recording_service.proto

// Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api.graph_nav;
option go_package = "bosdyn/api/graph_nav/recording_service";

import "bosdyn/api/graph_nav/recording.proto";

option java_outer_classname = "RecordingServiceProto";

// The recording service can be used to record a Graph Nav map (containing waypoints and edges).
// The recorded map can consist of the following:
// * Chain: a topological arrangement of waypoints/edges where every waypoint has at least 1
// but at most 2 edges attached to it.
// * Branch: separate Chains can be joined together into a Branch at exactly one waypoint.
// When recording a map using the recording service, a common pattern is:
// * Call StartRecording to begin recording a chain of waypoints.
// * Call SetRecordingEnvironment to define persistent annotations for the edges and waypoints.
// * While recording, call GetRecordStatus to get feedback on the state of the recording service.
// * While recording, call GetMapStatus to determine what waypoints have been created.
// * Optionally call CreateWaypoint to create waypoints in specific locations.
// * Call StopRecording to pause the recording service and create branches.
// * While recording (or after completing recording), call DownloadWaypoint/Edge Snapshot rpcs
// from the GraphNavService to download the large sensor data with the map.
service GraphNavRecordingService {
    // Start recording the map from the current localization.
    // Creates a waypoint if you are starting to record. Otherwise, waits until you are
    // sufficiently far away from the previous waypoint.
    rpc StartRecording(StartRecordingRequest) returns (StartRecordingResponse) {}

    // Stop recording the map from the current localization.
    rpc StopRecording(StopRecordingRequest) returns (StopRecordingResponse) {}

    // Create a new waypoint at the current localization.
    rpc CreateWaypoint(CreateWaypointRequest) returns (CreateWaypointResponse) {}

    // Set the environment and name prefix to use for the recording.
    rpc SetRecordingEnvironment(SetRecordingEnvironmentRequest)
        returns (SetRecordingEnvironmentResponse) {}


    // Create an arbitrary edge between two waypoints.
    rpc CreateEdge(CreateEdgeRequest) returns (CreateEdgeResponse) {}

    // Tells the client the internal state of the record service, and the structure of the map that
    // has been recorded so far.
    rpc GetRecordStatus(GetRecordStatusRequest) returns (GetRecordStatusResponse) {}
}