syntax = "proto3";

import "cmvr/api/arm_command.proto";
import "cmvr/api/common.proto";

package cmvr.api;

enum DeviceType {
    AGV = 0;
    Battery = 1;
    Camera = 2;
    DexHand = 3;
    Gripper = 4;
    Microphone = 5;
    Robot = 6;
    Speaker = 7;
    BioHead = 8;
    Motor = 9;
    MotorSystem = 10;
    MujocoWorld = 11;
    MujocoViewer = 12;
    CanBus = 13;
    Unknown = 20;
}

// 设备在 cmvr-es 运行时中的稳定大类，与具体厂商驱动无关。
enum DeviceKind {
    DEVICE_KIND_UNKNOWN = 0;
    DEVICE_KIND_AGV = 1;
    DEVICE_KIND_ARM = 2;
    DEVICE_KIND_BATTERY = 3;
    DEVICE_KIND_BIO_HEAD = 4;
    DEVICE_KIND_CAMERA = 5;
    DEVICE_KIND_CAN_BUS = 6;
    DEVICE_KIND_DEX_HAND = 7;
    DEVICE_KIND_GRIPPER = 8;
    DEVICE_KIND_MICROPHONE = 9;
    DEVICE_KIND_MOTOR = 10;
    DEVICE_KIND_MOTOR_SYSTEM = 11;
    DEVICE_KIND_MUJOCO_VIEWER = 12;
    DEVICE_KIND_MUJOCO_WORLD = 13;
    DEVICE_KIND_ROBOT = 14;
    DEVICE_KIND_SPEAKER = 15;
}

message DeviceList {
    string device_id = 1;
    DeviceType device_type = 2;
    DeviceKind device_kind = 3;
    // 具体运行时驱动类型，例如 AuboARM、HuayanRobot、SeerRobokitAgv。
    string driver_type = 4;
    // 厂商或驱动生态，例如 AUBO、HUAYAN、SEER。
    string vendor = 5;
}

message GetSystemInfoCommand {
    message Request {}

    message Feedback {
        CommandHeader.Feedback header = 1;
        string system_name = 2;
        string version = 3;
        string description = 4;
        string os = 5;
        string kernel_version = 6;
        string architecture = 7;
    }
}

message GetSystemStatusCommand {
    message Request {}

    message Feedback {
        CommandHeader.Feedback header = 1;
        float cpu_usage = 2;
        float mem_total_mb = 3;
        float mem_used_mb = 4;
        float disk_total_gb = 5;
        float disk_used_gb = 6;
        repeated DeviceList device_list = 7;
    }
}

message UpdateParamsCommand {
    message Request {
        CommandHeader.Request header = 1;
        repeated ConfigParam params = 2;
    }

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


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

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

enum ActionResultCode {
    ACTION_RESULT_CODE_UNSPECIFIED = 0;
    ACTION_RESULT_CODE_COMPLETED = 1;
    ACTION_RESULT_CODE_FAILED = 2;
    ACTION_RESULT_CODE_CANCELED = 3;
    ACTION_RESULT_CODE_TIMED_OUT = 4;
    ACTION_RESULT_CODE_REJECTED = 5;
}

message ActionStep {
    reserved 1;
    reserved "step_id";

    // Zero inherits the remaining ActionQueue timeout.
    uint32 timeout_ms = 2;

    oneof command {
        MoveJ.Request arm_move_j = 10;
        MoveL.Request arm_move_l = 11;
    }
}

message ActionQueueCommand {
    message Request {
        reserved 1;
        reserved "action_id";

        repeated ActionStep steps = 2;
        // Zero uses the server default.
        uint32 total_timeout_ms = 3;
    }

    message Feedback {
        CommandHeader.Feedback header = 1;

        reserved 2;
        reserved "action_id";

        uint32 completed_steps = 3;
        optional uint32 failed_step_index = 4;
        ActionResultCode result = 5;
    }
}