simplify services api

protos/CMakeLists.txt

@@ -2,10 +2,13 @@ farm_ng_add_protobufs(farm_ng_amiga_proto_defs
     NAMESPACE farm_ng_amiga
     INCLUDE_DIRS
       ${Sophus_PROTO_DIR}
+      ${farm_ng_core_PROTO_DIR}
     PROTO_FILES
-        farm_ng/oak/oak.proto
         farm_ng/canbus/canbus.proto
+        farm_ng/oak/oak.proto
+        farm_ng/service/service.proto
     DEPENDENCIES
       Sophus::sophus_linalg_proto_defs
       Sophus::sophus_lie_proto_defs
+      farm_ng_core::farm_ng_core_proto_defs
 )

protos/farm_ng/canbus/canbus.proto

@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-
-
 syntax = "proto3";
 
 package farm_ng.canbus.proto;
@@ -22,42 +20,22 @@ service CanbusService {
   rpc streamCanbusMessages(StreamCanbusRequest)
       returns (stream StreamCanbusReply) {}
   rpc sendCanbusMessage(stream SendCanbusMessageRequest)
-      returns (SendCanbusMessageReply) {}
-  rpc getServiceState(GetServiceStateRequest) returns (GetServiceStateResult) {}
-  rpc startService(StartServiceRequest) returns (StartServiceResult) {}
-  rpc stopService(StopServiceRequest) returns (StopServiceResult) {}
-  rpc pauseService(PauseServiceRequest) returns (PauseServiceResult) {}
-}
-
-enum ReplyStatus {
-  OK = 0;
-  FAILED = 1;
-}
-
-enum CanbusServiceState {
-  UNKNOWN = 0;
-  STOPPED = 1;
-  RUNNING = 2;
-  IDLE = 3;
-  UNAVAILABLE = 4;
-  ERROR = 5;
+      returns (stream SendCanbusMessageReply) {}
 }
 
 message StreamCanbusRequest {
-  string message = 1;
 }
 
 message StreamCanbusReply {
-  ReplyStatus status = 1;
-  RawCanbusMessages messages = 2;
+  RawCanbusMessages messages = 1;
 }
 
 message SendCanbusMessageRequest {
   RawCanbusMessage message = 1;
 }
 
 message SendCanbusMessageReply {
-  ReplyStatus status = 1;
+  bool success = 1;
 }
 
 message RawCanbusMessage {
@@ -73,40 +51,3 @@ message RawCanbusMessage {
 message RawCanbusMessages {
   repeated RawCanbusMessage messages = 1;
 }
-
-message StartServiceRequest {
-  string message = 1;
-}
-
-message StopServiceRequest {
-  string message = 1;
-}
-
-message PauseServiceRequest {
-  string message = 1;
-}
-
-message StartServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message StopServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message PauseServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message GetServiceStateRequest {
-  string message = 1;
-}
-
-message GetServiceStateResult {
-  string state_name = 1;
-  CanbusServiceState state = 2;
-  ReplyStatus status = 3;
-}

protos/farm_ng/oak/oak.proto

@@ -12,100 +12,42 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-
-
 syntax = "proto3";
 
+import "farm_ng/service/service.proto";
+
 package farm_ng.oak.proto;
 
 service OakService {
   rpc cameraControl(CameraControlRequest) returns (CameraControlReply) {}
   rpc streamFrames(StreamFramesRequest) returns (stream StreamFramesReply) {}
-  rpc getServiceState(GetServiceStateRequest) returns (GetServiceStateResult) {}
-  rpc startService(StartServiceRequest) returns (StartServiceResult) {}
-  rpc stopService(StopServiceRequest) returns (StopServiceResult) {}
-  rpc pauseService(PauseServiceRequest) returns (PauseServiceResult) {}
-  rpc getCalibration(GetCalibrationRequest) returns (GetCalibrationResult) {}
-}
-
-enum ReplyStatus {
-  OK = 0;
-  FAILED = 1;
-}
-
-enum OakServiceState {
-  UNKNOWN = 0;
-  STOPPED = 1;
-  RUNNING = 2;
-  IDLE = 3;
-  UNAVAILABLE = 4;
+  rpc getCalibration(GetCalibrationRequest) returns (GetCalibrationReply) {}
 }
 
 message GetCalibrationRequest {
-  string message = 1;
 }
 
-message GetCalibrationResult {
+message GetCalibrationReply {
   OakCalibration calibration = 1;
-  ReplyStatus status = 2;
-}
-
-message StopServiceRequest {
-  string message = 1;
-}
-
-message StopServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message StartServiceRequest {
-  string message = 1;
-}
-
-message StartServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message PauseServiceRequest {
-  string message = 1;
-}
-
-message PauseServiceResult {
-  string message = 1;
-  ReplyStatus status = 2;
-}
-
-message GetServiceStateRequest {
-  string message = 1;
-}
-
-message GetServiceStateResult {
-  string state_name = 1;
-  OakServiceState state = 2;
-  ReplyStatus status = 3;
 }
 
 message CameraControlRequest {
   CameraSettings stereo_settings = 1;
   CameraSettings rgb_settings = 2;
 }
 
-
 message CameraControlReply {
-   ReplyStatus status = 1;
-   CameraSettings stereo_settings = 2;
-   CameraSettings rgb_settings = 3;
+  bool success = 1;
+  CameraSettings stereo_settings = 2;
+  CameraSettings rgb_settings = 3;
 }
 
 message StreamFramesRequest {
   int32 every_n = 1; // desired stream frame rate.
 }
 
 message StreamFramesReply {
-  ReplyStatus status = 1;
-  OakSyncFrame frame = 2;
+  OakSyncFrame frame = 1;
 }
 
 message Vec3F32 {
@@ -124,7 +66,7 @@ message CameraSettings {
 message OakImageMeta {
   int64 category = 1; // DepthAI catetory
   int64 instance_num = 2;  //DepthAI instance number
-  int64 sequence_num = 3;   // for synchronization between left, right and stereo
+  int64 sequence_num = 3;  // for synchronization between left, right and stereo
   double timestamp = 4; // seconds, synchronized with host monotonic
   double timestamp_device = 5; // seconds, device monotonic clock
   CameraSettings settings = 6;
@@ -216,7 +158,6 @@ message Extrinsics {
   Vector3d translation = 4;
 }
 
-
 message CameraData {
   uint32 camera_number = 1;
   int32 camera_type = 2;

protos/farm_ng/service/service.proto

@@ -0,0 +1,46 @@
+// Copyright (c) farm-ng, inc.
+//
+// Licensed under the Amiga Development Kit License (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     https://github.com/farm-ng/amiga-dev-kit/blob/main/LICENSE
+//
+// 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.
+
+syntax = "proto3";
+
+import "farm_ng/core/timestamp.proto";
+
+package farm_ng.service.proto;
+
+service Service {
+  rpc getServiceState(GetServiceStateRequest) returns (GetServiceStateReply) {}
+}
+
+enum ServiceState {
+  // Service state is not known
+  UNKNOWN = 0;
+  // Running, and actively serving data
+  RUNNING = 1;
+  // Idle, waiting for clients
+  IDLE = 2;
+  // Service isn't running at all
+  UNAVAILABLE = 3;
+  // Service is in some error state
+  ERROR = 4;
+}
+
+message GetServiceStateRequest {
+}
+
+message GetServiceStateReply {
+  ServiceState state = 1;
+  uint32 pid = 2; // process id
+  double uptime = 3;
+  repeated farm_ng.core.proto.Timestamp timestamps = 4;
+}