egm_wrapper.proto

//======================================================================================================================
//
// Wrapper messages.
//
// Note: Used to wrap the actual EGM messages, which are defined in the egm.proto file from ABB Robotics.
//       This can be used in intermediate components that are utilizing EGM communication for motion control.
//
//======================================================================================================================

syntax = "proto2";

package abb.egm.wrapper;

//======================================================================================================================
//
// Auxiliary messages.
//
//======================================================================================================================

message Header
{ 
  enum MessageType
  {
    UNDEFINED = 0;
    DATA      = 1; // Message contains data sent by the robot controller.
  }

  optional uint32      sequence_number = 1; // Sequence number (to be able to detect lost messages).
  optional uint32      time_stamp      = 2; // Time stamp in milliseconds.
  optional MessageType message_type    = 3 [default = UNDEFINED];
}

// Note: Status of the robot controller, and the active EGM motion.
message Status
{
  enum EGMState
  {
    EGM_UNDEFINED = 0;
    EGM_ERROR     = 1;
    EGM_STOPPED   = 2;
    EGM_RUNNING   = 3;
  }

  enum MotorState 
  {
    MOTORS_UNDEFINED = 0;
    MOTORS_ON        = 1;
    MOTORS_OFF       = 2;
  }

  enum RAPIDExecutionState
  {
    RAPID_UNDEFINED = 0;
    RAPID_STOPPED   = 1;
    RAPID_RUNNING   = 2;
  }
  
  optional bool                egm_convergence_met   = 1;
  optional EGMState            egm_state             = 2 [default = EGM_UNDEFINED];
  optional MotorState          motor_state           = 3 [default = MOTORS_UNDEFINED];
  optional RAPIDExecutionState rapid_execution_state = 4 [default = RAPID_UNDEFINED];
}

// Note: Time in seconds and microseconds since the epoch (1 Jan 1970)
message Clock
{
    optional uint64 sec  = 1;
    optional uint64 usec = 2;
}

//===========================================================
//
// Joint space related messages.
//
//===========================================================

// Note: This message is used for joints values, and only up to seven values will be considered. 
//
//       For six axes robots:
//       - If robot joints   : 1-6 values.
//       - If external joints: 1-6 values.
//       For seven axes robots:
//       - If robot joints   : 1-7 values.
//       - If external joints: 1-5 values.
message Joints
{
  repeated double values = 1;
}

message JointSpace
{
  optional Joints position = 1; // Units [degrees]
  optional Joints velocity = 2; // Units [degrees/s]
}

//===========================================================
//
// Cartesian space related messages.
//
// Note 1: Cartesian messages from the robot controller are
//         relative to the work object specified when setting
//         up EGM. E.g. with EGMActPose RAPID instructions.
//
// Note 2: Cartesian messages to the robot controller are
//         interpreted relative to the sensor frame defined
//         when setting up EGM. E.g. with EGMActPose RAPID
//         instructions.
//
//===========================================================

message Cartesian
{
  optional double x = 1;
  optional double y = 2;
  optional double z = 3;
}

// Note: Higher priority than quaternions.
message Euler
{
  optional double x = 1;
  optional double y = 2;
  optional double z = 3;
}

// Note: Lower priority than Euler angles. The quaternion is defined as: u0 + u1*i + u2*j + u3*k.
message Quaternion
{
  optional double u0 = 1;
  optional double u1 = 2;
  optional double u2 = 3;
  optional double u3 = 4;
}

message CartesianPose
{
  optional Cartesian  position   = 1; // Units [mm].
  optional Euler      euler      = 2; // Units [degrees].
  optional Quaternion quaternion = 3; // Units [-].
}

message CartesianVelocity 
{
  optional Cartesian linear  = 1; // Units [mm/s].
  optional Euler     angular = 2; // Units [degrees/s].
}

message CartesianSpace
{
  optional CartesianPose     pose     = 1;
  optional CartesianVelocity velocity = 2;
}

//===========================================================
//
// Combined joint and Cartesian space auxiliary messages.
//
//===========================================================

// Note: Joint or Cartesian motion depends on the used EGM RAPID instructions.
message Robot
{
  optional JointSpace     joints    = 1;
  optional CartesianSpace cartesian = 2;
}

message External
{
  optional JointSpace joints = 1;
}

// Note: The velocity sub fields are estimated from the actual EGM messages.
message Feedback
{  
  optional Robot    robot    = 1;
  optional External external = 2;
  optional Clock    time     = 3;
}

// Note: The velocity sub fields are estimated from the actual EGM messages.
message Planned
{
  optional Robot    robot    = 1;
  optional External external = 2;
  optional Clock    time     = 3;
}

//======================================================================================================================
//
// Primary messages.
//
//======================================================================================================================

// Inputs extracted from the robot controller outbound messages (i.e. EgmRobot).
message Input
{
  optional Header   header   = 1;
  optional Feedback feedback = 2;
  optional Planned  planned  = 3;
  optional Status   status   = 4;
}

// Outputs to send to the robot controller.
message Output
{
  optional Robot    robot    = 1; // Outputs to the robot.
  optional External external = 2; // Outputs to external axes.
}