// Copyright (c) 2018 Anki, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License in the file LICENSE.txt or at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. // External interface for robot <-> app and robot <-> sdk communication syntax = "proto3"; package Anki.Vector.external_interface; option go_package = "Anki.Vector.external_interface"; import "behavior.proto"; import "cube.proto"; import "alexa.proto"; // App only import "messages.proto"; import "settings.proto"; import "extensions.proto"; import "response_status.proto"; message ProtocolVersionRequest { int64 client_version = 1; int64 min_host_version = 2; } message ProtocolVersionResponse { enum Result { UNSUPPORTED = 0; SUCCESS = 1; } Result result = 1; int64 host_version = 2; } message ConnectionResponse { ResponseStatus status = 1; bool is_primary = 2; } // Messages originating from the engine message Event { oneof event_type { TimeStampedStatus time_stamped_status = 1; Onboarding onboarding = 2; // App only WakeWord wake_word = 3; AttentionTransfer attention_transfer = 4; // App only RobotObservedFace robot_observed_face = 5; RobotChangedObservedFaceID robot_changed_observed_face_id = 6; ObjectEvent object_event = 7; StimulationInfo stimulation_info = 8; PhotoTaken photo_taken = 9; RobotState robot_state = 10; CubeBattery cube_battery = 11; KeepAlivePing keep_alive = 12; // Used by Vector to verify the connection is still alive. ConnectionResponse connection_response = 13; JdocsChanged jdocs_changed = 14; // App only AlexaAuthEvent alexa_auth_event = 15; // App only MirrorModeDisabled mirror_mode_disabled = 16; VisionModesAutoDisabled vision_modes_auto_disabled = 17; CheckUpdateStatusResponse check_update_status_response = 18; // App only UserIntent user_intent = 19; RobotObservedMotion robot_observed_motion = 20; RobotErasedEnrolledFace robot_erased_enrolled_face = 21; RobotRenamedEnrolledFace robot_renamed_enrolled_face = 22; CameraSettingsUpdate camera_settings_update = 23; UnexpectedMovement unexpected_movement = 24; } } message FilterList { repeated string list = 1; } message EventRequest { oneof list_type { FilterList white_list = 1; FilterList black_list = 2; } string connection_id = 3; } message EventResponse { option (streamed) = true; ResponseStatus status = 1; Event event = 2; } message UserAuthenticationRequest { bytes user_session_id = 1; bytes client_name = 2; } message UserAuthenticationResponse { ResponseStatus status = 1; enum Code { UNAUTHORIZED = 0; AUTHORIZED = 1; } Code code = 2; bytes client_token_guid = 3; } // *** App only proto below *** // Messages to pass to the engine // These are only used between engine and gateway, so the field indices may // be changed freely, unlike externally-facing proto definitions that where // changes could break backwards-compatibility. message GatewayWrapper { // connection_id can be used to identify multiple messages going to/from // the same source uint64 connection_id = 1; oneof oneof_message_type { // ------------ messages sent from robot to app ---------------------- Event event = 2; // ------------ onboarding requests and responses -------------------- // 1p0 backward compatibility enum values vvv OnboardingStateRequest onboarding_state_request = 3; OnboardingState onboarding_state = 4; OnboardingSkipOnboarding onboarding_skip_onboarding = 5; OnboardingRestart onboarding_restart = 6; OnboardingCompleteRequest onboarding_complete_request = 11; OnboardingCompleteResponse onboarding_complete_response = 12; OnboardingWakeUpRequest onboarding_wake_up_request = 13; OnboardingWakeUpResponse onboarding_wake_up_response = 14; OnboardingWakeUpStartedRequest onboarding_wake_up_started_request = 15; OnboardingWakeUpStartedResponse onboarding_wake_up_started_response = 16; // 1p0 backward compatibility enum values ^^^ OnboardingSetPhaseRequest onboarding_set_phase_request = 17; OnboardingSetPhaseResponse onboarding_set_phase_response = 18; OnboardingPhaseProgressRequest onboarding_phase_progress_request = 19; OnboardingPhaseProgressResponse onboarding_phase_progress_response = 20; OnboardingChargeInfoRequest onboarding_charge_info_request = 21; OnboardingChargeInfoResponse onboarding_charge_info_response = 22; OnboardingMarkCompleteAndExit onboarding_mark_complete_and_exit = 23; // ------------ Attention transfer ----------------------------------- LatestAttentionTransferRequest latest_attention_transfer_request = 100; LatestAttentionTransfer latest_attention_transfer = 101; // ------------ photos request/response pairs ------------------------ PhotosInfoRequest photos_info_request = 200; PhotosInfoResponse photos_info_response = 201; PhotoRequest photo_request = 202; PhotoPathMessage photo_path_message = 203; ThumbnailRequest thumbnail_request = 204; ThumbnailPathMessage thumbnail_path_message = 205; DeletePhotoRequest delete_photo_request = 206; DeletePhotoResponse delete_photo_response = 207; // ------------ settings pairs --------------------------------------- PullJdocsRequest pull_jdocs_request = 300; PullJdocsResponse pull_jdocs_response = 301; UpdateSettingsRequest update_settings_request = 302; UpdateSettingsResponse update_settings_response = 303; UpdateAccountSettingsRequest update_account_settings_request = 304; UpdateAccountSettingsResponse update_account_settings_response = 305; UpdateUserEntitlementsRequest update_user_entitlements_request = 306; UpdateUserEntitlementsResponse update_user_entitlements_response = 307; // ------------ sdk behavior request/response pairs -------------------- DriveOffChargerRequest drive_off_charger_request = 400; DriveOffChargerResponse drive_off_charger_response = 401; DriveOnChargerRequest drive_on_charger_request = 402; DriveOnChargerResponse drive_on_charger_response = 403; FindFacesRequest find_faces_request = 404; FindFacesResponse find_faces_response = 405; LookAroundInPlaceRequest look_around_in_place_request = 406; LookAroundInPlaceResponse look_around_in_place_response = 407; RollBlockRequest roll_block_request = 408; RollBlockResponse roll_block_response = 409; EnrollFaceRequest enroll_face_request = 410; EnrollFaceResponse enroll_face_response = 411; SetFaceToEnrollRequest set_face_to_enroll_request = 412; SetFaceToEnrollResponse set_face_to_enroll_response = 413; CancelBehaviorRequest cancel_behavior_request = 414; CancelBehaviorResponse cancel_behavior_response = 415; // ------------ movement request/response pairs ---------------------- TurnInPlaceRequest turn_in_place_request = 500; TurnInPlaceResponse turn_in_place_response = 501; DriveStraightRequest drive_straight_request = 502; DriveStraightResponse drive_straight_response = 503; SetHeadAngleRequest set_head_angle_request = 504; SetHeadAngleResponse set_head_angle_response = 505; SetLiftHeightRequest set_lift_height_request = 506; SetLiftHeightResponse set_lift_height_response = 507; PlayAnimationRequest play_animation_request = 508; PlayAnimationResponse play_animation_response = 509; GoToPoseRequest go_to_pose_request = 510; GoToPoseResponse go_to_pose_response = 511; DockWithCubeRequest dock_with_cube_request = 512; DockWithCubeResponse dock_with_cube_response = 513; DriveWheelsRequest drive_wheels_request = 514; DriveWheelsResponse drive_wheels_response = 515; ListAnimationsRequest list_animations_request = 516; ListAnimationsResponse list_animations_response = 517; PlayAnimationTriggerRequest play_animation_trigger_request = 518; ListAnimationTriggersRequest list_animation_triggers_request = 519; ListAnimationTriggersResponse list_animation_triggers_response = 520; CancelActionByIdTagRequest cancel_action_by_id_tag_request = 521; CancelActionByIdTagResponse cancel_action_by_id_tag_response = 522; TurnTowardsFaceRequest turn_towards_face_request = 523; TurnTowardsFaceResponse turn_towards_face_response = 524; GoToObjectRequest go_to_object_request = 525; GoToObjectResponse go_to_object_response = 526; RollObjectRequest roll_object_request = 527; RollObjectResponse roll_object_response = 528; PopAWheelieRequest pop_a_wheelie_request = 529; PopAWheelieResponse pop_a_wheelie_response = 530; PickupObjectRequest pickup_object_request = 531; PickupObjectResponse pickup_object_response = 532; PlaceObjectOnGroundHereRequest place_object_on_ground_here_request = 533; PlaceObjectOnGroundHereResponse place_object_on_ground_here_response = 534; StopAllMotorsRequest stop_all_motors_request = 535; StopAllMotorsResponse stop_all_motors_response = 536; // ------------ status history -------------------- RobotHistoryRequest robot_history_request = 600; RobotHistoryResponse robot_history_response = 601; // ------------ cube connections -------------------- ConnectCubeRequest connect_cube_request = 700; ConnectCubeResponse connect_cube_response = 701; DisconnectCubeRequest disconnect_cube_request = 702; FlashCubeLightsRequest flash_cube_lights_request = 703; ForgetPreferredCubeRequest forget_preferred_cube_request = 704; SetPreferredCubeRequest set_preferred_cube_request = 705; SetCubeLightsRequest set_cube_lights_request = 706; CubesAvailableRequest cubes_available_request = 707; CubesAvailableResponse cubes_available_response = 708; // ------------ robot stats -------------------- BatteryStateRequest battery_state_request = 800; BatteryStateResponse battery_state_response = 801; VersionStateRequest version_state_request = 802; VersionStateResponse version_state_response = 803; // ------------ text-to-speech pairs ------------ SayTextRequest say_text_request = 900; SayTextResponse say_text_response = 901; // ------------ behavior control pairs ---------- ControlRequest control_request = 1000; ControlRelease control_release = 1001; BehaviorControlResponse behavior_control_response = 1002; // ------------ Image chunks sent from the vision component ------------ ImageChunk image_chunk = 1101; EnableMarkerDetectionRequest enable_marker_detection_request = 1102; EnableMarkerDetectionResponse enable_marker_detection_response = 1103; EnableFaceDetectionRequest enable_face_detection_request = 1104; EnableFaceDetectionResponse enable_face_detection_response = 1105; EnableMotionDetectionRequest enable_motion_detection_request = 1106; EnableMotionDetectionResponse enable_motion_detection_response = 1107; EnableMirrorModeRequest enable_mirror_mode_request = 1108; EnableMirrorModeResponse enable_mirror_mode_response = 1109; EnableImageStreamingRequest enable_image_streaming_request = 1110; EnableImageStreamingResponse enable_image_streaming_response = 1111; IsImageStreamingEnabledRequest is_image_streaming_enabled_request = 1112; IsImageStreamingEnabledResponse is_image_streaming_enabled_response = 1113; // ------------ Message and response for cloud connectivity check ------------ CheckCloudRequest check_cloud_request = 1200; CheckCloudResponse check_cloud_response = 1201; // ------------ Audio chunks sent from the animProcess ------------ AudioSendModeRequest audio_send_mode_request = 1300; AudioSendModeChanged audio_send_mode_changed = 1301; AudioChunk audio_chunk = 1302; // ------------ Feature flags ------------ FeatureFlagRequest feature_flag_request = 1400; FeatureFlagResponse feature_flag_response = 1401; FeatureFlagListRequest feature_flag_list_request = 1402; FeatureFlagListResponse feature_flag_list_response = 1403; // ------------ App/engine connectivity ------------ AppDisconnected app_disconnected = 1500; // ------------ Alexa ------------ AlexaAuthStateRequest alexa_auth_state_request = 1600; AlexaAuthStateResponse alexa_auth_state_response = 1601; AlexaOptInRequest alexa_opt_in_request = 1602; AlexaOptInResponse alexa_opt_in_response = 1603; // ------------ Individual Robot Settings (SDK only) ------------ SetEyeColorRequest set_eye_color_request = 1700; SetEyeColorResponse set_eye_color_response = 1701; MasterVolumeRequest master_volume_request = 1702; MasterVolumeResponse master_volume_response = 1703; SetCameraSettingsRequest set_camera_settings_request = 1704; SetCameraSettingsResponse set_camera_settings_response = 1705; CameraConfigRequest camera_config_request = 1706; CameraConfigResponse camera_config_response = 1707; // ------------ Streaming audio playback (SDK only) ------------ ExternalAudioStreamPrepare external_audio_stream_prepare = 1800; ExternalAudioStreamChunk external_audio_stream_chunk = 1801; ExternalAudioStreamCancel external_audio_stream_cancel = 1802; ExternalAudioStreamComplete external_audio_stream_complete = 1803; ExternalAudioStreamResponse external_audio_stream_response = 1804; // (when adding new categories, please create gaps between field numbers) // ------------ ------------------------- } }