power_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;
option go_package = "bosdyn/api/power_service";

option java_outer_classname = "PowerServiceProto";

import "bosdyn/api/power.proto";

// The power service for the robot that can power on/off the robot's motors.
service PowerService {
    // Starts a power command on the robot. A robot can only accept one power command at once.
    // Power commands, are not interruptible. Once a command is issued, it must complete before
    // another command can be issued.
    rpc PowerCommand(PowerCommandRequest) returns (PowerCommandResponse) {}

    // Check the status of a power command.
    rpc PowerCommandFeedback(PowerCommandFeedbackRequest) returns (PowerCommandFeedbackResponse) {}

    // Separate RPC for toggling fan power due to need for time/percent power parameters
    rpc FanPowerCommand(FanPowerCommandRequest) returns (FanPowerCommandResponse) {}

    // Check the status of a fan power command.
    rpc FanPowerCommandFeedback(FanPowerCommandFeedbackRequest)
        returns (FanPowerCommandFeedbackResponse) {}

    // Get fan information.
    rpc GetFanInformation(GetFanInformationRequest) returns (GetFanInformationResponse) {}

    // Reset the safety stop bit on SRSF-configured robots.
    rpc ResetSafetyStop(ResetSafetyStopRequest) returns (ResetSafetyStopResponse) {}
}