61 lines
1.7 KiB
Protocol Buffer
61 lines
1.7 KiB
Protocol Buffer
// fmt: off
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// flake8: noqa
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// !/usr/bin/env python
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// Copyright 2024 The HuggingFace Inc. team.
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// All rights reserved.
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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syntax = "proto3";
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package async_inference;
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// AsyncInference: from Robot perspective
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// Robot send observations to & executes action received from a remote Policy server
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service AsyncInference {
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// Robot -> Policy to share observations with a remote inference server
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// Policy -> Robot to share actions predicted for given observations
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rpc SendObservations(stream Observation) returns (Empty);
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rpc StreamActions(Empty) returns (stream Action);
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rpc SendPolicyInstructions(PolicySetup) returns (Empty);
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rpc Ready(Empty) returns (Empty);
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}
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enum TransferState {
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TRANSFER_UNKNOWN = 0;
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TRANSFER_BEGIN = 1;
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TRANSFER_MIDDLE = 2;
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TRANSFER_END = 3;
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}
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// Messages
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message Observation {
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// sent by Robot, to remote Policy
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TransferState transfer_state = 1;
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bytes data = 2;
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}
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message Action {
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// sent by remote Policy, to Robot
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TransferState transfer_state = 1;
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bytes data = 2;
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}
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message PolicySetup {
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// sent by Robot to remote server, to init Policy
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TransferState transfer_state = 1;
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bytes data = 2;
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}
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message Empty {}
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