULT 0
CLEAR_VIOLATION 1
CLEAR_PROTECTIVE_STOP 2

ConnectionState

Name Number Description
CONNECTION_DISCONNECTED 0
CONNECTION_CONNECTING 1
CONNECTION_CONNECTED 2

Error.Code

Enumeration of status codes for RobotService RPC responses.

Name Number Description
CODE_OK 0 No error; request was successful.
CODE_BAD_ARGUMENT 1 One or more request arguments were invalid.
CODE_ILLEGAL_OPERATION 2 RPC not allowed by current service state.
CODE_INTERNAL 3 Internal service error occurred while processing RPC.

RobotMode

Name Number Description
ROBOT_UNKNOWN 0
ROBOT_NO_CONTROLLER 1
ROBOT_DISCONNECTED 2
ROBOT_CONFIRM_SAFETY 3
ROBOT_BOOTING 4
ROBOT_POWER_OFF 5
ROBOT_POWERING_ON 6
ROBOT_POWER_ON 7
ROBOT_IDLE 8
ROBOT_BRAKES_RELEASING 9
ROBOT_BACKDRIVE 10
ROBOT_RUNNING 11
ROBOT_POWERING_OFF 12
ROBOT_UPDATING_FIRMWARE 13

RuntimeState

Name Number Description
RUNTIME_UNKNOWN 0
RUNTIME_STOPPED 1
RUNTIME_ENABLING_ACTIN_CONTROL 2
RUNTIME_RUNNING 3
RUNTIME_DISABLING_ACTIN_CONTROL 4
RUNTIME_PAUSING 5
RUNTIME_PAUSED 6

SafetyMode

Name Number Description
SAFETY_UNKNOWN 0
SAFETY_NORMAL 1
SAFETY_REDUCED 2
SAFETY_PROTECTIVE_STOP 3
SAFETY_CLEARING_PROTECTIVE_STOP 4
SAFETY_RECOVERY 5
SAFETY_SAFEGUARD_STOP 6
SAFETY_SYSTEM_EMERGENCY_STOP 7
SAFETY_ROBOT_EMERGENCY_STOP 8
SAFETY_VIOLATION 9
SAFETY_CLEARING_VIOLATION 10
SAFETY_FAULT 11
SAFETY_CLEARING_FAULT 12
SAFETY_VALIDATE_JOINT_ID 13
SAFETY_UNDEFINED_SAFETY_MODE 14

SynchronizationState

Name Number Description
SYNCHRONIZATION_DISCONNECTED 0
SYNCHRONIZATION_NONE 1
SYNCHRONIZATION_ACTIN_TO_ROBOT 2
SYNCHRONIZATION_ROBOT_TO_ACTIN 3

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actin/ur/api/robot/robot_service.proto

RobotService

The RobotService lets clients status and control one or more robots associated with an Actin RCF controller.

Method Name Request Type Response Type Description
BeginConnection BeginConnectionRequest BeginConnectionResponse Command RCF controller to establish connection with specified robot.
BeginDisconnect BeginDisconnectRequest BeginDisconnectResponse Command RCF controller to break connection with specified robot.
GetRobotInfo GetRobotInfoRequest GetRobotInfoResponse Get configuration information defined by service for specified robot.
SetRobotPower SetRobotPowerRequest SetRobotPowerResponse Command RCF controller to power on or off specified robot.
SetActinControl SetActinControlRequest SetActinControlResponse Command RCF controller to enable or disable Actin control of specified robot.
SetActinMode SetActinModeRequest SetActinModeResponse Command RCF controller to change Actin control mode of specified robot.
ClearSafetyStop ClearSafetyStopRequest ClearSafetyStopResponse Command RCF controller to clear safety stop on specified robot.
GetStatus GetStatusRequest GetStatusResponse Get current status of specified robot.
ReadStatusStream ReadStatusStreamRequest ReadStatusUpdate stream Open stream to receive status updates for specified robot.

This RPC will return a INVALID_ARGUMENT gRPC error if the specified robot label is not known to the service.

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actin/ur/api/jogging/jogging_types.proto

Error

Error condition reported by an JoggingService RPC response.

Field Type Label Description
code Error.Code

Status code for error condition.

message string

Human-readable description for error condition.

GetConfigurationRequest

Request message for JoggingService.GetConfiguration RPC.

GetConfigurationResponse

Response message for JoggingService.GetConfiguration RPC.

Field Type Label Description
script_id string

Script ID that service uses when controlling the motion script executor.

motion_configs MotionConfigInfo repeated

Configuration information for supported jogging motions.

move_timeout uint32

Maximum time (in milliseconds) allowed between client messages within a jogging RPC

(e.g. JoggingService.MoveJoint, JoggingService.MoveTool).



When a message is not received from the client-side stream for such RPCs within this time

limit, the service will stop all manipulator movement and close the server-side stream.

GetStatusRequest

Request message for JoggingService.GetStatus RPC.

GetStatusResponse

Response message for JoggingService.GetStatus RPC.

Field Type Label Description
status JoggingStatus

Current status of JoggingService.

JoggingStatus

Status report for jogging service.

Field Type Label Description
jogging_active bool

Whether a manipulator is being actively moved by the jogging service.

move_joint_params MoveJointParameters

Movement parameters if most recent jogging command was JoggingService.MoveJoint.

move_tool_params MoveToolParameters

Movement parameters if most recent jogging command was JoggingService.MoveTool.

JointMotionConfigDetails

Configuration details for a joint-based jogging motion.

Field Type Label Description
link_ids uint32 repeated

Indices of manipulator links associated with joints supported by motion.



NOTE: The items in this list have a one-to-one correspondance with those in .link_labels.

link_labels string repeated

Labels of manipulator links associated with joints supported by motion.



NOTE: The items in this list have a one-to-one correspondance with those in .link_ids.

MotionConfigInfo

Configuration information for a jogging motion.

Field Type Label Description
motion_id uint32

Unique identifier for jogging motion.

motion_name string

User-friendly name for jogging motion.

motion_type MotionConfigInfo.MotionType

Type of jogging motion.

manip_id uint32

Index of manipulator associated with jogging motion.

manip_label string

Label of manipulator associated with jogging motion.

constraint_set_id uint32

Index of motion constraint set used by jogging motion.

constraint_set_label string

Label of motion constraint set used by jogging motion.

constraint_id uint32

Index of motion constraint used by jogging motion.

joint_details JointMotionConfigDetails

Configuration details when motion_type is MOTION_JOINT.

tool_details ToolMotionConfigDetails

Configuration details when motion_type is MOTION_TOOL.

MoveJointParameters

Input parameters for JoggingService.MoveJoint RPC.

Field Type Label Description
motion_id uint32

Identifier for joint-based jogging motion to be used.

joint_index uint32

Index of joint to be moved.



NOTE: An index of k corresponds to the kth joint controlled by the jogging motion,

rather than the kth joint in the manipulator. More specifically, index k

corresponds to the joint associated with the manipulator link with

the label MotionConfigInfo.joint_details.link_labels[k] for the

MotionConfigInfo structure associated with .motion_id.

direction MoveJointParameters.Direction

Direction that joint should be rotated.

MoveJointRequest

Request message for JoggingService.MoveJoint RPC.

As noted by the RPC documentation, instances of this message must be written to the client-side stream of the RPC with a period no greater than GetConfigurationResponse.move_timeout to keep the manipulator moving.

Field Type Label Description
move_params MoveJointParameters

Parameters for the joint movement.



NOTE: This field need only be specified for the first message written to a stream. For all

other messages written to the same stream, this field will be ignored by the service

and thus can be left unspecified by the client.

MoveJointResponse

Response for MoveJointRequest message.

Field Type Label Description
error Error

Error condition reported for MoveJointRequest message.



This will be Error.CODE_EXECUTOR_UNAVAILABLE if the service cannot acquire exclusive

ownership of the motion script executor (e.g. a motion script is current being run).



Else, it will be will be Error.CODE_SERVICE_BUSY if the service is currently

processing another jogging RPC.



Else, it will be Error.CODE_BAD_ARGUMENT under any of the following scenarios

(for the first message written to the client-side stream):

1) MoveJointRequest.move_params is left unspecified.

2) MoveJointParameters.motion_id does not indicate a joint-based jogging motion.

3) MoveJointParameters.joint_index is invalid for the selected manipulator.



Else, it should be Error.CODE_OK.

MoveToolParameters

Input parameters for JoggingService.MoveToolParameters RPC.

Field Type Label Description
motion_id uint32

Identifier for tool-based jogging motion to be used.

movement MoveToolParameters.Movement

Type of movement that should be applied to tool

direction MoveToolParameters.Direction

Direction of movement that should be applied to tool

reference_frame_type MoveToolParameters.ReferenceFrameType

Reference frame in which movement should be performed.

custom_reference_frame actin.rpc.api.common.CoordinateSystemTransformation

Coordinate system transformation (from system coordinates) for custom reference frame

for tool movement.



This field is ignored by the service (and can be thus left unspecified) unless

.reference_frame_type is FRAME_CUSTOM.

MoveToolRequest

Request message for JoggingService.MoveTool RPC.

As noted by the RPC documentation, instances of this message must be written to the client-side stream of the RPC with a period no greater than GetConfigurationResponse.move_timeout to keep the manipulator moving.

Field Type Label Description
move_params MoveToolParameters

Parameters for the tool movement.



NOTE: This field need only be specified for the first message written to a stream. For all

other messages written to the same stream, this field will be ignored by the service

and thus can be left unspecified by the client.

MoveToolResponse

Response message for JoggingService.MoveTool RPC.

Field Type Label Description
error Error

Error condition reported for MoveToolRequest message.



This will be Error.CODE_EXECUTOR_UNAVAILABLE if the service cannot acquire exclusive

ownership of the motion script executor (e.g. a motion script is current being run).



Else, it will be will be Error.CODE_SERVICE_BUSY if the service is currently

processing another jogging RPC.



Else, it will be Error.CODE_BAD_ARGUMENT under any of the following scenarios

(for the first message written to the client-side stream):

1) MoveToolRequest.move_params is left unspecified.

2) MoveToolParameters.motion_id does not indicate a tool-based jogging motion.

3) MoveToolParameters.reference_frame_type is set to FRAME_CUSTOM, but

MoveToolParameters.custom_reference_frame is left unspecified.



Else, it should be Error.CODE_OK.

ReadStatusStreamRequest

Request message for JoggingService.ReadStatusStream RPC.

Field Type Label Description
period int32

Polling period for service status updates (in milliseconds).



This field defines how often the service should poll itself for status changes.

The first polling event will always write a ReadStatusUpdate to the stream.

Each subsequent polling event will only write a ReadStatusUpdate when a

change to service status is detected.

ReadStatusUpdate

Update message for JoggingService.ReadStatusStream RPC.

Field Type Label Description
status JoggingStatus

Most recent status of JoggingService.

ToolMotionConfigDetails

Configuration details for a tool-based jogging motion.

Field Type Label Description
link_id uint32

Index of manipulator link to which tool is attached.

link_label string

Label of manipulator link to which tool is attached.

tcp_offset actin.rpc.api.common.CoordinateSystemTransformation

Pose of tool center point, relative to primary frame of link to which tool is attached.

Error.Code

Enumeration of status codes for JoggingService RPC responses.

Name Number Description
CODE_OK 0 No error; request was successful.
CODE_BAD_ARGUMENT 1 One or more request arguments were invalid.
CODE_EXECUTOR_UNAVAILABLE 2 Service failed to acquire exclusive ownership of motion script executor.
CODE_SERVICE_BUSY 3 Service is busy processing another jogging RPC.

MotionConfigInfo.MotionType

Enumeration of supported jogging motion types.

Name Number Description
MOTION_JOINT 0 Joint-based jogging motion.
MOTION_TOOL 1 Tool-based jogging motion.

MoveJointParameters.Direction

Enumeration of possible joint rotation directions.

Name Number Description
DIRECTION_POSITIVE 0 Positive rotation.
DIRECTION_NEGATIVE 1 Negative rotation.

MoveToolParameters.Direction

Enumeration of possible movement directions.

Name Number Description
DIRECTION_POSITIVE 0 Positive translation/rotation.
DIRECTION_NEGATIVE 1 Negative translation/rotation.

MoveToolParameters.Movement

Enumeration of possible tool movements.

Name Number Description
MOVEMENT_TRANSLATE_X 0 Translation along the x-axis.
MOVEMENT_TRANSLATE_Y 1 Translation along the y-axis.
MOVEMENT_TRANSLATE_Z 2 Translation along the z-axis.
MOVEMENT_ROTATE_X 3 Rotation about the x-axis.
MOVEMENT_ROTATE_Y 4 Rotation about the y-axis.
MOVEMENT_ROTATE_Z 5 Rotation about the z-axis.

MoveToolParameters.ReferenceFrameType

Enumeration of possible reference frame types for tool movement.

Name Number Description
FRAME_SYSTEM 0 System frame of Actin stated system containing manipulator being jogged.
FRAME_TCP 1 TCP of tool being jogged.
FRAME_CUSTOM 2 Custom reference frame.

NOTE: The position and orientation of this frame are defined by .custom_reference_frame.

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actin/ur/api/jogging/jogging_service.proto

JoggingService

The JoggingService lets clients jog an end-effector of an Actin RCF manipulator.

Method Name Request Type Response Type Description
GetConfiguration GetConfigurationRequest GetConfigurationResponse Get collection of valid inputs for jogging commands, as well as ancillary information.
MoveJoint MoveJointRequest stream MoveJointResponse stream Rotate manipulator joint at constant velocity.

The joint rotation begins when the client-side stream is opened and ends when the server-side stream is closed. Each message written to the client-side stream will receive a response from the server-side stream. When the client-side stream is closed, the server-side stream will be closed automatically. The server-side stream will also close when no messages have been written to the client-side stream for a given amount of time (defined by GetConfigurationResponse.move_timeout.)

This RPC will return a ABORTED gRPC error under any of the following scenarios: 1) Joint rotation is stopped unexpectedly (e.g. due to robot protective stop). 2) Client fails to send message to server within expected amount of time from previously sent message.

NOTE: Only one MoveJoint or MoveTool RPC may be active at any given time for the same JoggingService instance.
MoveTool MoveToolRequest stream MoveToolResponse stream Move manipulator tool (i.e. end effector) at constant velocity within given reference frame.

The RPC uses the same streaming semantics as JoggingService.MoveJoint.

This RPC will return a ABORTED gRPC error under any of the following scenarios: 1) Tool movement is stopped unexpectedly (e.g. due to robot protective stop). 2) Client fails to send message to server within expected amount of time from previously sent message.

NOTE: Only one MoveJoint or MoveTool RPC may be active at any given time for the same JoggingService instance.
GetStatus GetStatusRequest GetStatusResponse Get current service status.
ReadStatusStream ReadStatusStreamRequest ReadStatusUpdate stream Open stream to receive service status updates.

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actin/rpc/api/control_system/control_system_service.proto

ControlSystemService

The ControlSystemService provides clients read access to the Control System Executive Modifier instance associated with an Actin RCF system controller.

Method Name Request Type Response Type Description
GetStatedSystem .google.protobuf.Empty .google.protobuf.BytesValue stream Open stream to receive copy of the Stated System managed by the RCF system controller.

The Stated System will be transmitted as an ECZ file. Each message in the stream will be a chunk of this file. Concatenating the chunks in the order they are received will reconsititute the file.
GetManipulatorCount .google.protobuf.Empty .google.protobuf.UInt32Value Get number of manipulators managed by RCF system controller.
GetManipulatorId GetManipulatorIdRequest .google.protobuf.UInt32Value Get Actin index of manipulator with given label.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given label.
GetJointCount .actin.rpc.api.common.ManipulatorId .google.protobuf.UInt32Value Get joint count for given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index.
GetLinkId GetLinkIdRequest .google.protobuf.UInt32Value Get Actin index of link with given label for given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index or if there is no link with the given label for the given manipulator.
GetActiveEeSet .actin.rpc.api.common.ManipulatorId .google.protobuf.UInt32Value Get active end-effector set index for given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index.
GetActiveControlDesc .actin.rpc.api.common.ManipulatorId .google.protobuf.UInt32Value Get active control descriptor for given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index.
GetActiveControlMethod .actin.rpc.api.common.ManipulatorId .google.protobuf.UInt32Value Get active control method index for given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index.
GetToolOffset GetToolOffsetRequest .actin.rpc.api.common.CoordinateSystemTransformation Get tool offset for given end-effector.

This RPC will return an OUT_OF_RANGE gRPC error if there is no end-effector with the given ID.
GetBaseSpeedFactor .actin.rpc.api.common.ManipulatorId .google.protobuf.DoubleValue Get base speed factor for given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index.
GetBaseAccelFactor .actin.rpc.api.common.ManipulatorId .google.protobuf.DoubleValue Get base acceleration factor for given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index.
GetManipulatorLabels .google.protobuf.Empty LabelList Get list of labels for manipulators managed by RCF system controller.

The index of each label in the list is equal to the Actin index of the manipulator associated with the label.
GetLinkLabels GetLinkLabelsRequest LabelList Get list of labels for links with given manipulator.

The index of each label in the list is equal to the Actin index of the link set associated with the label.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index. | | GetEeSetLabels | GetEeSetLabelsRequest | LabelList | Get list of labels for end-effector sets associated with given manipulator.

The index of each label in the list is equal to the Actin index of the end-effector set associated with the label.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index. | | GetEeLabels | GetEeLabelsRequest | LabelList | Get list of labels for end-effectors associated with given end-effector set.

The index of each label in the list is equal to the Actin index of the end-effector associated with the label.

This RPC will return an OUT_OF_RANGE gRPC error if there is no end-effector set with the given ID. | | GetEePose | GetEePoseRequest | .actin.rpc.api.common.CoordinateSystemTransformation | Get current pose of given end-effector.

This RPC will return an OUT_OF_RANGE gRPC error if there is no end-effector set with the given ID, and it will return an INTERNAL error if the pose cannot be computed for any reason. | | GetJointPositions | .actin.rpc.api.common.ManipulatorId | AngleList | Get list of current joint positions for given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index. | | GetNamedFrameKeys | GetNamedFrameKeysRequest | LabelList | Get keys for named frames for entire stated system or for given link of given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index or if there is no link with the given label for the given manipulator. | | GetNamedFrame | GetNamedFrameRequest | .actin.rpc.api.common.CoordinateSystemTransformation | Get current pose of given named frame.

This RPC will return an OUT_OF_RANGE gRPC error if there is no frame for the given link and/or name. | | WatchSystemState | WatchSystemStateRequest | .actin.rpc.api.common.SystemState stream | Open stream to periodically receive current system state.

NOTE: Prefer usage of DataStoreService.ReadSystemStateStream over this RPC when possible. This RPC requires periodic read locks on the entire Control System Executive Modifier, potentially reducing responsiveness of the system controller. | | WatchBasePose | WatchBasePoseRequest | PoseUpdate stream | Open stream to periodically receive current base frame pose of given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index.

NOTE: Prefer usage of DataStoreService.ReadSystemStateStream over this RPC when possible. This RPC requires periodic read locks on the entire Control System Executive Modifier, potentially reducing responsiveness of the system controller. | | WatchEePose | WatchEePoseRequest | PoseUpdate stream | Open stream to periodically receive current pose of given end-effector.

This RPC will return an OUT_OF_RANGE gRPC error if there is no end-effector set with the given ID, and it will return an INTERNAL error if the pose cannot be computed for any reason.

NOTE: Prefer usage of DataStoreService.ReadSystemStateStream over this RPC when possible. This RPC requires periodic read locks on the entire Control System Executive Modifier, potentially reducing responsiveness of the system controller. | | WatchJointPositions | WatchJointStreamRequest | JointPositionsUpdate stream | Open stream to periodically receive current joint positions of given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index.

NOTE: Prefer usage of DataStoreService.ReadSystemStateStream over this RPC when possible. This RPC requires periodic read locks on the entire Control System Executive Modifier, potentially reducing responsiveness of the system controller. | | WatchJointVelocities | WatchJointStreamRequest | JointVelocitiesUpdate stream | Open stream to periodically receive current joint velocities of given manipulator.

This RPC will return an OUT_OF_RANGE gRPC error if there is no manipulator with the given index.

NOTE: Prefer usage of DataStoreService.ReadSystemStateStream over this RPC when possible. This RPC requires periodic read locks on the entire Control System Executive Modifier, potentially reducing responsiveness of the system controller. | | WatchNamedFrame | WatchNamedFrameRequest | PoseUpdate stream | Open stream to periodically receive current pose of given named frame.

This RPC will return an OUT_OF_RANGE gRPC error if there is no frame for the given link and name.

NOTE: Prefer usage of DataStoreService.ReadSystemStateStream over this RPC when possible. This RPC requires periodic read locks on the entire Control System Executive Modifier, potentially reducing responsiveness of the system controller. | | WatchPropExceptions | WatchPropExceptionsRequest | .actin.rpc.api.common.PropExceptionList stream | Open stream to periodically receive current propagated exceptions.

NOTE: Prefer usage of DataStoreService.ReadSystemStateStream over this RPC when possible. This RPC requires periodic read locks on the entire Control System Executive Modifier, potentially reducing responsiveness of the system controller. |

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actin/rpc/api/control_system/control_system_types.proto

AngleList

Response message of `ControlSystemService.GetJointPositions.

Field Type Label Description
angles double repeated

List of angles (each in radians).

GetEeLabelsRequest

Request message for ControlSystemService.GetEeLabels RPC.

Field Type Label Description
manip_id uint32

Manipulator index.

ee_set_id uint32

End-effector set index (within selected manipulator).

GetEePoseRequest

Request message for ControlSystemService.GetEePose RPC.

Field Type Label Description
manip_id uint32

Manipulator index.

ee_set_id uint32

End-effector set index (within selected manipulator).

ee_id uint32

End-effector index (within selected end-effector set).

GetEeSetLabelsRequest

Request message for ControlSystemService.GetEeSetLabels RPC.

Field Type Label Description
manip_id uint32

Manipulator index.

GetLinkIdRequest

Request message for ControlSystemService.GetLinkId RPC.

Field Type Label Description
manip_id uint32

Manipulator index.

link_label string

Link label (within selected manipulator).

GetLinkLabelsRequest

Request message for ControlSystemService#GetLinkLabels RPC.

Field Type Label Description
manip_id uint32

< Manipulator index.

GetManipulatorIdRequest

Request message for ControlSystemService.GetManipulatorId RPC.

Field Type Label Description
manip_label string

Manipulator label.

GetNamedFrameKeysRequest

Request message for ControlSystemService.GetNamedFrameKeys RPC.

Field Type Label Description
location actin.rpc.api.common.LinkId

Optional ID of link associated with frames.



If this link ID is left unspecified, then all system named frames

will be returned by the RPC instead.

GetNamedFrameRequest

Request message for ControlSystemService.GetNamedFrame RPC.

Field Type Label Description
location actin.rpc.api.common.LinkId

Optional ID of link associated with frame.



When this link ID is specified, .frame_name must belong to a frame

associated with the link; else, .frame_name may be the name of any

frame defined for the stated system.

frame_name string

Name of frame to be inspected.

GetToolOffsetRequest

Request message for ControlSystemService.GetToolOffset RPC.

Field Type Label Description
id actin.rpc.api.common.EndEffectorId

End-effector ID.

JointPositionsUpdate

Update message for ControlSystemService.WatchJointPositions RPC.

Field Type Label Description
time double

System time of service when message was generated.



Representation is seconds elapsed since UNIX epoch.

positions double repeated

List of joint positions (each in radians) of selected manipulator at .time.

JointVelocitiesUpdate

Update message for ControlSystemService.WatchJointVelocities RPC.

Field Type Label Description
time double

System time of service when message was generated.



Representation is seconds elapsed since UNIX epoch.

velocities double repeated

List of joint velocities (each in rad/sec) of selected manipulator at .time.

LabelList

Response message for ControlSystemService.GetManipulatorLabels, ControlSystemService.GetEeSetLabels, ControlSystemService.GetEeLabels, and ControlSystemService.GetNamedFrameKeys RPCs.

Field Type Label Description
labels string repeated

List of labels.

PoseUpdate

Update message for ControlSystemService.WatchBasePose and ControlSystemService.WatchNamedFrame RPCs.

Field Type Label Description
time double

System time of service when message was generated.



Representation is seconds elapsed since UNIX epoch.

pose actin.rpc.api.common.CoordinateSystemTransformation

Pose of selected frame at .time.

WatchBasePoseRequest

Request message for ControlSystemService.WatchBasePose RPC.

Field Type Label Description
manip_id uint32

Manipulator index.

period uint32

Polling period for base pose updates (in milliseconds).



This field defines how often the service should poll the manipulator for

base pose changes. The first polling event will always write an

update message to the stream. Each subsequent polling event will only

write an update message when a change to the base pose is detected.

WatchEePoseRequest

Request message for ControlSystemService.WatchEePose RPC.

Field Type Label Description
manip_id uint32

Manipulator index.

ee_set_id uint32

End-effector set index (within selected manipulator).

ee_id uint32

End-effector index (within selected end-effector set).

period uint32

Polling period for end-effector pose updates (in milliseconds).



This field defines how often the service should poll the end-effector for

pose changes. The first polling event will always write an

update message to the stream. Each subsequent polling event will only

write an update message when a change to the pose is detected.

WatchJointStreamRequest

Request message for ControlSystemService.WatchJointPositions and ControlSystemService.WatchJointVelocities RPCs.

Field Type Label Description
manip_id uint32

Manipulator index.

period uint32

Polling period for joint position updates (in milliseconds).



This field defines how often the service should poll the manipulator for

joint position changes. The first polling event will always write an

update message to the stream. Each subsequent polling event will only

write an update message when a change to the joint positions is detected.

WatchNamedFrameRequest

Request message for ControlSystemService.WatchNamedFrame RPC.

Field Type Label Description
location actin.rpc.api.common.LinkId

Optional ID of link associated with frame.



When this link ID is specified, .frame_name must belong to a frame

associated with the link; else, .frame_name may be the name of any

frame defined for the stated system.

frame_name string

Name of frame to be watched.

period uint32

Polling period for frame pose updates (in milliseconds).



This field defines how often the service should poll the named frame for

pose changes. The first polling event will always write an update message

to the stream. Each subsequent polling event will only write an update

message when a change to the frame pose is detected.

WatchPropExceptionsRequest

Request message for ControlSystemService.WatchPropExceptions RPC.

Field Type Label Description
period uint32

Polling period for propagated exception updates (in milliseconds).



This field defines how often the service should poll the stated system for

propagated exception changes. The first polling event will always write an

update message to the stream. Each subsequent polling event will only

write an update message when a change to the propagated exceptions

is detected.

WatchSystemStateRequest

Request message for ControlSystemService.WatchSystemState RPC.

Field Type Label Description
period uint32

Polling period for system state updates (in milliseconds).



This field defines how often the service should poll the stated system for

state changes. The first polling event will always write an update message

to the stream. Each subsequent polling event will only write an update

message when a change to the system state is detected.

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actin/rpc/api/log/log_types.proto

LogMessage

Log message generated by an Actin RCF system controller.

Field Type Label Description
tag_name string

Log tag for message.

level LogMessage.LogLevel

Severity level for message.

time google.protobuf.Timestamp

Timestamp for message creation.

thread_id uint64

ID of thread that generated message.

source SourceLocation

Source code location where message was generated.

payload string

Message content.

LogStreamRequest

Request message for LogService::GetLogStream RPC.

Field Type Label Description
tag_names string repeated

List of log tags.

allow_non_existing_tags bool

Flag to allow subscribing non-existent tags

SourceLocation

Location in source code file.

Field Type Label Description
filename string

File name.

line int32

Line number.

funcname string

Function name.

TagsRequest

Request message for LogService::GetTags RPC.

TagsResponse

Response message for LogService::GetTags RPC.

Field Type Label Description
tag_names string repeated

List of log tags.

LogMessage.LogLevel

Supported severity levels for log messages.

Name Number Description
LOGLEVEL_TRACE 0 Log level for low-level debug messages.
LOGLEVEL_DEBUG 1 Log level for high-level debug messages.
LOGLEVEL_INFO 2 Log level for informational messages.
LOGLEVEL_WARN 3 Log level for warning messages.
LOGLEVEL_ERROR 4 Log level for normal error messages.
LOGLEVEL_CRITICAL 5 Log level for severe error messages.
LOGLEVEL_OFF 6 Log level for internal messages.

NOTE: Messages with this severity level should not be normally reported by the LogService. If one is, the actual severity of the message may be specific to its use case.

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actin/rpc/api/log/log_service.proto

LogService

The LogService provides clients access to the log output of an Actin RCF system controller.

Method Name Request Type Response Type Description
GetLogStream LogStreamRequest LogMessage stream Open stream to receive future log messages from system controller for given set of log tags.

This RPC will return an INVALID_ARGUMENT gRPC error if any of the specified log tags are currently not in use by the system controller.
GetTags TagsRequest TagsResponse Get list of log tags currently in use by system controller.

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actin/rpc/api/common/common_options.proto

FieldOptions

Custom gRPC field options used to provide cross-platform constants defining the keys, types, and default values of client metadata entries supported by Actin gRPC services.

For an example of these options in use, see "actin/rpc/api/data_store/data_store_metadata.proto".

Field Type Label Description
metadata_key string

Key for metadata entry.

metadata_type MetadataType

Type of metadata entry.

metadata_default_string string

Default value for string-type metadata entry.

metadata_default_bool bool

Default value for bool-type metadata entry.

metadata_default_int int32

Default value for int-type metadata entry.

metadata_default_double double

Default value for double-type metadata entry.

MetadataType

Enumeration of value types supported for client metadata for Actin gRPC services.

Name Number Description
METADATA_STRING 0 String value.
METADATA_BOOL 1 Boolean value.
METADATA_INT 2 32-bit signed integer value.
METADATA_DOUBLE 3 Double-precision floating-point value.

File-level Extensions

Extension Type Base Number Description
field_opts FieldOptions .google.protobuf.FieldOptions 1100

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actin/rpc/api/common/common_types.proto

AccelerationState

Acceleration state for an Actin manipulator.

Field Type Label Description
joint_accelerations double repeated

List of joint accelerations (each in rad/sec^2) for manipulator.

general_linear_acceleration Vector3D

Linear acceleration (in meters/sec^2) for manipulator's base frame.

general_angular_acceleration Vector3D

Angular acceleration (in radians/sec^2) for manipulator's base frame.

CoordinateSystemTransformation

Coordinate system transformation in 3D space.

Field Type Label Description
translation Vector3D

Translation component of transform.

orientation Quaternion

Rotation component of transform.

EndEffectorId

Unique identifier for end-effector within an Actin stated system.

Field Type Label Description
manip_id uint32

Manipulator index.

ee_set_id uint32

End-effector set index (within selected manipulator).

ee_id uint32

End-effector index (within selected end-effector set).

LinkId

Unique identifier for manipulator link within an Actin stated system.

Field Type Label Description
manip_id uint32

Manipulator index.

link_id uint32

Link index (within selected manipulator).



Setting this field to 0xFFFFFFFE selects the BASE link for the manipulator.

ManipulatorId

Unique identifier for manipulator within an Actin stated system.

Field Type Label Description
manip_id uint32

Manipulator index.

PositionState

Position state for an Actin manipulator.

Field Type Label Description
joint_positions double repeated

List of joint positions (each in radians) for manipulator.

coord_sys_xform CoordinateSystemTransformation

Position and orientation of manipulator's base frame.

PropExceptionList

List of PropagatedException messages, indexed by Actin manipulator index.

Field Type Label Description
exceptions PropagatedException repeated

Exception list.

PropagatedException

Propagated exception for a manipulator in an Actin stated system.

Field Type Label Description
closest_approach PropagatedException.ClosestApproach

Current ClosestApproach for manipulator.

collision PropagatedException.CollisionInfo

Current CollisionInfo for manipulator.



If no collision has occurred involving one of the manipulator links,

then this field will be left unpopulated.

singularity PropagatedException.SingularityInfo

Current SingularityInfo for manipulator.



If no singularity has been detected in the inverse kinematics for the

manipulator, then this field will be left unpopulated.

joint_limit PropagatedException.JointLimitInfo

Current JointLimitInfo for manipulator.



If no manipulator link has reached its joint limit, then this field will

be left unpopulated.

general_stopping_criteria PropagatedException.GeneralStoppingCriteria

Current GeneralStoppingCriteria for manipulator.



If there are no general stopping criteria in effect for the manipulator,

then this field will be left unpopulated.

PropagatedException.ClosestApproach

Information on closest approach detected between manipulator link and any other link in the stated system.

Field Type Label Description
location1 LinkId

ID of first link involved in approach.

location2 LinkId

ID of second link involved in approach.

distance double

Smallest distance (in meters) detected between links.

PropagatedException.CollisionInfo

Information on collision detected between manipulator link and any other link in the stated system.

Field Type Label Description
location1 LinkId

ID of first link involved in collision.

location2 LinkId

ID of second link involved in collision.

PropagatedException.GeneralStoppingCriteria

Information on one or more general stopping criteria in effect for manipulator.

Field Type Label Description
descriptions string repeated

Human-readable descriptions for criteria.

PropagatedException.JointLimitInfo

Information on joint limit arrival detected for manipulator link.

Field Type Label Description
link_id uint32

ID of link that reached joint limit.

PropagatedException.SingularityInfo

Information on singularity detected in inverse kinematics for manipulator.

NOTE: This structure is empty for now.

Quaternion

Quaternion to represent angle in 3D space.

The quaternion is represented by scalar component (w) and a vector component (x,y,z), whose start-point is assumed to be the origin of the 3D space.

Field Type Label Description
w double

Scalar component of quaternion.

x double

X-coordinate of end-point of vector component of quaternion.

y double

Y-coordinate of end-point of vector component of quaternion.

z double

Z-coordinate of end-point of vector component of quaternion.

SystemState

System state for an Actin stated system.

Field Type Label Description
position_states PositionState repeated

List of position states, indexed by Actin manipulator index.

velocity_states VelocityState repeated

List of velocity states, indexed by Actin manipulator index.

acceleration_states AccelerationState repeated

List of acceleration states, indexed by Actin manipulator index.

time double

System time of Actin RCF system controller when this system state was generated.



Representation is seconds elapsed since UNIX epoch.

Vector3D

Vector in 3D space.

The start-point of the vector is assumed to be the origin of the 3D space.

Field Type Label Description
x double

X-coordinate of vector end-point.

y double

Y-coordinate of vector end-point.

z double

Z-coordinate of vector end-point.

VelocityState

Velocity state for an Actin manipulator.

Field Type Label Description
joint_velocities double repeated

List of joint velocities (each in rad/sec) for manipulator.

general_linear_velocity Vector3D

Linear velocity (in meters/sec) for manipulator's base frame.

general_angular_velocity Vector3D

Angular velocity (in rad/sec) for manipulator's base frame.

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actin/rpc/api/data_store/data_store_types.proto

AccelerationStateVector

Vector of Actin acceleration states.

Field Type Label Description
values actin.rpc.api.common.AccelerationState repeated

BoolVector

Vector of boolean values.

Field Type Label Description
values bool repeated

ConfigureValuesStreamRequest

Request message for DataStoreService.ConfigureValuesStream RPC.

Field Type Label Description
stream_id string

Unique identifier for stream to be configured.

operation ConfigureValuesStreamRequest.Operation

Type of operation to be performed on stream.

infos DsElementInfo repeated

Data store elements to add/remove from ths stream.



NOTE: When '.operationisOPERATION_CLOSE_STREAM`, this field is ignored.

ConfigureValuesStreamResponse

Response message for DataStoreService.ConfigureValuesStream RPC.

CoordinateSystemTransformationVector

Vector of 3D coordinate system transformations.

Field Type Label Description
values actin.rpc.api.common.CoordinateSystemTransformation repeated

DoubleVector

Vector of double-precision floating point numbers.

Field Type Label Description
values double repeated

DsElement

Definition of an Actin RCF data store element.

Field Type Label Description
info DsElementInfo

Element description.

value google.protobuf.Any

Element value.



NOTE: This field must have the underlying message type described the

TypeInfo.message_name value associated with .info.type, as

reported by GetSupportedTypes.

DsElementGroup

Definitions of multiple Actin RCF data store elements.

Field Type Label Description
elements DsElement repeated

Element definitions.

DsElementId

Location of an Actin RCF data store element.

Field Type Label Description
key string

Element key.

path string

Element path.

DsElementInfo

Description of an Actin RCF data store element.

Field Type Label Description
element DsElementId

Element location.

type string

Element type.



NOTE: This field must have one of the TypeInfo.type_id values

reported by GetSupportedTypes.

FloatVector

Vector of single-precision floating point numbers.

Field Type Label Description
values float repeated

GetAccelerationStateVectorResponse

Response message for DataStoreService.GetAccelerationStateVector RPC.

Field Type Label Description
values actin.rpc.api.common.AccelerationState repeated

Read value of element.

GetBooleanVectorResponse

Response message for DataStoreService.GetBooleanVector RPC.

Field Type Label Description
values bool repeated

Read value of element.

GetCoordinateSystemTransformationVectorResponse

Response message for DataStoreService.GetCoordinateSystemTransformationVector RPC.

Field Type Label Description
values actin.rpc.api.common.CoordinateSystemTransformation repeated

Read value of element.

GetElementInfoResponse

Response message for DataStoreService.GetElementInfoResponse RPC.

Field Type Label Description
elements DsElementInfo repeated

Descriptions for elements at selected data store path.

GetFloat32VectorResponse

Response message for DataStoreService.GetFloat32Vector RPC.

Field Type Label Description
values float repeated

Read value of element.

GetFloat64VectorResponse

Response message for DataStoreService.GetFloat64Vector RPC.

Field Type Label Description
values double repeated

Read value of element.

GetInt16VectorResponse

Response message for DataStoreService.GetInt16Vector RPC.

Field Type Label Description
values int32 repeated

Read value of element.

GetInt32VectorResponse

Response message for DataStoreService.GetInt32Vector RPC.

Field Type Label Description
values int32 repeated

Read value of element.

GetInt64VectorResponse

Response message for DataStoreService.GetInt64Vector RPC.

Field Type Label Description
values int64 repeated

Read value of element.

GetInt8VectorResponse

Response message for DataStoreService.GetInt8Vector RPC.

Field Type Label Description
values int32 repeated

Read value of element.

GetOrientationVectorResponse

Response message for DataStoreService.GetOrientationVector RPC.

Field Type Label Description
values actin.rpc.api.common.Quaternion repeated

Read value of element.

GetPathsRequest

Request message for DataStoreService.GetPaths RPC.

Field Type Label Description
pattern string

ECMAScript regular expression to match paths against.

GetPositionStateVectorResponse

Response message for DataStoreService.GetPositionStateVector RPC.

Field Type Label Description
values actin.rpc.api.common.PositionState repeated

Read value of element.

GetPropExceptionListVectorResponse

Response message for DataStoreService.GetPropExceptionListVector RPC.

Field Type Label Description
values actin.rpc.api.common.PropExceptionList repeated

Read value of element.

GetPropagatedExceptionVectorResponse

Response message for DataStoreService.GetPropagatedExceptionVector RPC.

Field Type Label Description
values actin.rpc.api.common.PropagatedException repeated

Read value of element.

GetStringVectorResponse

Response message for DataStoreService.GetStringVector RPC.

Field Type Label Description
values string repeated

Read value of element.

GetSupportedTypesRequest

Request message for DataStoreService.GetSupportedTypes RPC.

GetSupportedTypesResponse

Response message for DataStoreService.GetSupportedTypes RPC.

Field Type Label Description
types TypeInfo repeated

List of types supported by service.

GetSystemStateVectorResponse

Response message for DataStoreService.GetSystemStateVector RPC.

Field Type Label Description
values actin.rpc.api.common.SystemState repeated

Read value of element.

GetUInt16VectorResponse

Response message for DataStoreService.GetUInt16Vector RPC.

Field Type Label Description
values uint32 repeated

Read value of element.

GetUInt32VectorResponse

Response message for DataStoreService.GetUInt32Vector RPC.

Field Type Label Description
values uint32 repeated

Read value of element.

GetUInt64VectorResponse

Response message for DataStoreService.GetUInt64Vector RPC.

Field Type Label Description
values uint64 repeated

Read value of element.

GetUInt8VectorResponse

Response message for DataStoreService.GetUInt8Vector RPC.

Field Type Label Description
values uint32 repeated

Read value of element.

GetValueRequest

Request message for DataStoreService.Get{TYPE}Value and DataStoreService.Get{TYPE}Vector RPC families.

Field Type Label Description
element DsElementId

Location of element to be read.

GetValuesRequest

Request message for DataStoreService.GetValues RPC.

Field Type Label Description
infos DsElementInfo repeated

Types and locations of elements to be read.

GetValuesResponse

Response message for DataStoreService.GetValues RPC.

Field Type Label Description
values google.protobuf.Any repeated

Read values of elements.



NOTE: Use the DsElementInfo.type values from the GetValuesRequest message

associated with this response together with the TypeInfo.message_name

values reported by GetSupportedTypes to determine the expected underlying

message types for this list.

GetVector3DVectorResponse

Response message for DataStoreService.GetVector3DVector RPC.

Field Type Label Description
values actin.rpc.api.common.Vector3D repeated

Read value of element.

GetVelocityStateVectorResponse

Response message for DataStoreService.GetVelocityStateVector RPC.

Field Type Label Description
values actin.rpc.api.common.VelocityState repeated

Read value of element.

Int16Vector

Vector of 16-bit signed integers.

Field Type Label Description
values int32 repeated

Int32Vector

Vector of 32-bit signed integers.

Field Type Label Description
values int32 repeated

Int64Vector

Vector of 64-bit signed integers.

Field Type Label Description
values int64 repeated

Int8Vector

Vector of 8-bit signed integers.

Field Type Label Description
values int32 repeated

PositionStateVector

Vector of Actin position states.

Field Type Label Description
values actin.rpc.api.common.PositionState repeated

PropExceptionListVector

Vector of Actin propagated exception lists.

Field Type Label Description
values actin.rpc.api.common.PropExceptionList repeated

PropagatedExceptionVector

Vector of Actin propagated exceptions.

Field Type Label Description
values actin.rpc.api.common.PropagatedException repeated

QuaternionVector

Vector of 3D orientations.

Field Type Label Description
values actin.rpc.api.common.Quaternion repeated

ReadStreamRequest

Request message for DataStoreService.Read{TYPE}Stream and DataStoreService.Read{TYPE}VectorStream RPC families.

Field Type Label Description
element DsElementId

Location of element to be read.

period int32

Polling period for element value updates (in milliseconds).



This field defines how often the service should poll the data store element

for value changes. The first polling event will always write an update message

to the stream. Each subsequent polling event will only write an update message

when a change to the element value is detected.

ReadValuesStreamRequest

Request message for DataStoreService.ReadValuesStream RPC.

Field Type Label Description
stream_id string

Unique identifier for stream.

infos DsElementInfo repeated

Types and locations of elements to be read.

period int32

Polling period for element value updates (in milliseconds).



This field defines how often the service should poll the data store element(s)

for value changes. The first polling event will always write an update message

to the stream. Each subsequent polling event will only write an update message

when a change to the element value(s) is detected.

SetAccelerationStateValueRequest

Request message for DataStoreService.SetAccelerationStateValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value actin.rpc.api.common.AccelerationState

New value for element.

SetAccelerationStateVectorRequest

Request message for DataStoreService.SetAccelerationStateVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values actin.rpc.api.common.AccelerationState repeated

New value for element.

SetBooleanValueRequest

Request message for DataStoreService.SetBooleanValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value bool

New value for element.

SetBooleanVectorRequest

Request message for DataStoreService.SetBooleanVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values bool repeated

New value for element.

SetCoordinateSystemTransformationValueRequest

Request message for DataStoreService.SetCoordinateSystemTransformationValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value actin.rpc.api.common.CoordinateSystemTransformation

New value for element.

SetCoordinateSystemTransformationVectorRequest

Request message for DataStoreService.SetCoordinateSystemTransformationVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values actin.rpc.api.common.CoordinateSystemTransformation repeated

New value for element.

SetFloat32ValueRequest

Request message for DataStoreService.SetFloat32Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value double

New value for element.

SetFloat32VectorRequest

Request message for DataStoreService.SetFloat32Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values float repeated

New value for element.

SetFloat64ValueRequest

Request message for DataStoreService.SetFloat64Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value double

New value for element.

SetFloat64VectorRequest

Request message for DataStoreService.SetFloat64Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values double repeated

New value for element.

SetInt16ValueRequest

Request message for DataStoreService.SetInt16Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value int32

New value for element.

SetInt16VectorRequest

Request message for DataStoreService.SetInt16Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values int32 repeated

New value for element.

SetInt32ValueRequest

Request message for DataStoreService.SetInt32Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value int32

New value for element.

SetInt32VectorRequest

Request message for DataStoreService.SetInt32Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values int32 repeated

New value for element.

SetInt64ValueRequest

Request message for DataStoreService.SetInt64Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value int64

New value for element.

SetInt64VectorRequest

Request message for DataStoreService.SetInt64Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values int64 repeated

New value for element.

SetInt8ValueRequest

Request message for DataStoreService.SetInt8Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value int32

New value for element.

SetInt8VectorRequest

Request message for DataStoreService.SetInt8Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values int32 repeated

New value for element.

SetOrientationValueRequest

Request message for DataStoreService.SetOrientationValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value actin.rpc.api.common.Quaternion

New value for element.

SetOrientationVectorRequest

Request message for DataStoreService.SetOrientationVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values actin.rpc.api.common.Quaternion repeated

New value for element.

SetPositionStateValueRequest

Request message for DataStoreService.SetPositionStateValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value actin.rpc.api.common.PositionState

New value for element.

SetPositionStateVectorRequest

Request message for DataStoreService.SetPositionStateVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values actin.rpc.api.common.PositionState repeated

New value for element.

SetPropExceptionListValueRequest

Request message for DataStoreService.SetPropExceptionListValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value actin.rpc.api.common.PropExceptionList

New value for element.

SetPropExceptionListVectorRequest

Request message for DataStoreService.SetPropExceptionListVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values actin.rpc.api.common.PropExceptionList repeated

New value for element.

SetPropagatedExceptionValueRequest

Request message for DataStoreService.SetPropagatedExceptionValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value actin.rpc.api.common.PropagatedException

New value for element.

SetPropagatedExceptionVectorRequest

Request message for DataStoreService.SetPropagatedExceptionVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values actin.rpc.api.common.PropagatedException repeated

New value for element.

SetStringValueRequest

Request message for DataStoreService.SetStringValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value string

New value for element.

SetStringVectorRequest

Request message for DataStoreService.SetStringVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values string repeated

New value for element.

SetSystemStateValueRequest

Request message for DataStoreService.SetSystemStateValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value actin.rpc.api.common.SystemState

New value for element.

SetSystemStateVectorRequest

Request message for DataStoreService.SetSystemStateVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values actin.rpc.api.common.SystemState repeated

New value for element.

SetUInt16ValueRequest

Request message for DataStoreService.SetUInt16Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value uint32

New value for element.

SetUInt16VectorRequest

Request message for DataStoreService.SetUInt16Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values uint32 repeated

New value for element.

SetUInt32ValueRequest

Request message for DataStoreService.SetUInt32Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value uint32

New value for element.

SetUInt32VectorRequest

Request message for DataStoreService.SetUInt32Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values uint32 repeated

New value for element.

SetUInt64ValueRequest

Request message for DataStoreService.SetUInt64Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value uint64

New value for element.

SetUInt64VectorRequest

Request message for DataStoreService.SetUInt64Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values uint64 repeated

New value for element.

SetUInt8ValueRequest

Request message for DataStoreService.SetUInt8Value RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value uint32

New value for element.

SetUInt8VectorRequest

Request message for DataStoreService.SetUInt8Vector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values uint32 repeated

New value for element.

SetValuesRequest

Request message for DataStoreService.SetValues RPC.

Field Type Label Description
elements DsElement repeated

Types, locations, and values of elements to be updated.

SetValuesResponse

Response message for DataStoreService.SetValues RPC.

SetVector3DValueRequest

Request message for DataStoreService.SetVector3DValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value actin.rpc.api.common.Vector3D

New value for element.

SetVector3DVectorRequest

Request message for DataStoreService.SetVector3DVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values actin.rpc.api.common.Vector3D repeated

New value for element.

SetVelocityStateValueRequest

Request message for DataStoreService.SetVelocityStateValue RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

value actin.rpc.api.common.VelocityState

New value for element.

SetVelocityStateVectorRequest

Request message for DataStoreService.SetVelocityStateVector RPC.

Field Type Label Description
element DsElementId

Location of element to be updated.

values actin.rpc.api.common.VelocityState repeated

New value for element.

StringVector

Vector of strings.

Field Type Label Description
values string repeated

SystemStateVector

Vector of Actin system states.

Field Type Label Description
values actin.rpc.api.common.SystemState repeated

TypeInfo

Description of a data type supported by DataStoreService.

Field Type Label Description
type_id string

Unique identifier for type.

message_name string

Fully qualified name of wrapper message for type.

UInt16Vector

Vector of 16-bit unsigned integers.

Field Type Label Description
values uint32 repeated

UInt32Vector

Vector of 32-bit unsigned integers.

Field Type Label Description
values uint32 repeated

UInt64Vector

Vector of 64-bit unsigned integers.

Field Type Label Description
values uint64 repeated

UInt8Vector

Vector of 8-bit unsigned integers.

Field Type Label Description
values uint32 repeated

Vector3DVector

Vector of 3D vectors.

Field Type Label Description
values actin.rpc.api.common.Vector3D repeated

VelocityStateVector

Vector of Actin velocity states.

Field Type Label Description
values actin.rpc.api.common.VelocityState repeated

WriteValuesStreamResponse

Response message for DataStoreService.WriteValuesStream RPC.

ConfigureValuesStreamRequest.Operation

Enumeration of supported stream operations.

Name Number Description
OPERATION_ADD_ELEMENTS 0 Add new data store elements to stream.
OPERATION_REMOVE_ELEMENTS 1 Remove data store elements from stream.
OPERATION_CLOSE_STREAM 2 Close stream.

NOTE: This operation provides a synchronous alternative to stream cancellation.

Top

actin/rpc/api/data_store/data_store_service.proto

DataStoreService

The DataStoreService provides clients read and write access to the Data Store associated with an Actin RCF system controller.

Method Name Request Type Response Type Description
GetSupportedTypes GetSupportedTypesRequest GetSupportedTypesResponse Get list of data store element types supported by service.
GetPaths GetPathsRequest GetStringVectorResponse Get list of data store paths matching given pattern.
GetElementInfo .google.protobuf.StringValue GetElementInfoResponse Get list of elements at given data store path.

This RPC will return a NOT_FOUND gRPC error if the given path does not exist in the data store.
GetValues GetValuesRequest GetValuesResponse Get values of data store elements at given locations.

This RPC will return a INVALID_ARGUMENT gRPC error if any of the selected element types is not supported by the service.

Else, it will return a NOT_FOUND gRPC error if any of the selected elements does not exist.
SetValues SetValuesRequest SetValuesResponse Set values of data store elements at given locations.

This RPC will return a INVALID_ARGUMENT gRPC error if any of the selected element types is not supported by the service.

Else, it will return a NOT_FOUND gRPC error if any of the selected elements does not exist and Metadata.create_if_missing is not set.
ReadValuesStream ReadValuesStreamRequest DsElementGroup stream Open stream with given ID to receive value updates for data store elements at given locations.

This RPC will return a ALREADY_EXISTS gRPC error if a read stream is already open with the same ID.

Else, it will return a INVALID_ARGUMENT gRPC error if any of the selected element types is not supported by the service or if the requested stream period is 0.

Else, it will return a NOT_FOUND gRPC error if any of the selected elements does not exist.
ConfigureValuesStream ConfigureValuesStreamRequest ConfigureValuesStreamResponse Configure active ReadValuesStream RPC with given stream ID.

This RPC will return a NOT_FOUND gRPC error if no read stream is open with the given ID.
WriteValuesStream DsElementGroup stream WriteValuesStreamResponse Open stream to write values to data store elements.

This RPC will return a INVALID_ARGUMENT gRPC error if an attempt is made to write to an element type that is not supported by the service.

Else, it will return a NOT_FOUND gRPC error if an attempt is made to write to a non-existent data store element and Metadata.create_if_missing is not set.

GetBooleanValue GetValueRequest .google.protobuf.BoolValue Get value of boolean data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no boolean element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetBooleanValue SetBooleanValueRequest .google.protobuf.Empty Set value of boolean data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no boolean element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadBooleanStream ReadStreamRequest .google.protobuf.BoolValue stream Open stream to receive value updates for boolean data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no boolean element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteBooleanStream SetBooleanValueRequest stream .google.protobuf.Empty Open stream to write values to boolean data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no boolean element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetBooleanVector GetValueRequest GetBooleanVectorResponse Get value of boolean vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no boolean vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetBooleanVector SetBooleanVectorRequest .google.protobuf.Empty Set value of boolean vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no boolean vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadBooleanVectorStream ReadStreamRequest GetBooleanVectorResponse stream Open stream to receive value updates for boolean vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no boolean vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteBooleanVectorStream SetBooleanVectorRequest stream .google.protobuf.Empty Open stream to write values to boolean vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no boolean vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetInt8Value GetValueRequest .google.protobuf.Int32Value Get value of 8-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit signed integer element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetInt8Value SetInt8ValueRequest .google.protobuf.Empty Set value of 8-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit signed integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadInt8Stream ReadStreamRequest .google.protobuf.Int32Value stream Open stream to receive value updates for 8-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit signed integer element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteInt8Stream SetInt8ValueRequest stream .google.protobuf.Empty Open stream to write values to 8-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit signed integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetInt8Vector GetValueRequest GetInt8VectorResponse Get value of 8-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetInt8Vector SetInt8VectorRequest .google.protobuf.Empty Set value of 8-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit signed integer vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadInt8VectorStream ReadStreamRequest GetInt8VectorResponse stream Open stream to receive value updates for 8-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteInt8VectorStream SetInt8VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 8-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetInt16Value GetValueRequest .google.protobuf.Int32Value Get value of 16-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit signed integer element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetInt16Value SetInt16ValueRequest .google.protobuf.Empty Set value of 16-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit signed integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadInt16Stream ReadStreamRequest .google.protobuf.Int32Value stream Open stream to receive value updates for 16-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit signed integer element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteInt16Stream SetInt16ValueRequest stream .google.protobuf.Empty Open stream to write values to 16-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit signed integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetInt16Vector GetValueRequest GetInt16VectorResponse Get value of 16-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetInt16Vector SetInt16VectorRequest .google.protobuf.Empty Set value of 16-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit signed integer vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadInt16VectorStream ReadStreamRequest GetInt16VectorResponse stream Open stream to receive value updates for 16-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteInt16VectorStream SetInt16VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 16-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetInt32Value GetValueRequest .google.protobuf.Int32Value Get value of 32-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit signed integer element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetInt32Value SetInt32ValueRequest .google.protobuf.Empty Set value of 32-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit signed integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadInt32Stream ReadStreamRequest .google.protobuf.Int32Value stream Open stream to receive value updates for 32-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit signed integer element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteInt32Stream SetInt32ValueRequest stream .google.protobuf.Empty Open stream to write values to 32-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit signed integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetInt32Vector GetValueRequest GetInt32VectorResponse Get value of 32-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetInt32Vector SetInt32VectorRequest .google.protobuf.Empty Set value of 32-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit signed integer vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadInt32VectorStream ReadStreamRequest GetInt32VectorResponse stream Open stream to receive value updates for 32-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteInt32VectorStream SetInt32VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 32-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetInt64Value GetValueRequest .google.protobuf.Int64Value Get value of 64-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit signed integer element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetInt64Value SetInt64ValueRequest .google.protobuf.Empty Set value of 64-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit signed integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadInt64Stream ReadStreamRequest .google.protobuf.Int64Value stream Open stream to receive value updates for 64-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit signed integer element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteInt64Stream SetInt64ValueRequest stream .google.protobuf.Empty Open stream to write values to 64-bit signed integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit signed integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetInt64Vector GetValueRequest GetInt64VectorResponse Get value of 64-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetInt64Vector SetInt64VectorRequest .google.protobuf.Empty Set value of 64-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit signed integer vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadInt64VectorStream ReadStreamRequest GetInt64VectorResponse stream Open stream to receive value updates for 64-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteInt64VectorStream SetInt64VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 64-bit signed integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit signed integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetUInt8Value GetValueRequest .google.protobuf.UInt32Value Get value of 8-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit unsigned integer element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetUInt8Value SetUInt8ValueRequest .google.protobuf.Empty Set value of 8-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit unsigned integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadUInt8Stream ReadStreamRequest .google.protobuf.UInt32Value stream Open stream to receive value updates for 8-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit unsigned integer element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteUInt8Stream SetUInt8ValueRequest stream .google.protobuf.Empty Open stream to write values to 8-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit unsigned integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetUInt8Vector GetValueRequest GetUInt8VectorResponse Get value of 8-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetUInt8Vector SetUInt8VectorRequest .google.protobuf.Empty Set value of 8-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit unsigned integer vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadUInt8VectorStream ReadStreamRequest GetUInt8VectorResponse stream Open stream to receive value updates for 8-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteUInt8VectorStream SetUInt8VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 8-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 8-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetUInt16Value GetValueRequest .google.protobuf.UInt32Value Get value of 16-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit unsigned integer element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetUInt16Value SetUInt16ValueRequest .google.protobuf.Empty Set value of 16-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit unsigned integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadUInt16Stream ReadStreamRequest .google.protobuf.UInt32Value stream Open stream to receive value updates for 16-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit unsigned integer element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteUInt16Stream SetUInt16ValueRequest stream .google.protobuf.Empty Open stream to write values to 16-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit unsigned integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetUInt16Vector GetValueRequest GetUInt16VectorResponse Get value of 16-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetUInt16Vector SetUInt16VectorRequest .google.protobuf.Empty Set value of 16-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit unsigned integer vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadUInt16VectorStream ReadStreamRequest GetUInt16VectorResponse stream Open stream to receive value updates for 16-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteUInt16VectorStream SetUInt16VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 16-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 16-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetUInt32Value GetValueRequest .google.protobuf.UInt32Value Get value of 32-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit unsigned integer element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetUInt32Value SetUInt32ValueRequest .google.protobuf.Empty Set value of 32-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit unsigned integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadUInt32Stream ReadStreamRequest .google.protobuf.UInt32Value stream Open stream to receive value updates for 32-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit unsigned integer element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteUInt32Stream SetUInt32ValueRequest stream .google.protobuf.Empty Open stream to write values to 32-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit unsigned integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetUInt32Vector GetValueRequest GetUInt32VectorResponse Get value of 32-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetUInt32Vector SetUInt32VectorRequest .google.protobuf.Empty Set value of 32-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit unsigned integer vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadUInt32VectorStream ReadStreamRequest GetUInt32VectorResponse stream Open stream to receive value updates for 32-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteUInt32VectorStream SetUInt32VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 32-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 32-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetUInt64Value GetValueRequest .google.protobuf.UInt64Value Get value of 64-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit unsigned integer element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetUInt64Value SetUInt64ValueRequest .google.protobuf.Empty Set value of 64-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit unsigned integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadUInt64Stream ReadStreamRequest .google.protobuf.UInt64Value stream Open stream to receive value updates for 64-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit unsigned integer element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteUInt64Stream SetUInt64ValueRequest stream .google.protobuf.Empty Open stream to write values to 64-bit unsigned integer data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit unsigned integer element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetUInt64Vector GetValueRequest GetUInt64VectorResponse Get value of 64-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetUInt64Vector SetUInt64VectorRequest .google.protobuf.Empty Set value of 64-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit unsigned integer vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadUInt64VectorStream ReadStreamRequest GetUInt64VectorResponse stream Open stream to receive value updates for 64-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteUInt64VectorStream SetUInt64VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 64-bit unsigned integer vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 64-bit unsigned integer vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetFloat32Value GetValueRequest .google.protobuf.FloatValue Get value of single-precision floating point number data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no single-precision floating point number element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetFloat32Value SetFloat32ValueRequest .google.protobuf.Empty Set value of single-precision floating point number data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no single-precision floating point number element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadFloat32Stream ReadStreamRequest .google.protobuf.FloatValue stream Open stream to receive value updates for single-precision floating point number data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no single-precision floating point number element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteFloat32Stream SetFloat32ValueRequest stream .google.protobuf.Empty Open stream to write values to single-precision floating point number data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no single-precision floating point number element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetFloat32Vector GetValueRequest GetFloat32VectorResponse Get value of single-precision floating point number vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no single-precision floating point number vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetFloat32Vector SetFloat32VectorRequest .google.protobuf.Empty Set value of single-precision floating point number vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no single-precision floating point number vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadFloat32VectorStream ReadStreamRequest GetFloat32VectorResponse stream Open stream to receive value updates for single-precision floating point number vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no single-precision floating point number vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteFloat32VectorStream SetFloat32VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for single-precision floating point number vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no single-precision floating point number vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetFloat64Value GetValueRequest .google.protobuf.DoubleValue Get value of double-precision floating point number data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no double-precision floating point number element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetFloat64Value SetFloat64ValueRequest .google.protobuf.Empty Set value of double-precision floating point number data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no double-precision floating point number element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadFloat64Stream ReadStreamRequest .google.protobuf.DoubleValue stream Open stream to receive value updates for double-precision floating point number data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no double-precision floating point number element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteFloat64Stream SetFloat64ValueRequest stream .google.protobuf.Empty Open stream to write values to double-precision floating point number data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no double-precision floating point number element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetFloat64Vector GetValueRequest GetFloat64VectorResponse Get value of double-precision floating point number vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no double-precision floating point number vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetFloat64Vector SetFloat64VectorRequest .google.protobuf.Empty Set value of double-precision floating point number vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no double-precision floating point number vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadFloat64VectorStream ReadStreamRequest GetFloat64VectorResponse stream Open stream to receive value updates for double-precision floating point number vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no double-precision floating point number vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteFloat64VectorStream SetFloat64VectorRequest stream .google.protobuf.Empty Open stream to receive value updates for double-precision floating point number vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no double-precision floating point number vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetStringValue GetValueRequest .google.protobuf.StringValue Get value of string data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no string element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetStringValue SetStringValueRequest .google.protobuf.Empty Set value of string data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no string element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadStringStream ReadStreamRequest .google.protobuf.StringValue stream Open stream to receive value updates for string data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no string element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteStringStream SetStringValueRequest stream .google.protobuf.Empty Open stream to write values to string data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no string element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetStringVector GetValueRequest GetStringVectorResponse Get value of string vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no string vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetStringVector SetStringVectorRequest .google.protobuf.Empty Set value of string vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no string vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadStringVectorStream ReadStreamRequest GetStringVectorResponse stream Open stream to receive value updates for string vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no string vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteStringVectorStream SetStringVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for string vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no string vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetPropagatedExceptionValue GetValueRequest .actin.rpc.api.common.PropagatedException Get value of Actin propagated exception data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetPropagatedExceptionValue SetPropagatedExceptionValueRequest .google.protobuf.Empty Set value of Actin propagated exception data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadPropagatedExceptionStream ReadStreamRequest .actin.rpc.api.common.PropagatedException stream Open stream to receive value updates for Actin propagated exception data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WritePropagatedExceptionStream SetPropagatedExceptionValueRequest stream .google.protobuf.Empty Open stream to write values to Actin propagated exception data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetPropagatedExceptionVector GetValueRequest GetPropagatedExceptionVectorResponse Get value of Actin propagated exception vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetPropagatedExceptionVector SetPropagatedExceptionVectorRequest .google.protobuf.Empty Set value of Actin propagated exception vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadPropagatedExceptionVectorStream ReadStreamRequest GetPropagatedExceptionVectorResponse stream Open stream to receive value updates for Actin propagated exception vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WritePropagatedExceptionVectorStream SetPropagatedExceptionVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for Actin propagated exception vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetPropExceptionListValue GetValueRequest .actin.rpc.api.common.PropExceptionList Get value of Actin propagated exception list data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception list element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetPropExceptionListValue SetPropExceptionListValueRequest .google.protobuf.Empty Set value of Actin propagated exception list data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception list element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadPropExceptionListStream ReadStreamRequest .actin.rpc.api.common.PropExceptionList stream Open stream to receive value updates for Actin propagated exception list data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception list element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WritePropExceptionListStream SetPropExceptionListValueRequest stream .google.protobuf.Empty Open stream to write values to Actin propagated exception list data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception list element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetPropExceptionListVector GetValueRequest GetPropExceptionListVectorResponse Get value of Actin propagated exception list vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception list vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetPropExceptionListVector SetPropExceptionListVectorRequest .google.protobuf.Empty Set value of Actin propagated exception list vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception list vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadPropExceptionListVectorStream ReadStreamRequest GetPropExceptionListVectorResponse stream Open stream to receive value updates for Actin propagated exception list vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception list vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WritePropExceptionListVectorStream SetPropExceptionListVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for Actin propagated exception list vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin propagated exception list vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetVector3DValue GetValueRequest .actin.rpc.api.common.Vector3D Get value of 3D vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetVector3DValue SetVector3DValueRequest .google.protobuf.Empty Set value of 3D vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadVector3DStream ReadStreamRequest .actin.rpc.api.common.Vector3D stream Open stream to receive value updates for 3D vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteVector3DStream SetVector3DValueRequest stream .google.protobuf.Empty Open stream to write values to 3D vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetVector3DVector GetValueRequest GetVector3DVectorResponse Get value of 3D vector vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D vector vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetVector3DVector SetVector3DVectorRequest .google.protobuf.Empty Set value of 3D vector vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D vector vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadVector3DVectorStream ReadStreamRequest GetVector3DVectorResponse stream Open stream to receive value updates for 3D vector vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D vector vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteVector3DVectorStream SetVector3DVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 3D vector vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D vector vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetOrientationValue GetValueRequest .actin.rpc.api.common.Quaternion Get value of 3D orientation data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D orientation element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetOrientationValue SetOrientationValueRequest .google.protobuf.Empty Set value of 3D orientation data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D orientation element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadOrientationStream ReadStreamRequest .actin.rpc.api.common.Quaternion stream Open stream to receive value updates for 3D orientation data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D orientation element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteOrientationStream SetOrientationValueRequest stream .google.protobuf.Empty Open stream to write values to 3D orientation data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D orientation element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetOrientationVector GetValueRequest GetOrientationVectorResponse Get value of 3D orientation vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D orientation vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetOrientationVector SetOrientationVectorRequest .google.protobuf.Empty Set value of 3D orientation vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D orientation vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadOrientationVectorStream ReadStreamRequest GetOrientationVectorResponse stream Open stream to receive value updates for 3D orientation vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D orientation vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteOrientationVectorStream SetOrientationVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 3D orientation vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D orientation vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetCoordinateSystemTransformationValue GetValueRequest .actin.rpc.api.common.CoordinateSystemTransformation Get value of 3D coordinate system transformation data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D coordinate system transformation element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetCoordinateSystemTransformationValue SetCoordinateSystemTransformationValueRequest .google.protobuf.Empty Set value of 3D coordinate system transformation data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D coordinate system transformation element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadCoordinateSystemTransformationStream ReadStreamRequest .actin.rpc.api.common.CoordinateSystemTransformation stream Open stream to receive value updates for 3D coordinate system transformation data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D coordinate system transformation element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteCoordinateSystemTransformationStream SetCoordinateSystemTransformationValueRequest stream .google.protobuf.Empty Open stream to write values to 3D coordinate system transformation data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D coordinate system transformation element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetCoordinateSystemTransformationVector GetValueRequest GetCoordinateSystemTransformationVectorResponse Get value of 3D coordinate system transformation vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D coordinate system transformation vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetCoordinateSystemTransformationVector SetCoordinateSystemTransformationVectorRequest .google.protobuf.Empty Set value of 3D coordinate system transformation vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D coordinate system transformation vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadCoordinateSystemTransformationVectorStream ReadStreamRequest GetCoordinateSystemTransformationVectorResponse stream Open stream to receive value updates for 3D coordinate system transformation vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D coordinate system transformation vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteCoordinateSystemTransformationVectorStream SetCoordinateSystemTransformationVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for 3D coordinate system transformation vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no 3D coordinate system transformation vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetPositionStateValue GetValueRequest .actin.rpc.api.common.PositionState Get value of Actin position state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin position state element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetPositionStateValue SetPositionStateValueRequest .google.protobuf.Empty Set value of Actin position state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin position state element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadPositionStateStream ReadStreamRequest .actin.rpc.api.common.PositionState stream Open stream to receive value updates for Actin position state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin position state element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WritePositionStateStream SetPositionStateValueRequest stream .google.protobuf.Empty Open stream to write values to Actin position state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin position state element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetPositionStateVector GetValueRequest GetPositionStateVectorResponse Get value of Actin position state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin position state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetPositionStateVector SetPositionStateVectorRequest .google.protobuf.Empty Set value of Actin position state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin position state vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadPositionStateVectorStream ReadStreamRequest GetPositionStateVectorResponse stream Open stream to receive value updates for Actin position state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin position state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WritePositionStateVectorStream SetPositionStateVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for Actin position state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin position state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetVelocityStateValue GetValueRequest .actin.rpc.api.common.VelocityState Get value of Actin velocity state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin velocity state element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetVelocityStateValue SetVelocityStateValueRequest .google.protobuf.Empty Set value of Actin velocity state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin velocity state element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadVelocityStateStream ReadStreamRequest .actin.rpc.api.common.VelocityState stream Open stream to receive value updates for Actin velocity state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin velocity state element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteVelocityStateStream SetVelocityStateValueRequest stream .google.protobuf.Empty Open stream to write values to Actin velocity state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin velocity state element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetVelocityStateVector GetValueRequest GetVelocityStateVectorResponse Get value of Actin velocity state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin velocity state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetVelocityStateVector SetVelocityStateVectorRequest .google.protobuf.Empty Set value of Actin velocity state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin velocity state vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadVelocityStateVectorStream ReadStreamRequest GetVelocityStateVectorResponse stream Open stream to receive value updates for Actin velocity state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin velocity state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteVelocityStateVectorStream SetVelocityStateVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for Actin velocity state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin velocity state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetAccelerationStateValue GetValueRequest .actin.rpc.api.common.AccelerationState Get value of Actin acceleration state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin acceleration state element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetAccelerationStateValue SetAccelerationStateValueRequest .google.protobuf.Empty Set value of Actin acceleration state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin acceleration state element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadAccelerationStateStream ReadStreamRequest .actin.rpc.api.common.AccelerationState stream Open stream to receive value updates for Actin acceleration state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin acceleration state element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteAccelerationStateStream SetAccelerationStateValueRequest stream .google.protobuf.Empty Open stream to write values to Actin acceleration state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin acceleration state element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetAccelerationStateVector GetValueRequest GetAccelerationStateVectorResponse Get value of Actin acceleration state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin acceleration state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetAccelerationStateVector SetAccelerationStateVectorRequest .google.protobuf.Empty Set value of Actin acceleration state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin acceleration state vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadAccelerationStateVectorStream ReadStreamRequest GetAccelerationStateVectorResponse stream Open stream to receive value updates for Actin acceleration state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin acceleration state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteAccelerationStateVectorStream SetAccelerationStateVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for Actin acceleration state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin acceleration state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetSystemStateValue GetValueRequest .actin.rpc.api.common.SystemState Get value of Actin system state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin system state element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetSystemStateValue SetSystemStateValueRequest .google.protobuf.Empty Set value of Actin system state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin system state element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadSystemStateStream ReadStreamRequest .actin.rpc.api.common.SystemState stream Open stream to receive value updates for Actin system state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin system state element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteSystemStateStream SetSystemStateValueRequest stream .google.protobuf.Empty Open stream to write values to Actin system state data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin system state element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of WriteValuesStream.
GetSystemStateVector GetValueRequest GetSystemStateVectorResponse Get value of Actin system state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin system state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of GetValues.
SetSystemStateVector SetSystemStateVectorRequest .google.protobuf.Empty Set value of Actin system state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin system state vector element at the given key and path and Metadata.create_if_missing is not set.

NOTE: This RPC is deprecated in favor of SetValues.
ReadSystemStateVectorStream ReadStreamRequest GetSystemStateVectorResponse stream Open stream to receive value updates for Actin system state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin system state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of ReadValuesStream.
WriteSystemStateVectorStream SetSystemStateVectorRequest stream .google.protobuf.Empty Open stream to receive value updates for Actin system state vector data store element at given key and path.

This RPC will return a NOT_FOUND gRPC error if there is no Actin system state vector element at the given key and path.

NOTE: This RPC is deprecated in favor of WriteValuesStream.

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actin/rpc/api/data_store/data_store_metadata.proto

Metadata

Client metadata specification for DataStoreService.

This pseudo-message uses gRPC field options to provide cross-platform constants defining the key, type, and default value of each client metadata entry supported by the DataStoreService. These field options are accessible via the gRPC API for most, if not all, supported client languages.

Example C++ Code to Access Metadata.create_if_missing.metadata_key: using ds_api = actin::rpc::api::data_store; using common_api = actin::rpc::api::common;

auto key = ds_api::Metadata::descriptor() -> FindFieldByNumber(ds_api::Metadata::kCreateIfMissingFieldNumber) -> options().GetExtension(common_api::field_opts).metadata_key();

Field Type Label Description
create_if_missing Metadata.ValueSpec

Data store element creation enable flag.



When this client metadata flag is set to true for an RPC in the

DataStoreService.Set{TYPE}Value, DataStoreService.Read{TYPE}Stream,

DataStoreService.Set{TYPE}Vector, or DataStoreService.Read{TYPE}VectorStream

family, then the data store element being written to will be created if it does

not already exist. Else, when the flag is unset or set to false for any of

those RPCs, then any attempt to write to a non-existent data store element will

return a NOT_FOUND gRPC error instead.

Metadata.ValueSpec

Pseudo-message to define key, type, and default value for single metadata entry.

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actin/rpc/api/ec_script/ec_script_service.proto

EcScriptService

The EcScriptService lets clients run a list of motion scripts on an Actin RCF manipulator controller.

When the script list finishes or is stopped by a client, the service will ensure all manipulators managed by the controller stop moving. Likewise, the script list will be halted and manipulator motion will be stopped if any script in the list encounters an error.

NOTE: The script list used by the service is not cleared when execution stops but must be cleared manually using the ClearScripts RPC.

Method Name Request Type Response Type Description
AddScript AddScriptRequest AddScriptResponse Add entry to list of motion scripts to be executed by service.

NOTE: This RPC can be made at any time, regardless of the current service state.
ClearScripts ClearScriptsRequest ClearScriptsResponse Clear list of motion scripts to be executed by service.

NOTE: This RPC can only be made when the script script is neither under execution nor paused. Attempting to make this RPC otherwise will cause an error to be generated.
Start StartRequest StartResponse Start execution of motion script list from the beginning.

NOTE: This RPC can only be made when the script list is non-empty and is neither already under execution nor paused. Attempting to make this RPC otherwise will cause an error to be generated.
Pause PauseRequest PauseResponse Pause execution of motion script list.

NOTE: This RPC can only be made when the script list is currently being executed or is already paused. Attempting to make this RPC otherwise will cause an error to be generated.
Resume ResumeRequest ResumeResponse Resume execution of motion script list.

NOTE: This RPC can only be made when script list execution is currently paused. Attempting to make this RPC otherwise will cause an error to be generated.
Stop StopRequest StopResponse Stop execution of motion script list.

This RPC will also ensure all manipulators managed by the Actin RCF manipulator controller associated with the EcScriptService stop moving.

NOTE: This RPC can be made at any time, regardless of the current service state.
GetStatus GetStatusRequest GetStatusResponse Get current service status.
ReadStatusStream ReadStatusStreamRequest ReadStatusUpdate stream Open stream to receive service status updates.
GetScriptTokens GetScriptTokensRequest GetScriptTokensResponse Get list of EcScript tokens (e.g. motion_seq, move_pos) supported by service.

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actin/rpc/api/ec_script/ec_script_types.proto

AddScriptRequest

Request message for EcScriptService.AddScript RPC.

The motion script to be added must be given a unique ID to differentiate it from other scripts in the execution list. The script definition may be either provided in-band with this message or referenced from an existing RCF data store string element.

Field Type Label Description
script_id string

Unique ID to assign to the motion script.



NOTE: This ID will be reported by ExecutorStatus.script_id when the

service is executing the script.

script_text AddScriptRequest.ScriptText

In-band motion script definition.

script_ref AddScriptRequest.ScriptRef

Key/path of script definition within RCF data store.

AddScriptRequest.ScriptRef

RCF data store location for string element with motion script definition.

Field Type Label Description
key string

Data store key for script text.

path string

Data store path for script text.

AddScriptRequest.ScriptText

Ad-hoc textual definition for motion script.

Field Type Label Description
script string

ASCII text defining motion script.

AddScriptResponse

Response message for EcScriptService.AddScript RPC.

Field Type Label Description
error Error

Error condition reported by RPC.



This will be Error.CODE_ILLEGAL_OPERATION if the service state is

ExecutorStatus.STATE_INVALID.



Else, it will be Error.Code.CODE_BAD_ARGUMENT under any of the following scenarios:

1) Script ID is already in use by another motion script in the list.

2) Data store element referenced for script definition does not exist

or has the wrong type.

3) Given/referenced motion script definition has syntax and/or semantic errors.



Else, it should be Error.Code.CODE_OK.

ClearScriptsRequest

Request message for EcScriptService.ClearScript RPC.

ClearScriptsResponse

Response message for EcScriptService.ClearScript RPC.

Field Type Label Description
error Error

Error condition reported by RPC.



This will be Error.CODE_ILLEGAL_OPERATION if the service state is

not ExecutorStatus.STATE_IDLE.



Else, it should be Error.Code.CODE_OK.

Error

Error condition reported by an EcScriptService RPC.

Field Type Label Description
code Error.Code

Status code for error condition.

message string

Human-readable description for error condition.

ExecutorStatus

Status report for script executor at the core of EcScriptService.

Field Type Label Description
state_group_id ExecutorStatus.StateGroupId

Current service state group ID.

state_group_name string

String representation of .state_group_id.

state_id ExecutorStatus.StateId

Current service state ID.

state_name string

String representation of .state_id.

script_count uint32

Current script list size.

script_index uint32

Zero-based index of currently active motion script (within script list).



This field has a value of -1 when the service has no active script or is

executing a special internal script such as during pause and resume events.

script_id string

ID of currently active motion script.

script_status ExecutorStatus.ScriptStatus

Status of currently active motion script.

script_progress double

Progress of currently active motion script.



The range of valid values for this field is between 0.0 and 1.0, inclusive.

GetScriptTokensRequest

Request message for EcScriptService.GetScriptTokens RPC.

GetScriptTokensResponse

Response message for EcScriptService.GetScriptTokens RPC.

Field Type Label Description
tokens string repeated

list of EcScript tokens registered with service.

GetStatusRequest

Request message for EcScriptService.GetStatus RPC.

GetStatusResponse

Response message for EcScriptService.GetStatus RPC.

Field Type Label Description
status ExecutorStatus

Current status of EcScriptService.

PauseRequest

Request message for EcScriptService.Pause RPC.

PauseResponse

Response message for EcScriptService.Pause RPC.

Field Type Label Description
error Error

Error condition reported by RPC.



This will be Error.CODE_ILLEGAL_OPERATION if the service state is

not ExecutorStatus.STATE_RUNNING, ExecutorStatus.STATE_PAUSING,

or ExecutorStatus.STATE_PAUSED.



Else, it should be Error.Code.CODE_OK.

ReadStatusStreamRequest

Request message for EcScriptService.ReadStatusStream RPC.

Field Type Label Description
period int32

Polling period for service status updates (in milliseconds).



This field defines how often the service should poll itself for status changes.

The first polling event will always write a ReadStatusUpdate to the stream.

Each subsequent polling event will only write a ReadStatusUpdate when a

change to service status is detected.

ReadStatusUpdate

Update message for EcScriptService.ReadStatusStream RPC.

Field Type Label Description
status ExecutorStatus

Most recent status of EcScriptService.

ResumeRequest

Request message for EcScriptService.Resume RPC.

ResumeResponse

Response message for EcScriptService.Resume RPC.

Field Type Label Description
error Error

Error condition reported by RPC.



This will be Error.CODE_ILLEGAL_OPERATION if the service state is

not ExecutorStatus.STATE_PAUSED or ExecutorStatus.STATE_RESUMING.



Else, it should be Error.Code.CODE_OK.

StartRequest

Request message for EcScriptService.Start RPC.

StartResponse

Response message for EcScriptService.Start RPC.

Field Type Label Description
error Error

Error condition reported by RPC.



This will be Error.CODE_ILLEGAL_OPERATION if the motion script list is empty

or the service state is not ExecutorStatus.STATE_IDLE.



Else, it should be Error.Code.CODE_OK.

StopRequest

Request message for EcScriptService.Stop RPC.

StopResponse

Response message for EcScriptService.Stop RPC.

Field Type Label Description
error Error

Error condition reported by RPC.



This will be Error.CODE_ILLEGAL_OPERATION if the service state is

ExecutorStatus.STATE_INVALID.



Else, it should be Error.Code.CODE_OK.

Error.Code

Enumeration of status codes for EcScriptService RPCs.

Name Number Description
CODE_OK 0 No error; RPC was successful.
CODE_BAD_ARGUMENT 1 One or more RPC arguments were invalid.
CODE_ILLEGAL_OPERATION 2 RPC not allowed in current service state.
CODE_INTERNAL 3 Internal service error occurred while processing RPC.

ExecutorStatus.ScriptStatus

Enumeration of execution statuses for individual motion scripts.

Name Number Description
SCRIPT_NOT_STARTED 0 Script has not been started.
SCRIPT_IN_PROGRESS 1 Script is being run normally.
SCRIPT_STOPPING 2 Script is being stopped.
SCRIPT_PAUSED 3 Script has been paused.
SCRIPT_SUCCEEDED 4 Script has finished without error.
SCRIPT_FAILED 5 Script has been aborted due to error.

ExecutorStatus.StateGroupId

Enumeration of state group IDs for EcScriptService.

These group IDs are meant to summarize the current script list execution state for use cases that are not concerned with the finer detail provided by ExecutorStatus.StateId.

NOTE: This is an open enumeration. User code should not assume that ExecutorStatus.StateGroupId values generated by the service can only be one of the values listed in this .proto file.

Name Number Description
STATE_TYPE_INVALID 0 Service is in an invalid state.
STATE_TYPE_IDLE 1 Script list execution not started or has stopped.
STATE_TYPE_ACTIVE 2 Script list execution is in progress.
STATE_TYPE_PAUSED 3 Script list execution has been paused.

ExecutorStatus.StateId

Enumeration of state IDs for EcScriptService.

NOTE: This is an open enumeration. User code should not assume that ExecutorStatus.StateId values generated by the service can only be one of the values listed in this .proto file.

Name Number Description
STATE_INVALID 0 Service is in an invalid state.
STATE_IDLE 1 Script list execution not started or has stopped.
STATE_RUNNING 2 Script list execution is running normally.
STATE_PAUSING 3 Script list execution is pausing.
STATE_PAUSED 4 Script list execution has been paused.
STATE_RESUMING 5 Script list execution is resumming from pause.
STATE_STOPPING 6 Script list execution is stopping.

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actin/rpc/api/process_manager/process_manager_service.proto

ProcessManagerService

The ProcessManagerService provides clients the ability to start, stop, and monitor processes on the machine hosting an Actin RCF system controller.

The set of processes that may be managed via this service is determined by the service's configuration within the system controller. Any attempt to manage an unsupported process will result in an error.

Method Name Request Type Response Type Description
Start StartRequest StartResponse Start processes with given names.

If a specified process is already running, this RPC will leave it unaffected.
Restart RestartRequest RestartResponse Restart processes with given names.

Each of the specified processes will be killed first (if not already stopped) and then started afresh.
Stop StopRequest StopResponse Gracefully stop processes with given names.

If a specified process is already stopped, this RPC will leave it unaffected.
Kill KillRequest KillResponse Forcefully stop processes with given names.

If a specified process is already stopped, this RPC will leave it unaffected.
Status StatusRequest StatusResponse Get current status of processes with given names.

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actin/rpc/api/process_manager/process_manager_types.proto

KillRequest

Request message for ProcessManagerService#Kill RPC.

Field Type Label Description
process_names string repeated

Names of processes to be killed.

KillResponse

Response message for ProcessManagerService#Kill RPC.

Field Type Label Description
results OperationResult repeated

Process-specific results for kill command.

OperationResult

Process-specific result of a ProcessManagerService RPC.

Field Type Label Description
process_name string

Name/path of process for which this result applies.

error_code OperationResult.ErrorCode

Status code for RPC, specific to process with #process_name.

run_state OperationResult.RunState

Current run state for process with #process_name.

readiness OperationResult.Readiness

Current readiness state for process with #process_name.

status_message string

Status mesage for RPC, specific to process with #process_name.

RestartRequest

Request message for ProcessManagerService#Restart RPC.

Field Type Label Description
process_names string repeated

Names of processes to be restarted.

RestartResponse

Response message for ProcessManagerService#Restart RPC.

Field Type Label Description
results OperationResult repeated

Process-specific results for restart command.

StartRequest

Request message for ProcessManagerService#Start RPC.

Field Type Label Description
process_names string repeated

Names of processes to be started.

StartResponse

Response message for ProcessManagerService#Start RPC.

Field Type Label Description
results OperationResult repeated

Process-specific results for start command.

StatusRequest

Request message for ProcessManagerService#Status RPC.

Field Type Label Description
process_names string repeated

Names of processes to be statused.

StatusResponse

Response message for ProcessManagerService#Status RPC.

Field Type Label Description
results OperationResult repeated

Process-specific results for status command.

StopRequest

Request message for ProcessManagerService#Stop RPC.

Field Type Label Description
process_names string repeated

Names of processes to be stopped.

StopResponse

Response message for ProcessManagerService#Stop RPC.

Field Type Label Description
results OperationResult repeated

Process-specific results for stop command.

OperationResult.ErrorCode

Enumeration of process-specific status codes for ProcessManagerService RPCs.

Name Number Description
ERRORCODE_NONE 0 No error; process successfully updated/statused by RPC.
ERRORCODE_INVALID_NAME 1 Process name not recognized by service.
ERRORCODE_OPERATION_FAILED 2 RPC failed to update/status process.
ERRORCODE_UNHANDLED 3 RPC not supported for process.

OperationResult.Readiness

Enumeration of readiness states for a ProcessManagerService-controlled process.

Name Number Description
READINESS_UNKNOWN 0 Process readiness state is unknown.
READINESS_NOT_READY 1 Process is not ready for use (and may not be running).
READINESS_READY 2 Process is running and ready for use.

OperationResult.RunState

Enumeration of run states for a ProcessManagerService-controlled process.

Name Number Description
RUNSTATE_UNKNOWN 0 Process run state is unknown.
RUNSTATE_NOT_RUNNING 1 Process is stopped.
RUNSTATE_RUNNING 2 Process is running (but may not be ready for use).

Scalar Value Types

.proto Type Notes C++ Java Python Go C# PHP Ruby
double double double float float64 double float Float
float float float float float32 float float Float
int32 Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead. int32 int int int32 int integer Bignum or Fixnum (as required)
int64 Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead. int64 long int/long int64 long integer/string Bignum
uint32 Uses variable-length encoding. uint32 int int/long uint32 uint integer Bignum or Fixnum (as required)
uint64 Uses variable-length encoding. uint64 long int/long uint64 ulong integer/string Bignum or Fixnum (as required)
sint32 Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s. int32 int int int32 int integer Bignum or Fixnum (as required)
sint64 Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s. int64 long int/long int64 long integer/string Bignum
fixed32 Always four bytes. More efficient than uint32 if values are often greater than 2^28. uint32 int int uint32 uint integer Bignum or Fixnum (as required)
fixed64 Always eight bytes. More efficient than uint64 if values are often greater than 2^56. uint64 long int/long uint64 ulong integer/string Bignum
sfixed32 Always four bytes. int32 int int int32 int integer Bignum or Fixnum (as required)
sfixed64 Always eight bytes. int64 long int/long int64 long integer/string Bignum
bool bool boolean boolean bool bool boolean TrueClass/FalseClass
string A string must always contain UTF-8 encoded or 7-bit ASCII text. string String str/unicode string string string String (UTF-8)
bytes May contain any arbitrary sequence of bytes. string ByteString str []byte ByteString string String (ASCII-8BIT)