Extend actuator state response (#62)

* extend actuator state response

* bump version

* fixed enumeration

* make torque_enabled optional

* make torque_enabled optional

Author: nfreq

Cargo.toml

@@ -7,7 +7,7 @@ members = [
 ]
 
 [workspace.package]
-version = "0.7.9"
+version = "0.7.10"
 authors = [
     "Benjamin Bolte <ben@kscale.dev>",
     "Denys Bezmenov <denys@kscale.dev>",

kos-py/pykos/__init__.py

@@ -1,6 +1,6 @@
 """KOS Python client."""
 
-__version__ = "0.7.9"
+__version__ = "0.7.10"
 
 from . import services
 from .client import KOS

kos-stub/src/actuator.rs

@@ -126,6 +126,13 @@ impl Actuator for StubActuator {
             voltage: Some(0.0),
             current: Some(0.0),
             faults: vec![],
+            torque_enabled: Some(true),
+            min_position: Some(-180.0),
+            max_position: Some(180.0),
+            kp: Some(1.0),
+            kd: Some(0.1),
+            ki: Some(0.01),
+            max_torque: Some(5.0),
         }])
     }
 

kos/proto/kos/actuator.proto

@@ -98,15 +98,22 @@ message GetActuatorsStateResponse {
 
 // State information for a single actuator.
 message ActuatorStateResponse {
-    uint32 actuator_id = 1;          // Actuator ID
-    bool online = 2;                 // Online status
-    optional double position = 3;    // Position in degrees
-    optional double velocity = 4;    // Velocity in degrees/second
-    optional double torque = 5;      // Torque in Nm
-    optional double temperature = 6; // Temperature in Celsius
-    optional float voltage = 7;      // Voltage in volts
-    optional float current = 8;      // Current in amperes
-    repeated string faults = 9;      // Faults
+    uint32 actuator_id = 1;                 // Actuator ID
+    bool online = 2;                        // Online status
+    optional double position = 3;           // Position in degrees
+    optional double velocity = 4;           // Velocity in degrees/second
+    optional double torque = 5;             // Torque in Nm
+    optional double temperature = 6;        // Temperature in Celsius
+    optional float voltage = 7;             // Voltage in volts
+    optional float current = 8;             // Current in amperes
+    repeated string faults = 9;             // Faults
+    optional bool torque_enabled = 10;      // Torque Enabled
+    optional double min_position = 11;      // Minimum position limit in degrees
+    optional double max_position = 12;      // Maximum position limit in degrees
+    optional double kp = 13;                // Proportional gain
+    optional double kd = 14;                // Derivative gain
+    optional double ki = 15;                // Integral gain
+    optional double max_torque = 16;        // Maximum torque limit in Nm
 }
 
 message ParameterDumpRequest {

kos/src/telemetry_types.rs

@@ -43,6 +43,13 @@ pub struct ActuatorState {
     pub temperature: Option<f64>,
     pub voltage: Option<f32>,
     pub current: Option<f32>,
+    pub torque_enabled: Option<bool>,
+    pub min_position: Option<f64>,
+    pub max_position: Option<f64>,
+    pub kp: Option<f64>,
+    pub kd: Option<f64>,
+    pub ki: Option<f64>,
+    pub max_torque: Option<f64>,
 }
 
 #[derive(Clone, Debug, Serialize)]
@@ -102,6 +109,13 @@ impl From<&ActuatorStateResponse> for ActuatorState {
             temperature: resp.temperature,
             voltage: resp.voltage,
             current: resp.current,
+            torque_enabled: resp.torque_enabled,
+            min_position: resp.min_position,
+            max_position: resp.max_position,
+            kp: resp.kp,
+            kd: resp.kd,
+            ki: resp.ki,
+            max_torque: resp.max_torque,
         }
     }
 }