From 4991eb40d78567165df44d06df8be436f644bf4a Mon Sep 17 00:00:00 2001 From: Reina Hirata Date: Mon, 27 Apr 2026 15:09:52 +0900 Subject: [PATCH 1/2] create merge commit for release 3.16 --- protos/kachaka-api.proto | 31 ++ .../kachaka_api/generated/kachaka_api_pb2.py | 472 +++++++++--------- .../kachaka_api/generated/kachaka_api_pb2.pyi | 60 ++- .../generated/kachaka_api_pb2_grpc.py | 86 ++++ 4 files changed, 412 insertions(+), 237 deletions(-) diff --git a/protos/kachaka-api.proto b/protos/kachaka-api.proto index d1e07e9..49c5676 100644 --- a/protos/kachaka-api.proto +++ b/protos/kachaka-api.proto @@ -106,6 +106,12 @@ message Location { bool ignore_voice_recognition = 7; } +message LocationDigest { + string id = 1; + string name = 2; + LocationType type = 3; +} + message ShelfSize { double width = 1; double depth = 2; @@ -143,6 +149,11 @@ message Shelf { bool ignore_voice_recognition = 10; } +message ShelfDigest { + string id = 1; + string name = 2; +} + message RosImu { RosHeader header = 1; Quaternion orientation = 2; @@ -256,6 +267,7 @@ message Command { // DockAnyShelfWithRegistrationCommand is available only in Kachaka Pro. DockAnyShelfWithRegistrationCommand dock_any_shelf_with_registration_command = 18; LocalizeCommand localize_command = 19; + MoveByVelocityWithMutedSensorsCommand move_by_velocity_with_muted_sensors_command = 22; } } @@ -278,6 +290,7 @@ message UndockShelfCommand { message MoveToLocationCommand { string target_location_id = 1; + string source_location_id = 2; } message ReturnHomeCommand { @@ -303,6 +316,7 @@ message LockCommand { message MoveForwardCommand { double distance_meter = 1; double speed = 2; // [m/s] + bool mute_sensors = 3; } message RotateInPlaceCommand { @@ -317,6 +331,11 @@ message DockAnyShelfWithRegistrationCommand { message LocalizeCommand { } +message MoveByVelocityWithMutedSensorsCommand { + double signed_velocity = 1; // [m/s] + double move_duration_sec = 2; +} + enum CommandState { COMMAND_STATE_UNSPECIFIED = 0; COMMAND_STATE_PENDING = 1; // No command is running. Waiting for requests. @@ -505,11 +524,21 @@ message GetLocationsResponse { string default_location_id = 3; } +message GetLocationsDigestResponse { + Metadata metadata = 1; + repeated LocationDigest locations = 2; +} + message GetShelvesResponse { Metadata metadata = 1; repeated Shelf shelves = 2; } +message GetShelvesDigestResponse { + Metadata metadata = 1; + repeated ShelfDigest shelves = 2; +} + message GetMovingShelfIdResponse { Metadata metadata = 1; string shelf_id = 2; // Empty if no shelf @@ -755,8 +784,10 @@ service KachakaApi { rpc Proceed (EmptyRequest) returns (ProceedResponse); // Locations rpc GetLocations (GetRequest) returns (GetLocationsResponse); + rpc GetLocationsDigest (GetRequest) returns (GetLocationsDigestResponse); // Shelves rpc GetShelves (GetRequest) returns (GetShelvesResponse); + rpc GetShelvesDigest (GetRequest) returns (GetShelvesDigestResponse); rpc GetMovingShelfId (GetRequest) returns (GetMovingShelfIdResponse); rpc ResetShelfPose (ResetShelfPoseRequest) returns (ResetShelfPoseResponse); // Auto homing diff --git a/python/kachaka_api/generated/kachaka_api_pb2.py b/python/kachaka_api/generated/kachaka_api_pb2.py index 252bd8a..0b9c169 100644 --- a/python/kachaka_api/generated/kachaka_api_pb2.py +++ b/python/kachaka_api/generated/kachaka_api_pb2.py @@ -24,25 +24,25 @@ -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x11kachaka-api.proto\x12\x0bkachaka_api\"\x1a\n\x08Metadata\x12\x0e\n\x06\x63ursor\x18\x01 \x01(\x10\"-\n\x06Result\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x12\n\nerror_code\x18\x03 \x01(\x05\"\x1b\n\x05\x45rror\x12\x12\n\nerror_code\x18\x02 \x01(\x05\"1\n\tRosHeader\x12\x12\n\nstamp_nsec\x18\x01 \x01(\x03\x12\x10\n\x08\x66rame_id\x18\x02 \x01(\t\"+\n\x04Pose\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\r\n\x05theta\x18\x03 \x01(\x01\"*\n\x07Vector3\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 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_globals['_STARTSHORTCUTCOMMANDREQUEST']._serialized_end=11843 + _globals['_STARTSHORTCUTCOMMANDRESPONSE']._serialized_start=11845 + _globals['_STARTSHORTCUTCOMMANDRESPONSE']._serialized_end=11912 + _globals['_HISTORY']._serialized_start=11915 + _globals['_HISTORY']._serialized_end=12043 + _globals['_GETHISTORYLISTRESPONSE']._serialized_start=12045 + _globals['_GETHISTORYLISTRESPONSE']._serialized_end=12151 + _globals['_GETSPEAKERVOLUMERESPONSE']._serialized_start=12153 + _globals['_GETSPEAKERVOLUMERESPONSE']._serialized_end=12236 + _globals['_SETSPEAKERVOLUMEREQUEST']._serialized_start=12238 + _globals['_SETSPEAKERVOLUMEREQUEST']._serialized_end=12279 + _globals['_SETSPEAKERVOLUMERESPONSE']._serialized_start=12281 + _globals['_SETSPEAKERVOLUMERESPONSE']._serialized_end=12344 + _globals['_RESTARTROBOTRESPONSE']._serialized_start=12346 + _globals['_RESTARTROBOTRESPONSE']._serialized_end=12405 + _globals['_SETEMERGENCYSTOPRESPONSE']._serialized_start=12407 + _globals['_SETEMERGENCYSTOPRESPONSE']._serialized_end=12470 + _globals['_KACHAKAAPI']._serialized_start=13374 + _globals['_KACHAKAAPI']._serialized_end=18664 # @@protoc_insertion_point(module_scope) diff --git a/python/kachaka_api/generated/kachaka_api_pb2.pyi b/python/kachaka_api/generated/kachaka_api_pb2.pyi index 94f4aa0..53e208b 100644 --- a/python/kachaka_api/generated/kachaka_api_pb2.pyi +++ b/python/kachaka_api/generated/kachaka_api_pb2.pyi @@ -200,6 +200,16 @@ class Location(_message.Message): ignore_voice_recognition: bool def __init__(self, id: _Optional[str] = ..., name: _Optional[str] = ..., pose: _Optional[_Union[Pose, _Mapping]] = ..., type: _Optional[_Union[LocationType, str]] = ..., undock_shelf_aligning_to_wall: bool = ..., undock_shelf_avoiding_obstacles: bool = ..., ignore_voice_recognition: bool = ...) -> None: ... +class LocationDigest(_message.Message): + __slots__ = ("id", "name", "type") + ID_FIELD_NUMBER: _ClassVar[int] + NAME_FIELD_NUMBER: _ClassVar[int] + TYPE_FIELD_NUMBER: _ClassVar[int] + id: str + name: str + type: LocationType + def __init__(self, id: _Optional[str] = ..., name: _Optional[str] = ..., type: _Optional[_Union[LocationType, str]] = ...) -> None: ... + class ShelfSize(_message.Message): __slots__ = ("width", "depth", "height") WIDTH_FIELD_NUMBER: _ClassVar[int] @@ -240,6 +250,14 @@ class Shelf(_message.Message): ignore_voice_recognition: bool def __init__(self, id: _Optional[str] = ..., name: _Optional[str] = ..., pose: _Optional[_Union[Pose, _Mapping]] = ..., size: _Optional[_Union[ShelfSize, _Mapping]] = ..., appearance: _Optional[_Union[ShelfAppearance, str]] = ..., recognizable_names: _Optional[_Iterable[_Union[RecognizableName, _Mapping]]] = ..., home_location_id: _Optional[str] = ..., speed_mode: _Optional[_Union[ShelfSpeedMode, str]] = ..., ignore_voice_recognition: bool = ...) -> None: ... +class ShelfDigest(_message.Message): + __slots__ = ("id", "name") + ID_FIELD_NUMBER: _ClassVar[int] + NAME_FIELD_NUMBER: _ClassVar[int] + id: str + name: str + def __init__(self, id: _Optional[str] = ..., name: _Optional[str] = ...) -> None: ... + class RosImu(_message.Message): __slots__ = ("header", "orientation", "orientation_covariance", "angular_velocity", "angular_velocity_covariance", "linear_acceleration", "linear_acceleration_covariance") HEADER_FIELD_NUMBER: _ClassVar[int] @@ -397,7 +415,7 @@ class ObjectDetectionFeatures(_message.Message): def __init__(self, name: _Optional[str] = ..., shape: _Optional[_Iterable[int]] = ..., data: _Optional[_Iterable[float]] = ...) -> None: ... class Command(_message.Message): - __slots__ = ("move_shelf_command", "return_shelf_command", "undock_shelf_command", "move_to_location_command", "return_home_command", "dock_shelf_command", "speak_command", "move_to_pose_command", "lock_command", "move_forward_command", "rotate_in_place_command", "dock_any_shelf_with_registration_command", "localize_command") + __slots__ = ("move_shelf_command", "return_shelf_command", "undock_shelf_command", "move_to_location_command", "return_home_command", "dock_shelf_command", "speak_command", "move_to_pose_command", "lock_command", "move_forward_command", "rotate_in_place_command", "dock_any_shelf_with_registration_command", "localize_command", "move_by_velocity_with_muted_sensors_command") MOVE_SHELF_COMMAND_FIELD_NUMBER: _ClassVar[int] RETURN_SHELF_COMMAND_FIELD_NUMBER: _ClassVar[int] UNDOCK_SHELF_COMMAND_FIELD_NUMBER: _ClassVar[int] @@ -411,6 +429,7 @@ class Command(_message.Message): ROTATE_IN_PLACE_COMMAND_FIELD_NUMBER: _ClassVar[int] DOCK_ANY_SHELF_WITH_REGISTRATION_COMMAND_FIELD_NUMBER: _ClassVar[int] LOCALIZE_COMMAND_FIELD_NUMBER: _ClassVar[int] + MOVE_BY_VELOCITY_WITH_MUTED_SENSORS_COMMAND_FIELD_NUMBER: _ClassVar[int] move_shelf_command: MoveShelfCommand return_shelf_command: ReturnShelfCommand undock_shelf_command: UndockShelfCommand @@ -424,7 +443,8 @@ class Command(_message.Message): rotate_in_place_command: RotateInPlaceCommand dock_any_shelf_with_registration_command: DockAnyShelfWithRegistrationCommand localize_command: LocalizeCommand - def __init__(self, move_shelf_command: _Optional[_Union[MoveShelfCommand, _Mapping]] = ..., return_shelf_command: _Optional[_Union[ReturnShelfCommand, _Mapping]] = ..., undock_shelf_command: _Optional[_Union[UndockShelfCommand, _Mapping]] = ..., move_to_location_command: _Optional[_Union[MoveToLocationCommand, _Mapping]] = ..., return_home_command: _Optional[_Union[ReturnHomeCommand, _Mapping]] = ..., dock_shelf_command: _Optional[_Union[DockShelfCommand, _Mapping]] = ..., speak_command: _Optional[_Union[SpeakCommand, _Mapping]] = ..., move_to_pose_command: _Optional[_Union[MoveToPoseCommand, _Mapping]] = ..., lock_command: _Optional[_Union[LockCommand, _Mapping]] = ..., move_forward_command: _Optional[_Union[MoveForwardCommand, _Mapping]] = ..., rotate_in_place_command: _Optional[_Union[RotateInPlaceCommand, _Mapping]] = ..., dock_any_shelf_with_registration_command: _Optional[_Union[DockAnyShelfWithRegistrationCommand, _Mapping]] = ..., localize_command: _Optional[_Union[LocalizeCommand, _Mapping]] = ...) -> None: ... + move_by_velocity_with_muted_sensors_command: MoveByVelocityWithMutedSensorsCommand + def __init__(self, move_shelf_command: _Optional[_Union[MoveShelfCommand, _Mapping]] = ..., return_shelf_command: _Optional[_Union[ReturnShelfCommand, _Mapping]] = ..., undock_shelf_command: _Optional[_Union[UndockShelfCommand, _Mapping]] = ..., move_to_location_command: _Optional[_Union[MoveToLocationCommand, _Mapping]] = ..., return_home_command: _Optional[_Union[ReturnHomeCommand, _Mapping]] = ..., dock_shelf_command: _Optional[_Union[DockShelfCommand, _Mapping]] = ..., speak_command: _Optional[_Union[SpeakCommand, _Mapping]] = ..., move_to_pose_command: _Optional[_Union[MoveToPoseCommand, _Mapping]] = ..., lock_command: _Optional[_Union[LockCommand, _Mapping]] = ..., move_forward_command: _Optional[_Union[MoveForwardCommand, _Mapping]] = ..., rotate_in_place_command: _Optional[_Union[RotateInPlaceCommand, _Mapping]] = ..., dock_any_shelf_with_registration_command: _Optional[_Union[DockAnyShelfWithRegistrationCommand, _Mapping]] = ..., localize_command: _Optional[_Union[LocalizeCommand, _Mapping]] = ..., move_by_velocity_with_muted_sensors_command: _Optional[_Union[MoveByVelocityWithMutedSensorsCommand, _Mapping]] = ...) -> None: ... class MoveShelfCommand(_message.Message): __slots__ = ("target_shelf_id", "destination_location_id", "undock_on_destination") @@ -449,10 +469,12 @@ class UndockShelfCommand(_message.Message): def __init__(self, target_shelf_id: _Optional[str] = ...) -> None: ... class MoveToLocationCommand(_message.Message): - __slots__ = ("target_location_id",) + __slots__ = ("target_location_id", "source_location_id") TARGET_LOCATION_ID_FIELD_NUMBER: _ClassVar[int] + SOURCE_LOCATION_ID_FIELD_NUMBER: _ClassVar[int] target_location_id: str - def __init__(self, target_location_id: _Optional[str] = ...) -> None: ... + source_location_id: str + def __init__(self, target_location_id: _Optional[str] = ..., source_location_id: _Optional[str] = ...) -> None: ... class ReturnHomeCommand(_message.Message): __slots__ = () @@ -485,12 +507,14 @@ class LockCommand(_message.Message): def __init__(self, duration_sec: _Optional[float] = ...) -> None: ... class MoveForwardCommand(_message.Message): - __slots__ = ("distance_meter", "speed") + __slots__ = ("distance_meter", "speed", "mute_sensors") DISTANCE_METER_FIELD_NUMBER: _ClassVar[int] SPEED_FIELD_NUMBER: _ClassVar[int] + MUTE_SENSORS_FIELD_NUMBER: _ClassVar[int] distance_meter: float speed: float - def __init__(self, distance_meter: _Optional[float] = ..., speed: _Optional[float] = ...) -> None: ... + mute_sensors: bool + def __init__(self, distance_meter: _Optional[float] = ..., speed: _Optional[float] = ..., mute_sensors: bool = ...) -> None: ... class RotateInPlaceCommand(_message.Message): __slots__ = ("angle_radian",) @@ -510,6 +534,14 @@ class LocalizeCommand(_message.Message): __slots__ = () def __init__(self) -> None: ... +class MoveByVelocityWithMutedSensorsCommand(_message.Message): + __slots__ = ("signed_velocity", "move_duration_sec") + SIGNED_VELOCITY_FIELD_NUMBER: _ClassVar[int] + MOVE_DURATION_SEC_FIELD_NUMBER: _ClassVar[int] + signed_velocity: float + move_duration_sec: float + def __init__(self, signed_velocity: _Optional[float] = ..., move_duration_sec: _Optional[float] = ...) -> None: ... + class EmptyRequest(_message.Message): __slots__ = () def __init__(self) -> None: ... @@ -802,6 +834,14 @@ class GetLocationsResponse(_message.Message): default_location_id: str def __init__(self, metadata: _Optional[_Union[Metadata, _Mapping]] = ..., locations: _Optional[_Iterable[_Union[Location, _Mapping]]] = ..., default_location_id: _Optional[str] = ...) -> None: ... +class GetLocationsDigestResponse(_message.Message): + __slots__ = ("metadata", "locations") + METADATA_FIELD_NUMBER: _ClassVar[int] + LOCATIONS_FIELD_NUMBER: _ClassVar[int] + metadata: Metadata + locations: _containers.RepeatedCompositeFieldContainer[LocationDigest] + def __init__(self, metadata: _Optional[_Union[Metadata, _Mapping]] = ..., locations: _Optional[_Iterable[_Union[LocationDigest, _Mapping]]] = ...) -> None: ... + class GetShelvesResponse(_message.Message): __slots__ = ("metadata", "shelves") METADATA_FIELD_NUMBER: _ClassVar[int] @@ -810,6 +850,14 @@ class GetShelvesResponse(_message.Message): shelves: _containers.RepeatedCompositeFieldContainer[Shelf] def __init__(self, metadata: _Optional[_Union[Metadata, _Mapping]] = ..., shelves: _Optional[_Iterable[_Union[Shelf, _Mapping]]] = ...) -> None: ... +class GetShelvesDigestResponse(_message.Message): + __slots__ = ("metadata", "shelves") + METADATA_FIELD_NUMBER: _ClassVar[int] + SHELVES_FIELD_NUMBER: _ClassVar[int] + metadata: Metadata + shelves: _containers.RepeatedCompositeFieldContainer[ShelfDigest] + def __init__(self, metadata: _Optional[_Union[Metadata, _Mapping]] = ..., shelves: _Optional[_Iterable[_Union[ShelfDigest, _Mapping]]] = ...) -> None: ... + class GetMovingShelfIdResponse(_message.Message): __slots__ = ("metadata", "shelf_id") METADATA_FIELD_NUMBER: _ClassVar[int] diff --git a/python/kachaka_api/generated/kachaka_api_pb2_grpc.py b/python/kachaka_api/generated/kachaka_api_pb2_grpc.py index 80e9b89..f4a79f5 100644 --- a/python/kachaka_api/generated/kachaka_api_pb2_grpc.py +++ b/python/kachaka_api/generated/kachaka_api_pb2_grpc.py @@ -185,11 +185,21 @@ def __init__(self, channel: grpc.Channel): request_serializer=kachaka__api__pb2.GetRequest.SerializeToString, response_deserializer=kachaka__api__pb2.GetLocationsResponse.FromString, _registered_method=True) + self.GetLocationsDigest = channel.unary_unary( + '/kachaka_api.KachakaApi/GetLocationsDigest', + request_serializer=kachaka__api__pb2.GetRequest.SerializeToString, + response_deserializer=kachaka__api__pb2.GetLocationsDigestResponse.FromString, + _registered_method=True) self.GetShelves = channel.unary_unary( '/kachaka_api.KachakaApi/GetShelves', request_serializer=kachaka__api__pb2.GetRequest.SerializeToString, response_deserializer=kachaka__api__pb2.GetShelvesResponse.FromString, _registered_method=True) + self.GetShelvesDigest = channel.unary_unary( + '/kachaka_api.KachakaApi/GetShelvesDigest', + request_serializer=kachaka__api__pb2.GetRequest.SerializeToString, + response_deserializer=kachaka__api__pb2.GetShelvesDigestResponse.FromString, + _registered_method=True) self.GetMovingShelfId = channel.unary_unary( '/kachaka_api.KachakaApi/GetMovingShelfId', request_serializer=kachaka__api__pb2.GetRequest.SerializeToString, @@ -509,6 +519,12 @@ def GetLocations(self, request, context): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') + def GetLocationsDigest(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + def GetShelves(self, request, context): """Shelves """ @@ -516,6 +532,12 @@ def GetShelves(self, request, context): context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') + def GetShelvesDigest(self, request, context): + """Missing associated documentation comment in .proto file.""" + context.set_code(grpc.StatusCode.UNIMPLEMENTED) + context.set_details('Method not implemented!') + raise NotImplementedError('Method not implemented!') + def GetMovingShelfId(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) @@ -832,11 +854,21 @@ def add_KachakaApiServicer_to_server(servicer, server): request_deserializer=kachaka__api__pb2.GetRequest.FromString, response_serializer=kachaka__api__pb2.GetLocationsResponse.SerializeToString, ), + 'GetLocationsDigest': grpc.unary_unary_rpc_method_handler( + servicer.GetLocationsDigest, + request_deserializer=kachaka__api__pb2.GetRequest.FromString, + response_serializer=kachaka__api__pb2.GetLocationsDigestResponse.SerializeToString, + ), 'GetShelves': grpc.unary_unary_rpc_method_handler( servicer.GetShelves, request_deserializer=kachaka__api__pb2.GetRequest.FromString, response_serializer=kachaka__api__pb2.GetShelvesResponse.SerializeToString, ), + 'GetShelvesDigest': grpc.unary_unary_rpc_method_handler( + servicer.GetShelvesDigest, + request_deserializer=kachaka__api__pb2.GetRequest.FromString, + response_serializer=kachaka__api__pb2.GetShelvesDigestResponse.SerializeToString, + ), 'GetMovingShelfId': grpc.unary_unary_rpc_method_handler( servicer.GetMovingShelfId, request_deserializer=kachaka__api__pb2.GetRequest.FromString, @@ -1789,6 +1821,33 @@ def GetLocations(request, metadata, _registered_method=True) + @staticmethod + def GetLocationsDigest(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary( + request, + target, + '/kachaka_api.KachakaApi/GetLocationsDigest', + kachaka__api__pb2.GetRequest.SerializeToString, + kachaka__api__pb2.GetLocationsDigestResponse.FromString, + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) + @staticmethod def GetShelves(request, target, @@ -1816,6 +1875,33 @@ def GetShelves(request, metadata, _registered_method=True) + @staticmethod + def GetShelvesDigest(request, + target, + options=(), + channel_credentials=None, + call_credentials=None, + insecure=False, + compression=None, + wait_for_ready=None, + timeout=None, + metadata=None): + return grpc.experimental.unary_unary( + request, + target, + '/kachaka_api.KachakaApi/GetShelvesDigest', + kachaka__api__pb2.GetRequest.SerializeToString, + kachaka__api__pb2.GetShelvesDigestResponse.FromString, + options, + channel_credentials, + insecure, + call_credentials, + compression, + wait_for_ready, + timeout, + metadata, + _registered_method=True) + @staticmethod def GetMovingShelfId(request, target, From 90247f4382182c2d267ab0e978f70b9fb0ab6cde Mon Sep 17 00:00:00 2001 From: Reina Hirata Date: Mon, 27 Apr 2026 15:17:11 +0900 Subject: [PATCH 2/2] update version to 3.16 --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 21fd54b..eb2a33c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "kachaka-api" -version = "3.15.1" +version = "3.16.1" authors = [{name="Preferred Robotics inc."}] dependencies = [ "grpcio==1.66.1",