// camera_config.proto - 所有配置都在这里
syntax = "proto3";
package cmvr.config;

// 枚举定义
enum CameraMode {
    CAMERA_MODE_PHOTO = 0;
    CAMERA_MODE_VIDEO = 1;
}

enum StreamMode {
    STREAM_MODE_RGB = 0;
    STREAM_MODE_RGBD = 1;
    STREAM_MODE_DEPTH = 2;
}

enum AlignMode {
    ALIGN_MODE_COLOR = 0;
    ALIGN_MODE_DEPTH = 1;
}

message CameraCaptureConfig {
    int32 width = 1;
    int32 height = 2;
    int32 fps = 3;
    StreamMode stream_mode = 4;
}

message CameraRenderConfig {
    int32 width = 1;
    int32 height = 2;
    int32 fps = 3;
    StreamMode stream_mode = 4;
}

message CameraEncoderConfig {
    int32 width = 1;
    int32 height = 2;
    int32 fps = 3;
    string codec = 4;
    bool enable_stream_timestamp = 5;
    int32 buffer_size = 6;
}

message MujocoViewerPipConfig {
    bool enable = 1;
    int32 left = 2;
    int32 bottom = 3;
    int32 width = 4;
    int32 height = 5;
}

// RealSense摄像头
message RealSenseCameraConfig {
    string id = 1;
    string serialNumber = 2;
    CameraMode camera_mode = 3;
    CameraCaptureConfig capture = 4;
    CameraEncoderConfig encoder = 5;
    AlignMode align_mode = 6;
    bool sync = 7;
}

// UVC摄像头
message UVCCameraConfig {
    string id = 1;
    string usb = 2;  // 或者叫 device_path
    CameraMode camera_mode = 3;
    CameraCaptureConfig capture = 4;
    CameraEncoderConfig encoder = 5;
}

// MechMind工业相机
message MechMindCameraConfig {
    reserved 5;

    string id = 1;
    string ip = 2;
    optional bool align = 3;
    string image2d_type = 4;
}

message MujocoCameraConfig {
    string id = 1;
    string world_id = 2;
    string camera_name = 3;
    CameraRenderConfig render = 4;
    CameraEncoderConfig encoder = 5;
    bool consume_new_frame_only = 6;
    MujocoViewerPipConfig viewer_pip = 7;
}

message HikvisionCameraConfig {
    string id = 1;
    string ip = 2;
    int32 port = 3;
    string username = 4;
    string password = 5;
    int32 channel = 6;
    int32 stream_type = 7;
    int32 link_mode = 8;
    int32 width = 9;
    int32 height = 10;
    int32 fps = 11;
    string codec = 12;
    CameraMode camera_mode = 13;
    StreamMode stream_mode = 14;
    int32 buffer_size = 15;
    int32 encode_width = 16;
    int32 encode_height = 17;
    string sdk_path = 18;
    float fx = 19;
    float fy = 20;
    float cx = 21;
    float cy = 22;
    repeated float coeffs = 23;
}

message CameraDeviceConfig {
    string id = 1;
    reserved 2;

    oneof backend {
        UVCCameraConfig uvc = 10;
        RealSenseCameraConfig realsense = 11;
        MechMindCameraConfig mechmind = 12;
        MujocoCameraConfig mujoco = 13;
        HikvisionCameraConfig hikvision = 14;
    }
}

message CameraConfig {
    repeated CameraDeviceConfig cameras = 1;
}

message CameraRootConfig {
    CameraConfig camera = 1;
}