SendExplorationCommand

Unary 请求 → Server Stream 响应。START 前请先 GetCapabilities / GetActiveTask；Stream 以末帧 ack.final=true 结束。

8.1 方法签名

rpc SendExplorationCommand(ExplorationCommandRequest)
    returns (stream ExplorationCommandResponse);

8.2 Proto 定义

源文件：autonomy/bridge/proto/external_command_service.proto

enum ExplorationCommand {
  EXPLORATION_CMD_UNSPECIFIED = 0;
  EXPLORATION_CMD_START = 1;
  EXPLORATION_CMD_STOP = 2;
  EXPLORATION_CMD_PAUSE = 3;
  EXPLORATION_CMD_RESUME = 4;
  EXPLORATION_CMD_CANCEL = 5;
  EXPLORATION_CMD_SAVE_MAP = 6;
  EXPLORATION_CMD_SET_AREA = 7;
}

enum ExplorationStatus {
  EXPLORATION_STATUS_UNKNOWN = 0;
  EXPLORATION_STATUS_IDLE = 1;
  EXPLORATION_STATUS_EXPLORING = 2;
  EXPLORATION_STATUS_PAUSED = 3;
  EXPLORATION_STATUS_COMPLETED = 4;
  EXPLORATION_STATUS_FAILED = 5;
  EXPLORATION_STATUS_CANCELED = 6;
}

message ExplorationCommandRequest {
  RequestHeader header = 1;
  ExplorationCommand command = 2;
  oneof params {
    commsgs.proto.geometry_msgs.Polygon area = 3;
    string map_name = 4;
  }
}

message ExplorationCommandResponse {
  CommandAck ack = 1;
  ExplorationStatus status = 2;
  float explored_area = 3;
  float exploration_progress = 4;
}

8.3 字段说明

Request · `ExplorationCommandRequest`

字段	类型	必填	说明
`header`	`RequestHeader`	✓	03 §3.1
`command`	`ExplorationCommand`	✓	子命令；见下表
`area`	`Polygon`	`SET_AREA`	探索区域；`points[]` ≥ 3
`map_name`	`string`	`SAVE_MAP`	保存地图名称

ExplorationCommand 枚举

值	常量	`params` / 说明
1	`EXPLORATION_CMD_START`	开始探索
2	`EXPLORATION_CMD_STOP`	停止 → `IDLE`
3	`EXPLORATION_CMD_PAUSE`	暂停
4	`EXPLORATION_CMD_RESUME`	从 `PAUSED` 恢复
5	`EXPLORATION_CMD_CANCEL`	取消任务
6	`EXPLORATION_CMD_SAVE_MAP`	`map_name`
7	`EXPLORATION_CMD_SET_AREA`	`area`

Response · `ExplorationCommandResponse`

字段	类型	说明
`ack`	`CommandAck`	流应答；末帧 `final=true` · 03 §3.2
`status`	`ExplorationStatus`	探索阶段
`explored_area`	`float`	已探索面积 (m²)
`exploration_progress`	`float`	进度 [0, 1]

ExplorationStatus：IDLE(1) · EXPLORING(2) · PAUSED(3) · COMPLETED(4) · FAILED(5) · CANCELED(6)

        %%{init: {"theme":"base","themeVariables":{"fontSize":"12px","primaryColor":"#e0f2f2","primaryTextColor":"#1a4d6e","primaryBorderColor":"#2d9294","lineColor":"#5a7289","stateBkg":"#e0f2f2","stateBorder":"#2d9294","stateLabelColor":"#1a4d6e","edgeLabelBackground":"#ffffff","labelTextColor":"#455a64"},"state":{"nodeSpacing":18,"rankSpacing":22,"padding":6,"fontSize":12}}}%%
stateDiagram-v2
    direction TB
    [*] --> IDLE
    IDLE --> EXPLORING: START
    EXPLORING --> PAUSED: PAUSE
    PAUSED --> EXPLORING: RESUME
    EXPLORING --> IDLE: STOP
    PAUSED --> IDLE: STOP
    EXPLORING --> COMPLETED
    EXPLORING --> FAILED
    EXPLORING --> CANCELED: CANCEL
    COMPLETED --> [*]
    FAILED --> [*]
    CANCELED --> [*]

    classDef idle fill:#f5f7fa,stroke:#78909c,color:#455a64
    classDef active fill:#e3f2fd,stroke:#1565c0,color:#0d47a1
    classDef pause fill:#fff8e1,stroke:#fb8c00,color:#e65100
    classDef ok fill:#e8f5e9,stroke:#43a047,color:#2e7d32
    classDef fail fill:#ffebee,stroke:#e53935,color:#c62828
    classDef cancel fill:#eceff1,stroke:#607d8b,color:#546e7a
    class IDLE idle
    class EXPLORING active
    class PAUSED pause
    class COMPLETED ok
    class FAILED fail
    class CANCELED cancel

8.4 示例（grpcurl）

环境：01 §1.1 · TC 全集：13 §13.7 · JSON 参考：01 §1.4

每张卡片上方 发送指令（蓝）、下方 收到结果（绿）；Stream 响应以末帧 ack.final=true 为准。

8.4.1 示例索引

编号	在干什么	`command`	末帧预期	TC
EXP-01	确认可探索、无残留任务	—	可探索 · 无活跃任务	—
EXP-02	限定探索 Polygon	7	`success=true` · `IDLE`	`TC-EXP-004`
EXP-03	启动自主探索建图	1	`EXPLORING` · progress 递增	`TC-EXP-001`
EXP-04	暂停探索	3	`PAUSED`	`TC-EXP-002`
EXP-05	暂停后恢复	4	`EXPLORING`	`TC-EXP-002`
EXP-06	保存探索地图	6	`COMPLETED` / `IDLE`	`TC-EXP-003`
EXP-07	取消任务	5	`CANCELED`	—

STOP(2) 请求体同 NAV-08，末帧 EXPLORATION_STATUS_IDLE。

8.4.2 EXP-01 · 前置检查

发 START 前确认：Bridge 支持探索，且当前无进行中的任务。

GetCapabilities + GetActiveTask 可探索 · 无活跃任务

发送指令

# EXP-01 · GetCapabilities + GetActiveTask
grpcurl -plaintext $PROTO_OPTS -d '{}' $BRIDGE $SVC/GetCapabilities
grpcurl -plaintext $PROTO_OPTS -d '{}' $BRIDGE $SVC/GetActiveTask

收到结果

{ "supportsExploration": true }
{ "type": "TASK_TYPE_NONE" }

8.4.3 启动

8.4.3.1 EXP-02 · SET_AREA

在 START 前设置探索边界（矩形 Polygon 示例）。

command 7 SET_AREA Polygon ≥ 3 点 · 20×15m success=true · IDLE

发送指令

# EXP-02 · SET_AREA(7)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendExplorationCommand <<EOF
{
  "header": {
    "cmd_id": "${CMD_ID}"
  },
  "command": 7,
  "area": {
    "points": [
      { "x": 0,  "y": 0,  "z": 0 },
      { "x": 20, "y": 0,  "z": 0 },
      { "x": 20, "y": 15, "z": 0 },
      { "x": 0,  "y": 15, "z": 0 }
    ]
  }
}
EOF

收到结果 · 末帧

{
  "ack": { "success": true, "final": true },
  "status": "EXPLORATION_STATUS_IDLE"
}

8.4.3.2 EXP-03 · START

启动 SLAM 探索：Stream 推送 explorationProgress / exploredArea，直至完成或中断。

command 1 START EXPLORING · progress 0→1

发送指令

# EXP-03 · START(1)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendExplorationCommand <<EOF
{
  "header": {
    "cmd_id": "${CMD_ID}"
  },
  "command": 1
}
EOF

收到结果 · 流中帧

{ "status": "EXPLORATION_STATUS_EXPLORING", "explorationProgress": 0.12, "exploredArea": 8.5 }
{ "status": "EXPLORATION_STATUS_EXPLORING", "explorationProgress": 0.45, "exploredArea": 32.0 }

8.4.4 运行控制

8.4.4.1 EXP-04 · PAUSE

暂停探索（机器人停住，任务保持 PAUSED）。

前提：EXP-03 已 START 且 Stream 未结束 · 另开终端发送。

command 3 PAUSE 探索已暂停

发送指令

# EXP-04 · PAUSE(3)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendExplorationCommand <<EOF
{
  "header": { "cmd_id": "${CMD_ID}" },
  "command": 3
}
EOF

收到结果 · 末帧

{
  "ack": { "success": true, "final": true, "taskStatus": "TASK_STATUS_PAUSED" },
  "status": "EXPLORATION_STATUS_PAUSED"
}

8.4.4.2 EXP-05 · RESUME

从暂停恢复探索。

前提：紧接 EXP-04 PAUSE 之后发送。

command 4 RESUME 恢复探索

发送指令

# EXP-05 · RESUME(4)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendExplorationCommand <<EOF
{
  "header": { "cmd_id": "${CMD_ID}" },
  "command": 4
}
EOF

收到结果 · 流中帧

{
  "status": "EXPLORATION_STATUS_EXPLORING",
  "explorationProgress": 0.52,
  "ack": { "success": true, "final": false }
}

8.4.5 结束

8.4.5.1 EXP-06 · SAVE_MAP

探索进行中或结束后，将当前地图保存为指定名称。

command 6 SAVE_MAP map_name floor1 COMPLETED / IDLE

发送指令

# EXP-06 · SAVE_MAP(6)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendExplorationCommand <<EOF
{
  "header": {
    "cmd_id": "${CMD_ID}"
  },
  "command": 6,
  "map_name": "floor1"
}
EOF

收到结果 · 末帧

{
  "ack": { "success": true, "final": true, "taskStatus": "TASK_STATUS_SUCCEEDED" },
  "status": "EXPLORATION_STATUS_COMPLETED"
}

8.4.5.2 EXP-07 · CANCEL

取消当前探索任务，释放任务槽，状态变为 CANCELED。

command 5 CANCEL 任务已取消

发送指令

# EXP-07 · CANCEL(5)
export CMD_ID=$(new_cmd_id)

grpcurl -plaintext $PROTO_OPTS \
  -d @- \
  $BRIDGE \
  $SVC/SendExplorationCommand <<EOF
{
  "header": { "cmd_id": "${CMD_ID}" },
  "command": 5
}
EOF

收到结果 · 末帧

{
  "ack": { "success": true, "final": true, "taskStatus": "TASK_STATUS_CANCELED" },
  "status": "EXPLORATION_STATUS_CANCELED"
}

SendExplorationCommand

8.1 方法签名

8.2 Proto 定义

8.3 字段说明

Request · ExplorationCommandRequest

Response · ExplorationCommandResponse

8.4 示例（grpcurl）

8.4.1 示例索引

8.4.2 EXP-01 · 前置检查

8.4.3 启动

8.4.3.1 EXP-02 · SET_AREA

8.4.3.2 EXP-03 · START

8.4.4 运行控制

8.4.4.1 EXP-04 · PAUSE

8.4.4.2 EXP-05 · RESUME

8.4.5 结束

8.4.5.1 EXP-06 · SAVE_MAP

8.4.5.2 EXP-07 · CANCEL

Request · `ExplorationCommandRequest`

Response · `ExplorationCommandResponse`