rpc GetStatus(GetStatusRequest) returns (LinuxCNCStatus)

status = stub.GetStatus(linuxcnc_pb2.GetStatusRequest())
print(f"Mode: {linuxcnc_pb2.TaskMode.Name(status.task.task_mode)}")
print(f"X: {status.position.actual_position.x}")

rpc SendCommand(LinuxCNCCommand) returns (CommandResponse)

# Set state to ON
cmd = linuxcnc_pb2.LinuxCNCCommand()
cmd.serial = 1
cmd.state.state = linuxcnc_pb2.STATE_ON
response = stub.SendCommand(cmd)

if response.status == linuxcnc_pb2.RCS_ERROR:
    print(f"Error: {response.error_message}")

rpc WaitComplete(WaitCompleteRequest) returns (CommandResponse)

# Send MDI command
cmd = linuxcnc_pb2.LinuxCNCCommand()
cmd.serial = 1
cmd.mdi.command = "G0 X10 Y10"
stub.SendCommand(cmd)

# Wait for completion
request = linuxcnc_pb2.WaitCompleteRequest(serial=1, timeout=30.0)
response = stub.WaitComplete(request)

if response.status == linuxcnc_pb2.RCS_DONE:
    print("Command completed")

rpc StreamStatus(StreamStatusRequest) returns (stream LinuxCNCStatus)

request = linuxcnc_pb2.StreamStatusRequest(interval_ms=100)

for status in stub.StreamStatus(request):
    pos = status.position.actual_position
    print(f"X={pos.x:.3f} Y={pos.y:.3f} Z={pos.z:.3f}")

rpc StreamErrors(StreamErrorsRequest) returns (stream ErrorMessage)

rpc UploadFile(UploadFileRequest) returns (UploadFileResponse)

request = linuxcnc_pb2.UploadFileRequest(
    filename="my_part.ngc",
    content="G0 X10 Y10\nG1 Z-5 F100\nM2\n"
)
response = stub.UploadFile(request)
print(f"Written to: {response.path}")

rpc ListFiles(ListFilesRequest) returns (ListFilesResponse)

response = stub.ListFiles(linuxcnc_pb2.ListFilesRequest())
for f in response.files:
    print(f"{f.name}: {f.size_bytes} bytes")

rpc DeleteFile(DeleteFileRequest) returns (DeleteFileResponse)

response = stub.DeleteFile(
    linuxcnc_pb2.DeleteFileRequest(filename="my_part.ngc")
)
print(f"Deleted: {response.path}")

rpc GetSystemStatus(GetSystemStatusRequest) returns (HalSystemStatus)

rpc GetValue(GetValueCommand) returns (GetValueResponse)

rpc QueryPins(QueryPinsCommand) returns (QueryPinsResponse)

request = hal_pb2.QueryPinsCommand(pattern="axis.x.*")
response = hal_stub.QueryPins(request)

for pin in response.pins:
    print(f"{pin.name}: {pin.value}")

rpc QuerySignals(QuerySignalsCommand) returns (QuerySignalsResponse)

rpc QueryParams(QueryParamsCommand) returns (QueryParamsResponse)

rpc QueryComponents(QueryComponentsCommand) returns (QueryComponentsResponse)

rpc StreamStatus(HalStreamStatusRequest) returns (stream HalSystemStatus)

rpc WatchValues(WatchRequest) returns (stream ValueChangeBatch)

enum TaskMode {
  TASK_MODE_UNSPECIFIED = 0;
  MODE_MANUAL = 1;  // Manual/jog mode
  MODE_AUTO = 2;    // Auto/program mode
  MODE_MDI = 3;     // MDI mode
}

enum TaskState {
  TASK_STATE_UNSPECIFIED = 0;
  STATE_ESTOP = 1;        // E-stop active
  STATE_ESTOP_RESET = 2;  // E-stop reset, machine off
  STATE_ON = 3;           // Machine on
  STATE_OFF = 4;          // Machine off
}

enum InterpState {
  INTERP_STATE_UNSPECIFIED = 0;
  INTERP_IDLE = 1;     // Interpreter idle
  INTERP_READING = 2;  // Reading program
  INTERP_PAUSED = 3;   // Program paused
  INTERP_WAITING = 4;  // Waiting for input
}

enum ExecState {
  EXEC_STATE_UNSPECIFIED = 0;
  EXEC_ERROR = 1;
  EXEC_DONE = 2;
  EXEC_WAITING_FOR_MOTION = 3;
  EXEC_WAITING_FOR_MOTION_QUEUE = 4;
  EXEC_WAITING_FOR_IO = 5;
  EXEC_WAITING_FOR_MOTION_AND_IO = 6;
  EXEC_WAITING_FOR_DELAY = 7;
  EXEC_WAITING_FOR_SYSTEM_CMD = 8;
  EXEC_WAITING_FOR_SPINDLE_ORIENTED = 9;
}

enum RcsStatus {
  RCS_STATUS_UNSPECIFIED = 0;
  RCS_DONE = 1;   // Command completed
  RCS_EXEC = 2;   // Command executing
  RCS_ERROR = 3;  // Command error
}

enum JogType {
  JOG_STOP = 0;       // Stop jogging
  JOG_CONTINUOUS = 1; // Continuous jog at velocity
  JOG_INCREMENT = 2;  // Incremental jog
}

enum HalType {
  HAL_TYPE_UNSPECIFIED = 0;
  HAL_BIT = 1;    // Boolean
  HAL_FLOAT = 2;  // Double precision float
  HAL_S32 = 3;    // Signed 32-bit integer
  HAL_U32 = 4;    // Unsigned 32-bit integer
  HAL_S64 = 5;    // Signed 64-bit integer
  HAL_U64 = 6;    // Unsigned 64-bit integer
  HAL_PORT = 7;   // Port type (advanced)
}

enum PinDirection {
  PIN_DIR_UNSPECIFIED = 0;
  HAL_IN = 1;   // Input (component reads)
  HAL_OUT = 2;  // Output (component writes)
  HAL_IO = 3;   // Bidirectional
}

message Position {
  double x = 1;
  double y = 2;
  double z = 3;
  double a = 4;
  double b = 5;
  double c = 6;
  double u = 7;
  double v = 8;
  double w = 9;
}

message PositionStatus {
  Position position = 1;         // Commanded position
  Position actual_position = 2;  // Actual/feedback position
  Position probed_position = 3;  // Probe trip position
  Position dtg = 4;              // Distance to go
  Position g5x_offset = 5;      // Work offset (G54-G59.3)
  Position g92_offset = 6;      // G92 offset
  Position tool_offset = 7;     // Tool offset
  int32 g5x_index = 8;           // Work coordinate index
}

message JointStatus {
  int32 joint_number = 1;
  JointType joint_type = 2;   // LINEAR or ANGULAR
  double output = 11;         // Commanded position
  double input = 12;          // Feedback position
  double velocity = 13;
  bool homed = 16;
  bool enabled = 18;
  bool fault = 17;
  bool min_hard_limit = 21;
  bool max_hard_limit = 22;
  // ... additional fields
}

message SpindleStatus {
  int32 spindle_number = 1;
  bool brake = 2;
  int32 direction = 3;    // -1=reverse, 0=stopped, 1=forward
  bool enabled = 4;
  double speed = 6;       // Commanded RPM
  double override = 7;    // Override scale
}

message HalPinInfo {
  string name = 1;            // Full name (component.pin)
  string short_name = 2;      // Pin name only
  string component = 3;       // Parent component
  HalType type = 4;           // Data type
  PinDirection direction = 5; // IN/OUT/IO
  HalValue value = 6;         // Current value
  string signal = 7;          // Connected signal
  bool has_writer = 8;        // Has a writer connected
}

message HalValue {
  oneof value {
    bool bit_value = 1;
    double float_value = 2;
    int32 s32_value = 3;
    uint32 u32_value = 4;
    int64 s64_value = 5;
    uint64 u64_value = 6;
    string port_value = 7;       // Port type (advanced)
  }
}