use grpc instead of python bindings

.github/workflows/publish.yml

@@ -42,11 +42,6 @@ jobs:
           pip install cibuildwheel
         shell: bash
 
-      - name: Set up QEMU
-        uses: docker/setup-qemu-action@v2
-        with:
-          platforms: all
-
       - name: Build package
         env:
           CIBW_SKIP: "pp* *-musllinux*"  # Skip PyPy and musllinux builds

Cargo.toml

@@ -1,6 +1,7 @@
 [workspace]
 
 members = [
+    "actuator/actuator",
     "actuator/bindings",
     "actuator/robstride",
 ]

README.md

@@ -2,8 +2,6 @@
 
 Defines a package to make it easy and performant to control actuators.
 
-![System Architecture](./docs/architecture.png)
-
 ## Getting Started
 
 See the documentation [here](https://docs.kscale.dev/software/actuators/overview) for instructions on getting started with this package.

actuator/actuator/Cargo.toml

@@ -0,0 +1,37 @@
+[package]
+
+name = "actuator"
+build = "build.rs"
+readme = "README.md"
+description = "Actuator control service"
+
+version.workspace = true
+edition.workspace = true
+authors.workspace = true
+repository.workspace = true
+license.workspace = true
+
+[dependencies]
+
+async-trait = "^0.1"
+lazy_static = "^1.4.0"
+pest = "^2.5"
+pest_derive = "^2.5"
+prost = "0.13"
+prost-types = "0.13"
+serde = { version = "^1.0", features = ["derive"] }
+serde_json = "^1.0"
+thiserror = "1.0"
+tokio = { version = "1", features = ["full"] }
+tonic = { version = "^0.12", features = ["transport"] }
+
+[build-dependencies]
+
+prost-build = "^0.13.3"
+tonic-build = "^0.12"
+
+[lib]
+
+name = "actuator"
+crate-type = ["cdylib", "rlib"]
+path = "src/lib.rs"

actuator/actuator/README.md

@@ -0,0 +1,3 @@
+# actuator
+
+This crate contains the code for running the actuator control service.

actuator/actuator/build.rs

@@ -0,0 +1,26 @@
+use std::env;
+use std::path::PathBuf;
+
+fn main() {
+    let proto_root = "proto";
+    let out_dir = PathBuf::from(env::var("OUT_DIR").unwrap());
+    let protos = [
+        "actuator/common.proto",
+        "google/longrunning/operations.proto",
+    ];
+
+    let includes = [proto_root, &format!("{}/googleapis", proto_root)];
+
+    std::fs::create_dir_all(out_dir.join("actuator")).expect("Failed to create actuator directory");
+
+    tonic_build::configure()
+        .build_server(true)
+        .out_dir(out_dir.join("actuator"))
+        .compile_protos(&protos, &includes)
+        .expect("Failed to compile protos");
+
+    for proto in protos {
+        println!("cargo:rerun-if-changed={}/actuator/{}", proto_root, proto);
+    }
+    println!("cargo:rerun-if-changed={}", proto_root);
+}

actuator/actuator/proto/actuator/common.proto

@@ -0,0 +1,39 @@
+syntax = "proto3";
+
+package actuator.common;
+
+import "google/protobuf/empty.proto";
+import "google/longrunning/operations.proto";
+
+service ActuatorController {
+    rpc CommandActuators(CommandActuatorsRequest) returns (CommandActuatorsResponse) {}
+}
+
+message ActuatorCommand {
+    uint32 actuator_id = 1;
+    double position = 2;
+    double velocity = 3;
+    double torque = 4;
+    double kp = 5;
+    double kd = 6;
+}
+
+message ActuatorStatus {
+    uint32 actuator_id = 1;
+    double position = 2;
+    double velocity = 3;
+}
+
+message CommandActuatorsRequest {
+    repeated ActuatorCommand commands = 1;
+}
+
+message CommandActuatorsResponse {
+    repeated ActuatorStatus statuses = 1;
+    ResponseCode response_code = 2;
+}
+
+enum ResponseCode {
+    OK = 0;
+    ERROR = 1;
+}

actuator/actuator/proto/googleapis/google/api/annotations.proto

@@ -0,0 +1,31 @@
+// Copyright 2024 Google LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+syntax = "proto3";
+
+package google.api;
+
+import "google/api/http.proto";
+import "google/protobuf/descriptor.proto";
+
+option go_package = "google.golang.org/genproto/googleapis/api/annotations;annotations";
+option java_multiple_files = true;
+option java_outer_classname = "AnnotationsProto";
+option java_package = "com.google.api";
+option objc_class_prefix = "GAPI";
+
+extend google.protobuf.MethodOptions {
+  // See `HttpRule`.
+  HttpRule http = 72295728;
+}