syntax = "proto3";
package aimdk.protocol;

import public "aimdk/protocol/common/rpc.proto";
import public "aimdk/protocol/mc/force/mc_force_primitive.proto";

/**
 * @brief 力控服务
 */
service McForceService {
  // 设置力控指令
  rpc SetForceControlPrimitive(ForcePrimitiveRequest) returns (CommonTaskResponse);
  // 螺旋线搜索
  rpc SetSlideSpiral(ForcePrimitiveRequest) returns (CommonTaskResponse);
  // 之字型搜索
  rpc SetSlideZigzag(ForcePrimitiveRequest) returns (CommonTaskResponse);
  // 柔顺控制
  rpc SetSleeve(ForcePrimitiveRequest) returns (CommonTaskResponse);
  // 接触控制
  rpc SetContact(ForcePrimitiveRequest) returns (CommonTaskResponse);
}