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Add missing documentation for winch/gripper plugins #311

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merged 1 commit into from
Jan 31, 2023
Merged

Add missing documentation for winch/gripper plugins #311

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9 changes: 9 additions & 0 deletions protos/gripper/gripper.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,9 @@ package mavsdk.rpc.gripper;
option java_package = "io.mavsdk.gripper";
option java_outer_classname = "GripperProto";

/*
* Allows users to send gripper actions.
*/
service GripperService {
/*
* Gripper grab cargo.
Expand All @@ -17,6 +20,12 @@ service GripperService {
rpc Release(ReleaseRequest) returns(ReleaseResponse) {}
}

/*
* Gripper Actions.
*
* Available gripper actions are defined in mavlink under
* https://mavlink.io/en/messages/common.html#GRIPPER_ACTIONS
*/
enum GripperAction {
GRIPPER_ACTION_RELEASE = 0; // Open the gripper to release the cargo
GRIPPER_ACTION_GRAB = 1; // Close the gripper and grab onto cargo
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15 changes: 15 additions & 0 deletions protos/winch/winch.proto
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Expand Up @@ -7,6 +7,10 @@ import "mavsdk_options.proto";
option java_package = "io.mavsdk.winch";
option java_outer_classname = "WinchProto";

/*
* Allows users to send winch actions, as well as receive status information from winch systems.
*
*/
service WinchService {
// Subscribe to 'winch status' updates.
rpc SubscribeStatus(SubscribeStatusRequest) returns(stream StatusResponse) {}
Expand Down Expand Up @@ -70,6 +74,15 @@ message StatusResponse {
Status status = 1; // The next 'winch status' state
}

/*
* Winch Status Flags.
*
* The status flags are defined in mavlink
* https://mavlink.io/en/messages/common.html#MAV_WINCH_STATUS_FLAG.
*
* Multiple status fields can be set simultaneously. Mavlink does
* not specify which states are mutually exclusive.
*/
message StatusFlags {
bool healthy = 1; // Winch is healthy
bool fully_retracted = 2; // Winch line is fully retracted
Expand All @@ -87,6 +100,7 @@ message StatusFlags {
bool load_payload = 14; // Winch is loading a payload
}

// Status type.
message Status {
uint64 time_usec = 1; // Time in usec
float line_length_m = 2; // Length of the line in meters
Expand All @@ -98,6 +112,7 @@ message Status {
StatusFlags status_flags = 8; // Status flags
}

// Winch Action type.
enum WinchAction {
WINCH_ACTION_RELAXED = 0; // Allow motor to freewheel
WINCH_ACTION_RELATIVE_LENGTH_CONTROL = 1; // Wind or unwind specified length of line, optionally using specified rate
Expand Down