syntax = "proto3";

import "protos/api_v2.proto";

package flr_api.v2.rtos;

/* -------------------------------------------------------------------------- */
/*                                    Misc                                    */
/* -------------------------------------------------------------------------- */

/* ------------------------------ Control mode ------------------------------ */
enum RTOSControlMode {
    RTOS_CONTROL_MODE_UNSPECIFIED = 0;
    RTOS_CONTROL_MODE_IDLE = 1; // Acts as TRAJECTORY_ACTIONS_STOP
    RTOS_CONTROL_MODE_JOGGING = 2;
    RTOS_CONTROL_MODE_TRAJECTORY = 3;
}

message RTOSControlModeCmd {
    CmdHeader header = 1;
    RTOSControlMode control_mode_request = 2;
}

/* ------------------------------ Initialization ----------------------------- */

message JointLimits {
    double min_position = 1;
    double max_position = 2;
    double max_velocity = 3;
    double max_acceleration = 4;
    double max_jerk = 5;
}

message ExtendedAxisDefinition {
    JointLimits joint_limits = 1;
}

message RTOSDriverInitializationCmd {
    CmdHeader header = 1;
    bool dummy_mode = 2;
    string robot_brand = 3;
    string robot_model = 4;
    string robot_controller_model = 5;
    optional string local_address = 6;
    optional uint32 local_port = 7;
    optional string robot_address = 8;
    optional uint32 robot_port = 9;
    repeated ExtendedAxisDefinition extended_axes = 10;
    optional Joints joint_position_commands = 11;
    optional Joints extended_joint_position_commands = 12;
}

/* ---------------------------------- Tool ---------------------------------- */
message Tool {
    string name = 1;
    Pose flange_to_tcp = 2;
}

message ToolCmd {
    CmdHeader header = 1;
    Tool tool = 2;
}

/* -------------------------------------------------------------------------- */
/*                                   Jogging                                  */
/* -------------------------------------------------------------------------- */

message JoggingSpeedOverrideCmd {
    CmdHeader header = 1;
    double percent = 2;
}

message CartesianPoseJoggingCmd {
    CmdHeader header = 1;
    Pose desired_pose = 2;
}

message CartesianVelocityJoggingCmd {
    CmdHeader header = 1;
    Twist desired_velocity = 2;
}

message JointPositionJoggingCmd {
    CmdHeader header = 1;
    optional Joints joint_positions = 2;
    optional Joints extended_joint_positions = 3;
}

message JointVelocityJoggingCmd {
    CmdHeader header = 1;
    optional Joints joint_velocities = 2;
    optional Joints extended_joint_velocities = 3;
}

/* -------------------------------------------------------------------------- */
/*                              Operational mode                              */
/* -------------------------------------------------------------------------- */

enum OperationalMode {
    OPERATIONAL_MODE_UNSPECIFIED = 0;
    OPERATIONAL_MODE_MANUAL = 1;
    OPERATIONAL_MODE_AUTO = 2;
    OPERATIONAL_MODE_EXTERNAL = 3;
}

message OperationalModeCmd {
    CmdHeader header = 1;
    OperationalMode operational_mode = 2;
}

enum SpeedMode {
    SPEED_MODE_UNSPECIFIED = 0;
    SPEED_MODE_REDUCED = 1;
    SPEED_MODE_FAST = 2;
    SPEED_MODE_MAX = 3;
}

message SpeedModeCmd {
    CmdHeader header = 1;
    SpeedMode speed_mode = 3;
}

message OperationalSwitchCmd {
    CmdHeader header = 1;
    OperationalMode operational_mode = 2;
    SpeedMode speed_mode = 3;
}

message DeadmanHeartbeatCmd {
    CmdHeader header = 1;
}

/* -------------------------------------------------------------------------- */
/*                              Inputs / Outputs                              */
/* -------------------------------------------------------------------------- */

enum IoType {
    IOTYPE_UNSPECIFIED = 0;
    IOTYPE_INPUT = 1;
    IOTYPE_OUTPUT = 2;
}

enum IoValueType
{
    IODATATYPE_UNSPECIFIED = 0;
    IODATATYPE_BOOL = 1;
    IODATATYPE_UINT8 = 2;
    IODATATYPE_INT8 = 3;
    IODATATYPE_UINT16 = 4;
    IODATATYPE_INT16 = 5;
    IODATATYPE_UINT32 = 6;
    IODATATYPE_INT32 = 7;
    IODATATYPE_FLOAT32 = 8;
    IODATATYPE_UINT64 = 9;
    IODATATYPE_INT64 = 10;
}

message InputOutput {
    string name = 1;
    IoType io_type = 2;
    IoValueType value_type = 3;
    string value = 4;
    optional uint32 index = 5;
}

message InputOutputRange {
    InputOutput first_io = 1;
    optional uint32 quantity = 2;
}

message WriteIosCmd {
    CmdHeader header = 1;
    repeated InputOutput ios = 2;
}

message ReadIosCmd {
    CmdHeader header = 1;
    repeated InputOutputRange io_ranges = 2;
}

message AvailableIosResponse {
    StateHeader header = 1;
    repeated InputOutputRange ios = 2;
}

message ReadIoResponse {
    StateHeader header = 1;
    InputOutput io = 2;
}

message ReadIosResponse {
    StateHeader header = 1;
    repeated InputOutput ios = 2;
}

/* -------------------------------------------------------------------------- */
/*                                System state                                */
/* -------------------------------------------------------------------------- */

enum ConnectionState {
    CONNECTION_STATE_UNSPECIFIED = 0;
    CONNECTION_STATE_CONNECTED = 1;
    CONNECTION_STATE_NOT_CONNECTED = 2;
    CONNECTION_STATE_UNREACHABLE = 3;
}

message RobotControllerState {
    StateHeader header = 1;
    /* name format : brand model
    example: Fanuc M-20iD/35
    */
    string name = 2;
    bool ready_to_execute_commands = 3;
    optional bool safety_system_ready = 4;
    optional bool robot_script_running = 5;
    optional bool power_stage_enabled = 6;
    optional uint64 number_of_late_packets = 7;
    optional Joints latest_robot_language_setpoint = 8;
    double control_period = 9;
}

message RTOSState {
    StateHeader header = 1;
    string version = 2;
    reserved 3;
    SpeedMode speed_mode = 4;
    OperationalMode operational_mode = 5;
    RTOSControlMode robot_control_mode = 6;
    ConnectionState connection_state = 7;
    repeated string allowed_events = 8;
    Joints latest_position_setpoints = 9;
    Joints joint_position_setpoints = 10;
    Joints joint_velocity_setpoints = 11;
    Pose tool_pose_setpoint = 12;
    Twist tool_velocity_setpoint = 13;
    double jogging_speed_override_percent = 14;
    repeated string available_trajectory_uuids = 15;
    double jogging_command_watchdog_timeout = 16;
    double jogging_command_watchdog_current_time = 17;
    double jogging_mode_watchdog_timeout = 18;
    double jogging_mode_watchdog_current_time = 19;
    double comm_period = 20;
    Joints extended_joint_position_setpoints = 21;
    Joints extended_joint_velocity_setpoints = 22;
}

message RobotState {
    StateHeader header = 1;
    repeated string joint_names = 2;
    Joints joint_positions = 3;
    Joints joint_velocities = 4;
    Joints joint_accelerations = 5;
    Joints joint_jerks = 6;
    Tool tool = 7;
    Pose tool_pose = 8;
    Twist tool_velocity = 9;
    Twist tool_acceleration = 10;
    Joints joint_position_commands = 11;
    Joints extended_joint_positions = 12;
    Joints extended_joint_position_commands = 13;
    Joints extended_joint_velocities = 14;
}

message SystemState {
    StateHeader header = 1;
    RobotControllerState robot_controller_state = 2;
    RTOSState rtos_state = 3;
    RobotState robot_state = 4;
    TrajectoryState trajectory_state = 5;
}

/* -------------------------------------------------------------------------- */
/*                              Trajectory player                             */
/* -------------------------------------------------------------------------- */

enum TrajectoryPlayerAction {
    TRAJECTORY_PLAYER_ACTION_UNSPECIFIED = 0;
    TRAJECTORY_PLAYER_ACTION_PAUSE = 1;
    TRAJECTORY_PLAYER_ACTION_PLAY = 2;
    TRAJECTORY_PLAYER_ACTION_REWIND = 3;
    TRAJECTORY_PLAYER_ACTION_APPROACH = 4;
}

message TrajectoryPlayerCmd {
    CmdHeader header = 1;
    TrajectoryPlayerAction action = 2;
}

message TrajectoryOverrideSpeedCmd {
    CmdHeader header = 1;
    double percent = 2;
}

enum PlayerState {
    PLAYER_STATE_UNSPECIFIED = 0;
    PLAYER_STATE_STOPPED = 1;
    PLAYER_STATE_PAUSED = 2;
    PLAYER_STATE_PLAYING = 3;
    PLAYER_STATE_REWINDING = 4;
    PLAYER_STATE_CONVERGING_TOWARDS_TARGET = 5;
    PLAYER_STATE_FINISHED = 6;
}

message TrajectoryState {
    StateHeader header = 1;
    string uuid = 2; // The generation UUID
    bool is_playable = 3;
    bool is_on_trajectory = 4;
    bool is_advancing = 5;
    PlayerState player_state = 6;
    double override_speed = 7;
    double current_time = 8;
    double duration = 9;
    string asset_uuid = 10;
    double tcp_speed = 11; // Linear speed in m/s before applying the speed override
    bool pause_at_current_time = 12; // Pause built in the trajectory at the current time
    double pause_current_time = 13; // Current time in seconds at the pause built in the trajectory
    double pause_duration = 14; // Pause duration in seconds at the current time built in the trajectory
    bool paused_by_blocking_io = 15;
    string blocking_io_name = 16;
}

/* -------------------------------------------------------------------------- */
/*                             Trajectory Library                             */
/* -------------------------------------------------------------------------- */

message SelectTrajectoryCmd {
    CmdHeader header = 1;
    string trajectory_uuid = 2;
}

/* -------------------------------------------------------------------------- */
/*                            Trajectory Generator                            */
/* -------------------------------------------------------------------------- */

enum MotionType {
    MOTION_TYPE_UNSPECIFIED = 0;
    MOTION_TYPE_PTP = 1;
    MOTION_TYPE_LIN = 2;
    MOTION_TYPE_SPLINE = 3;
    MOTION_TYPE_JOINT_SPLINE = 4;
}

enum BlendingSpeedType {
    BLENDING_SPEED_TYPE_UNSPECIFIED = 0;
    BLENDING_SPEED_TYPE_AUTO = 1;
    BLENDING_SPEED_TYPE_VARYING = 2;
    BLENDING_SPEED_TYPE_CONSTANT = 3;
}

message RobotPose {
    Pose pose = 1;
    optional Joints joint_seeds = 2;
}

message Waypoint {
    MotionType motion_type = 1;
    optional RobotPose robot_pose = 2;
    optional Joints joint_positions = 3;
    string name = 4;
    string uuid = 5;
    optional double velocity_scaling_percent = 6;
    double blending_percent = 7;
    BlendingSpeedType blending_speed_type = 8;
    optional double pause_duration = 9;
    optional double time_from_start = 10;
}

message WaypointWithIos {
    Waypoint waypoint = 1;
    repeated InputOutput ios = 2;
}

message TrajectoryGenOptions {
    bool force_constant_speed = 1;
    optional string desired_uuid = 2;
}

message MotionProfileConstraints {
    double initial_position = 1;
    double initial_velocity = 2;
    double initial_acceleration = 3;
    double final_position = 4;
    double final_velocity = 5;
    double final_acceleration = 6;
    double max_speed = 7;
    double max_acceleration = 8;
    optional double max_deceleration = 9;
    double max_jerk = 10;
    optional double duration = 11;
}

message Robot {
    string brand = 1;
    string model = 2;
    Pose flange_to_tcp = 3;
}

message TrajectoryGenInputs {
    repeated Waypoint waypoints = 1;
    Robot robot = 2;
    TrajectoryGenOptions options = 3;
    // Reserved for Fuzzy Logic exclusive usage
    repeated MotionProfileConstraints motion_profile_constaints = 4;
}

message TrajectoryGenerationCmd {
    CmdHeader header = 1;
    TrajectoryGenInputs inputs = 2;
}

message PathPreview {
    repeated Pose poses = 1;
}