syntax = "proto3";
package cmvr.config;

message ArmTeleopBackendConfig {
  // Two independent gates are required: this service-level switch and the
  // RobotArm implementation's teleop group-servo capability.
  bool enable = 1;
  // Also becomes RobotManifest.robot_id and the process-wide control lease
  // resource. It must exactly match RobotArm.id().
  string device_id = 2;
  string model_sha256 = 3;
  string calibration_sha256 = 4;
  string base_frame = 5;
  string tool_frame = 6;
  double servo_period_s = 7;
  // Maximum wall time allowed for one RobotArm::servoJ call.
  uint32 max_apply_duration_us = 8;
  // Omission is interpreted as true by the backend. Explicit false is intended
  // only for simulation and independently supervised commissioning.
  optional bool require_powered = 9;
  // Bounds the first target relative to the cached measured position.
  double max_initial_position_step_rad = 10;
  // Bounds every later target relative to the last accepted target.
  double max_position_step_rad = 11;
}

message GRPCServerConfig {
  string host = 1;
  string port = 2;
  bool enable_reflection = 3;
  string id = 4;
  // Bounds the continuity-oriented media queue before the gRPC stream skips
  // ahead and waits for a new key frame. Zero uses the service default.
  uint32 camera_stream_max_pending_frames = 5;
  // Frames older than this monotonic age are not sent. Zero uses the service
  // default so configurations written before these fields remain low-latency.
  uint32 camera_stream_max_frame_age_ms = 6;
  ArmTeleopBackendConfig arm_teleop_backend = 7;
}
message GRPCServerRootConfig {
  GRPCServerConfig grpc_server = 1;
}