syntax = "proto3";

package cmvr.api;

import "cmvr/api/common.proto";

enum ArmFrameType {
  ARM_FRAME_BASE = 0;
  ARM_FRAME_TOOL = 1;
  ARM_FRAME_WORLD = 2;
  ARM_FRAME_USER = 3;
}

enum ArmRobotMode {
  ARM_ROBOT_MODE_UNKNOWN = 0;
  ARM_ROBOT_MODE_DISCONNECTED = 1;
  ARM_ROBOT_MODE_POWER_OFF = 2;
  ARM_ROBOT_MODE_IDLE = 3;
  ARM_ROBOT_MODE_RUNNING = 4;
  ARM_ROBOT_MODE_PAUSED = 5;
  ARM_ROBOT_MODE_STOPPED = 6;
  ARM_ROBOT_MODE_FAULT = 7;
}

enum ArmSafetyMode {
  ARM_SAFETY_MODE_UNKNOWN = 0;
  ARM_SAFETY_MODE_NORMAL = 1;
  ARM_SAFETY_MODE_REDUCED = 2;
  ARM_SAFETY_MODE_PROTECTIVE_STOP = 3;
  ARM_SAFETY_MODE_EMERGENCY_STOP = 4;
  ARM_SAFETY_MODE_SAFEGUARD_STOP = 5;
  ARM_SAFETY_MODE_SYSTEM_EMERGENCY_STOP = 6;
  ARM_SAFETY_MODE_FAULT = 7;
}

enum ArmControlMode {
  ARM_CONTROL_MODE_NONE = 0;
  ARM_CONTROL_MODE_MANUAL = 1;
  ARM_CONTROL_MODE_POSITION = 2;
  ARM_CONTROL_MODE_VELOCITY = 3;
  ARM_CONTROL_MODE_TORQUE = 4;
  ARM_CONTROL_MODE_SERVO = 5;
  ARM_CONTROL_MODE_FREEDRIVE = 6;
}

message JointPositionCommand {
  repeated double position = 1;
}

message JointVelocityCommand {
  repeated double velocity = 1;
}

message MotionOptions {
  double velocity = 1;
  double acceleration = 2;
  double blend_radius = 3;
  double jerk = 4;
  repeated double joint_velocity_limits = 5;
  bool asynchronous = 6;
}

message CartesianPose {
  double x = 1;
  double y = 2;
  double z = 3;
  double rx = 4;
  double ry = 5;
  double rz = 6;
}

message CartesianVelocity {
  double vx = 1;
  double vy = 2;
  double vz = 3;
  double wx = 4;
  double wy = 5;
  double wz = 6;
}

message CartesianWrench {
  double fx = 1;
  double fy = 2;
  double fz = 3;
  double tx = 4;
  double ty = 5;
  double tz = 6;
}

message TransformMatrix4x4 {
  double m00 = 1; double m01 = 2; double m02 = 3; double m03 = 4;
  double m10 = 5; double m11 = 6; double m12 = 7; double m13 = 8;
  double m20 = 9; double m21 = 10; double m22 = 11; double m23 = 12;
  double m30 = 13; double m31 = 14; double m32 = 15; double m33 = 16;
}

message MoveJ {
  message Request {
    CommandHeader.Request header = 1;
    JointPositionCommand target = 2;
    MotionOptions options = 3;
  }

  message Response {
    CommandHeader.Feedback header = 1;
  }
}

message MoveL {
  message Request {
    CommandHeader.Request header = 1;
    CartesianPose target = 2;
    MotionOptions options = 3;
    ArmFrameType frame = 4;
  }

  message Response {
    CommandHeader.Feedback header = 1;
  }
}

message SpeedJ {
  message Request {
    CommandHeader.Request header = 1;
    JointVelocityCommand velocity = 2;
    double acceleration = 3;
    double duration = 4;
  }

  message Response {
    CommandHeader.Feedback header = 1;
  }
}

message SpeedL {
  message Request {
    CommandHeader.Request header = 1;
    CartesianVelocity velocity = 2;
    double acceleration = 3;
    double duration = 4;
    ArmFrameType frame = 5;
  }

  message Response {
    CommandHeader.Feedback header = 1;
  }
}

message ServoJ {
  message Request {
    CommandHeader.Request header = 1;
    JointPositionCommand target = 2;
  }

  message Response {
    CommandHeader.Feedback header = 1;
  }
}

message JointState {
  repeated string name = 1;
  repeated double position = 2;
  repeated double velocity = 3;
  repeated double effort = 4;
  double timestamp = 5;
}

message JointRequest {
  CommandHeader.Request header = 1;
}

message JointResponse {
  CommandHeader.Feedback header = 1;
  JointState state = 2;
}

message RobotState {
  double timestamp = 1;
  ArmRobotMode robot_mode = 2;
  ArmSafetyMode safety_mode = 3;
  ArmControlMode control_mode = 4;
  bool connected = 5;
  bool powered_on = 6;
  bool brake_released = 7;
  bool moving = 8;
  bool program_running = 9;
  bool protective_stopped = 10;
  bool emergency_stopped = 11;
  bool fault = 12;
  double speed_scaling = 13;
  JointState actual_joint_state = 14;
  JointState target_joint_state = 15;
  CartesianPose actual_tcp_pose = 16;
  CartesianVelocity actual_tcp_velocity = 17;
  CartesianWrench actual_tcp_wrench = 18;
}

message GetRobotState {
  message Request {
    CommandHeader.Request header = 1;
  }

  message Response {
    CommandHeader.Feedback header = 1;
    RobotState state = 2;
  }
}

message GetPose {
  message Request {
    CommandHeader.Request header = 1;
    string base_link = 2;
    string ee_link = 3;
  }

  message Response {
    CommandHeader.Feedback header = 1;
    CartesianPose pose = 2;
  }
}

message CalibrateZeroQ {
  message Request {
    CommandHeader.Request header = 1;
    string joint_name = 2;
  }

  message Response {
    CommandHeader.Feedback header = 1;
  }
}

message GetPoseMatrix {
  message Request {
    CommandHeader.Request header = 1;
    string base_link = 2;
    string ee_link = 3;
  }

  message Response {
    CommandHeader.Feedback header = 1;
    TransformMatrix4x4 matrix = 2;
  }
}

message ComputeForwardKinematics {
  message Request {
    CommandHeader.Request header = 1;
    string base_link = 2;
    string ee_link = 3;
    JointPositionCommand joints = 4;
  }

  message Response {
    CommandHeader.Feedback header = 1;
    TransformMatrix4x4 matrix = 2;
  }
}