CalibrationService (gRPC)

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Calibration is modeled as a custom method on a virtual collection: there is no persisted "calibration" resource, this is a stateless computation.

Full name: maslow.v1.CalibrationService

Methods

SolveCalibration

• Kind: unary
• Request: SolveCalibrationRequest
• Response: SolveResult

Types

Every message and enum reachable from this service's requests and responses, including shared types defined in common.proto.

AnchorParams

The reduced 5-parameter anchor estimate the solver optimises over. BL is fixed at the origin and BR's Y is fixed at 0, so they are not parameters.

Field	Type	Description
tl_x	double
tl_y	double
tr_x	double
tr_y	double
br_x	double

Anchors

Frame anchor coordinates (mm), as stored in the firmware config.

Field	Type	Description
tl_x	float
tl_y	float
tr_x	float
tr_y	float
bl_x	float
bl_y	float
br_x	float
br_y	float
valid	bool	True when the geometry is non-degenerate and passes the firmware's own basic sanity checks, i.e. the anchors are usable as a frame definition.
calibrated	bool	True when the anchors are valid AND differ from the firmware's compiled defaults, i.e. a calibration actually ran and overwrote them.

Fitness

Quality metrics for a solved fit.

Field	Type	Description
rms	double	sqrt(SSR / 4N), overall belt-length error, mm.
max_residual	double	max|residual|, worst single belt-length error, mm.
per_anchor	repeated double	Per-anchor RMS [tl, tr, bl, br], mm.
converged	bool	True if the solver converged within the iteration cap on at least one attempt.

Measurement

One belt-length measurement at a calibration waypoint (mm, XY plane).

Field	Type	Description
tl	double
tr	double
bl	double
br	double

ResidualRow

One residual row: [tl, tr, bl, br] belt-length error, mm.

Field	Type	Description
values	repeated double

Sled

Estimated sled position for a single measurement (mm, XY plane).

Field	Type	Description
x	double
y	double

SolveCalibrationRequest

Field	Type	Description
measurements	repeated Measurement
initial	Anchors	Starting guess, as frame anchors (matching what a config dump provides), not the solver's internal 5-parameter form. If unset, the solver falls back to the firmware default frame. (part of oneof _initial)
exclude	repeated uint32	Zero-based measurement indices to exclude from the solve (what-if waypoint exclusion), without touching the machine.
solver	string	Solver identifier; currently only "levenberg-marquardt" is implemented.

SolveResult

Full result of a solve: candidate anchors + fitness + per-measurement detail. ok reflects the firmware's own fitness gates; gate_error explains a failure when ok is false.

Field	Type	Description
solver	string
ok	bool
gate_error	string
anchors	optional Anchors
params	optional AnchorParams
fitness	optional Fitness
sled	repeated Sled
residuals	repeated ResidualRow	Per-measurement residuals [tl, tr, bl, br] of the best params, mm. Each entry corresponds by index to kept_indices.
kept_indices	repeated uint32	Original measurement indices the solve actually used, in order. Equal to 0..n unless the caller excluded waypoints, letting a caller map sled/ residuals back to the original waypoint numbers.