2. 架构设计

AutonomyService 数据流与 13 RPC 契约（external_command_service.proto）。上手 §0 · §3 RPC

2.1 数据流

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flowchart TB
    Client["<div style='width:18rem;height:4.5rem;display:flex;align-items:center;justify-content:center;text-align:center;line-height:1.35;font-size:13px;box-sizing:border-box;padding:0.45rem 0.65rem;overflow:hidden;background:#e3f2fd;border-radius:6px;color:#0d47a1'>L1<br/>Client</div>"]
    BS["<div style='width:18rem;height:4.5rem;display:flex;align-items:center;justify-content:center;text-align:center;line-height:1.35;font-size:13px;box-sizing:border-box;padding:0.45rem 0.65rem;overflow:hidden;background:#e0f2f2;border-radius:6px;color:#1a4d6e'>L2<br/>BridgeServer</div>"]
    TX["<div style='width:18rem;height:4.5rem;display:flex;align-items:center;justify-content:center;text-align:center;line-height:1.35;font-size:13px;box-sizing:border-box;padding:0.45rem 0.65rem;overflow:hidden;background:#fff8e1;border-radius:6px;color:#e65100'>L3<br/>GrpcBridgeServer / MqttBridgeServer</div>"]
    HD["<div style='width:18rem;height:4.5rem;display:flex;align-items:center;justify-content:center;text-align:center;line-height:1.35;font-size:13px;box-sizing:border-box;padding:0.45rem 0.65rem;overflow:hidden;background:#f3e5f5;border-radius:6px;color:#6a1b9a'>L3<br/>Handler + FSM/BT</div>"]
    Stack["<div style='width:18rem;height:4.5rem;display:flex;align-items:center;justify-content:center;text-align:center;line-height:1.35;font-size:13px;box-sizing:border-box;padding:0.45rem 0.65rem;overflow:hidden;background:#e8f5e9;border-radius:6px;color:#2e7d32'>L4<br/>Navigator · Exploration · Map</div>"]

    Client -->|"RPC 下行"| BS --> TX --> HD --> Stack
    Stack -.-> HD -.-> TX -.-> BS -.->|"响应上行"| Client

    classDef l1 fill:#e3f2fd,stroke:#1565c0,color:#0d47a1
    classDef l2 fill:#e0f2f2,stroke:#2d9294,color:#1a4d6e
    classDef l3tx fill:#fff8e1,stroke:#fb8c00,color:#e65100
    classDef l3hd fill:#f3e5f5,stroke:#8e24aa,color:#6a1b9a
    classDef l4 fill:#e8f5e9,stroke:#43a047,color:#2e7d32
    class Client l1
    class BS l2
    class TX l3tx
    class HD l3hd
    class Stack l4

2.2 RPC Service

与 proto service AutonomyService 块顺序一致：

分类	RPC	请求 → 响应	模式	文档
Push	`ReceiveBotStates`	`Empty` → stream `RobotState`	Empty → Stream	rpcs/05
	`ReceiveBotEvents`	`Empty` → stream `RobotEvent`	Empty → Stream	rpcs/05
Query	`GetRobotSnapshot`	`Empty` → `RobotState`	Unary → Unary	rpcs/04
	`GetActiveTask`	`Empty` → `ActiveTaskInfo`	Unary → Unary	rpcs/04
	`GetCapabilities`	`Empty` → `Capabilities`	Unary → Unary	rpcs/04
System	`EmergencyStop`	`EmergencyStopRequest` → `CommandAck`	Unary → Unary	rpcs/06
	`CancelAllTasks`	`CancelAllTasksRequest` → `CommandAck`	Unary → Unary	rpcs/06
Command	`SendNavigationCommand`	`NavigationCommandRequest` → stream `NavigationCommandResponse`	Unary → Stream	rpcs/07
	`SendFollowCommand`	`FollowCommandRequest` → stream `FollowCommandResponse`	Unary → Stream	rpcs/09
	`SendTeleopCommand`	stream `TeleopCommandRequest` → stream `TeleopCommandResponse`	Stream ↔ Stream	rpcs/10
	`SendExplorationCommand`	`ExplorationCommandRequest` → stream `ExplorationCommandResponse`	Unary → Stream	rpcs/08
	`SendDockCommand`	`DockCommandRequest` → stream `DockCommandResponse`	Unary → Stream	rpcs/11
	`SendMapCommand`	`MapCommandRequest` → stream `MapCommandResponse`	Unary → Stream	rpcs/12

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