The ids of action instances in the state machine.

The ids of reactions in the state machine.

Action instance that this reaction is associated with.

If true, stops the currently active action that is associated with this reaction in action_instance_id.

If false, the currently active, associated action keeps running and the action (if any) specified in response will be started in parallel.

If present this is the name of the signal (associated with action_instance_id) which will be triggered and switched to true, if not already triggered.

The type of action, corresponding to the type of an available ActionSignature (e.g. "xfa.joint_move").

The client-assigned ID of this action instance. The ID of each ActionInstance must be unique for duration of the session.

Action-specific fixed parameters.

The SlotPartMap to apply to this Action instance.

The name of a Part to execute this Action on. A SlotPartMap will be inferred if and only if the Action type for this instance uses a single Slot.

Unique name of the action type, e.g. "xfa.joint_move".

Text description of this action type, for human consumption.

Name of the fixed parameters message type, or empty if the action takes no fixed parameters. If set, the name must be found in fixed_parameters_descriptor_set.

Descriptors of the fixed parameters type (including descriptors of all transitive dependencies).

Action-specific streaming input parameter descriptions.

Action-specific state variable metadata, keyed by state variable name.

An Action may define an Action-specific streaming output parameter. Note that, while this has a name, it can be accessed implicitly, since there is only (at most) one streaming output.

List of Slot names the Action expects.

List of realtime signals that the Action expects. Users may trigger each one via realtime reactions.

The nodes to build into the action state machine.

The reactions to build into the action state machine.

The action this request is tied to.

The name of the field.

Name of the action-specific real-time state variable to test against.

Comparison operation to perform between the state variable and value.

Max absolute value of error (aka "epsilon") for float-point comparisons APPROX_EQUAL and APPROX_NOT_EQUAL. Ignored for other operation types.

Test against this double value.

Test against this boolean value. OpEnum must be EQUAL or NOT_EQUAL.

Test against this integer value.

The operation to use.

The conditions to evaluate to form this condition.

With OPERATIONAL_HARDWARE_ONLY, parts that only use hardware modules that are configured with IconMainConfig.hardware_config.cell_control_hardware will be skipped, keeping them enabled if they are enabled. This is useful to disable only operational hardware, while keeping cell control hardware running. One use case is to integrate cell-level control where operational robot hardware can be paused such that automatic mode is not needed, while still reading/writing input/output on a fieldbus hardware module for cell-level control. By default, the Disable request disables all hardware.

Action type name, e.g. "xfa.joint_move".

Description of the action type, or unset if the action type name is not found.

Static (for the duration of the ICON server's lifetime) data about the parts on this server.

This is the frequency at which ICON's control loop is running.

The ID of the session that the Action we're querying belongs to.

The action whose streaming output we're interested in.

Returns the summarized state of the server. This is the status of all hardware and the server.

The status of cell control hardware, which is marked with IconMainConfig.hardware_config.cell_control_hardware. Cell control hardware is a group of hardware modules that does not inherit faults from operational hardware, so it is generally kept enabled (unless any cell control hardware module faults). If no cell control hardware is configured, this is the same as operational_status.

Control timestamp when the property values were collected. This differs from wall time in two ways: 1. The control timestamp is initialized to 0 on startup 2. The control timestamp may advance slower or faster than wall time, especially in simulation.

Wall timestamp when the property values were collected. This is helpful for cross-referencing with other Intrinsic services.

These values are all from the same instant in time.

The name of the part containing the payload.

The name of the payload.

The payload. Empty if no payload is set.

The ID of the session that the Action we're querying belongs to.

The action whose planned trajectory we're interested in.

The current status (i.e. dynamic data, as opposed to the static data in PartConfig) for all Parts on this server.

Information about all currently active Sessions.

The current speed override value, see SetSpeedOverride for more details.

The current status of the safety system.

A list of parts to allocate for this session. Parts that are in use by one session cannot be allocated by any other sessions until they are freed. All parts allocated by a session are freed when the session ends.

If ICON cannot open the session by this deadline, it returns an error.

The unique identifier for the session. Callers can use this with related requests to further interact with the session: * GetStatus (to find the list of actions that exist in this session) * WatchReactions * OpenWriteStream * GetLatestStreamingOutput * GetPlannedTrajectory

Action type to check for compatibility.

If this is set, ICON checks for compatibility with this exact SlotPartMap (i.e. specific parts assigned to specific slots of action_type_name).

If this is set, ICON checks whether part_name is compatible with any of the slots for action_type_name.

True iff the action type named action_type_name is compatible with the part or SlotPartMap from the request.

List of available action types.

List of action types to get compatible parts for. A part is considered compatible if it is compatible with at least one slot of every action type in the list.

Parts that are compatible with all listed action_type_names.

Parts that are available.

Initial data for opening a session that must be sent only with the first OpenSessionRequest.

That is, ICON closes the session and returns an error if * the first OpenSessionRequest for a session lacks initial_session_data * any OpenSessionRequest but the first contains initial_session_data

If specified, ICON tags all logs coming from parts used by this session with this context.

If present, ICON starts the requested action instances. Note that this is truly optional, and multiple requests over the course of a single session can start actions. For example, a client may wish to start a new action in response to a non-real-time reaction, or to data from an outside service.

ICON adds the actions and reactions in the ActionsAndReactions to the existing action state machine on the server.

Adding actions and reactions is a transaction and can have one of two results: 1. Success: The action state machine now contains all of the new actions and reactions 2. Failure: The action state machine contains the same actions and reactions as before, and ICON returns an error

Examples of problems that can cause a failure: * Any action_instance_id or reaction_instance_id in the ActionsAndReactions proto is already in use * Any Reaction refers to an action_instance_id that is not present in either the existing action state machine or the ActionsAndReactions proto

ICON removes the actions and reactions in the ActionAndReactionIds proto from the action state machine on the server.

If any action id or reaction ID in the ActionAndReactionIds proto does not exist, then ICON does not modify the action state machine and returns an error.

ICON removes all existing actions and reactions. If any action is currently running, ICON stops that action. After this, the safety action is active for all parts.

Contains an aborted error if the session should end. May contain other errors for non-session ending failures.

Contains information regarding session initialization. ICON sends this only in response to the first request.

This is a response to an ActionRequest

Adds a write stream. Callers must set this field only in the first message.

The value to write to an already-set-up write stream.

The ID of the session this stream belongs to.

If the previous message wrote a value, this field contains the status of that write operation.

Note that an OK status means that the value was written but does not guarantee that the corresponding action has received or processed the message.

Current operational state of the parts.

A human-readable description of what caused the FAULTED state. When not in the FAULTED state, this is empty.

Name of this parameter.

Text description of this parameter, for human consumption.

Name of the value message type. Must be found in value_descriptor_set.

Descriptors of the value type for this parameter (including descriptors of all transitive dependencies).

String identifier for the part.

Part-specific configuration that does not fit into the format of GenericPartConfig. The message type matches config_message_type in the part's PartSignature. May be empty if config_message_type is the empty string.

Note that even Parts that populate this must also provide a GenericPartConfig.

The Feature Interfaces that this Part supports.

String identifier for the part's type.

Name of the part's config message type. Must be found in config_descriptor_set. An empty string signifies that the part has no configuration info.

Descriptors of the config type for this part (including descriptors of all transitive dependencies).

Generic Part configuration. No matter what the specific Part type is, this contains the sub-messages corresponding to the Feature Interfaces that the Part supports (see above).

String identifier for the part.

Name of the part's config message type. Must be found in config_descriptor_set. An empty string signifies that the part has no configuration info.

Descriptors of the config type for this part (including descriptors of all transitive dependencies).

Name of the part's status message type. Must be found in status_descriptor_set. An empty string signifies that the part has no status info. DEPRECATED

Descriptors of the status type for this part (including descriptors of all transitive dependencies). DEPRECATED

String identifier for the part's type.

The client-assigned ID of this reaction. The ID of each Reaction must be unique for duration of the session.

Condition which is evaluated by the control layer every control cycle.

Response which should occur when the Condition is satisfied. All reactions, even those without an explicit Response, will generate client events observable with the StreamEvents() rpc method. The response field describes additional realtime side-effects that should occur.

If true, the reaction will only trigger once as long as the associated action is active. It can trigger again if the action is executed again. If the reaction is free-standing (no action_instance_id is set), it will only trigger once.

If false, the reaction will trigger on every rising edge again.

This does not effect real-time signal responses. Since signals remain true after the first rising edge, subsequent triggerings have no effect.

Associates the reaction with an action instance. The reaction can only trigger if the associated action is active. If not set, the reaction is free-standing.

The previous_action_instance_id of the action this reaction is bound to. If it is not set, the reaction is a free-standing reaction.

The action_instance_id of the action transitioned to. If not set, the reaction does not trigger an action change.

The reaction that was triggered.

Text description of this signal, for human consumption. Describe what your action does if it receives this signal.

Start another action.

The server name shows up in logs and determines the names of DDS topics, among other things.

The global control frequency, in Hz. ICON updates Actions/Reactions and sends commands to hardware at this rate.

The Parts claimed by this Session for write access. No other Session can claim any of the Parts in this group.

A list of the actions in this Session. Note that this includes all actions that a user has added and not removed. In particular, the list is not limited to the running actions.

ICON applies all of these properties at the same time.

The name of the part to set the payload for.

The name of the payload to set.

The payload to set.

Must be between 0 and 1, and modifies the execution speed of compatible actions.

Actions to start. Those actions must not have overlapping part sets.

If true, ICON stops all active actions before starting the actions in action_instance_ids (if any). This means callers can use this flag with an empty action_instance_ids to stop all actions.

If false, all active actions continue to run, unless one of the actions in action_instance_ids uses an overlapping set of parts. In that case, the newly-started action takes precedence, and ICON stops the action that was using the same parts before.

Name of this parameter.

Text description of this parameter, for human consumption.

Value type of this state variable.

The unique identifier of the action session. This should be the session id returned in the initial_session_data of an OpenSession response.

The time when the Reaction occurred.

The reaction that occurred. This is empty for the first message sent to the client.

Indicates that this group of hardware (or the server) is not ready for active control and that no sessions can be started that need to control these parts. This is possible when: - The skill "disable_realtime_control" or Client::Disable() were called. - The server or hardware is starting up. - Faults are being cleared. Read-only sessions are possible for all parts. Part status is being published. icon_client.Enable() can be called to enable full control for all parts.

Indicates that at least one part, possibly the entire real-time control service, is faulted. icon_client.ClearFaults() is needed to re-enable control. Depending on the fault, real-time control may or may not be running the safety actions. An example for a single part fault is a robot hardware module reporting an emergency stop but still being connected. An example for a global fault that cannot be cleared is a mistake in the hardware module names in the config. An example for a global fault that can be cleared is a timeout in a simulation reset. If a part is not faulted, read-only sessions reading from them can continue, and part status may still be published.

Indicates that the server is ready for a session to begin and all parts are enabled. Part status is being published.

Match FieldDescriptorProto Type enum values, just for kicks.