syntax = "proto3";
package cmvr.config;

message SafetyManagerConfig {
  enum EnforcementMode {
    ENFORCEMENT_MODE_UNSPECIFIED = 0;
    LEGACY = 1;
    SHADOW = 2;
    ENFORCE_SELECTED = 3;
    ENFORCE_ALL = 4;
  }

  EnforcementMode mode = 1;
  repeated string enforced_device_ids = 2;
  uint32 stop_all_timeout_ms = 3;
  uint32 recovery_timeout_ms = 4;
  uint32 command_ledger_result_capacity = 5;
  uint32 command_ledger_total_id_capacity = 6;
  uint32 event_history_capacity = 7;
  bool fail_startup_on_missing_control_capability = 8;
}

message DeviceConfigEntry {
  enum DeviceType {
    reserved 1, 2, 3, 4, 5, 6, 7, 10, 11;
    reserved "DEVICE_TYPE_UVC_CAMERA", "DEVICE_TYPE_REALSENSE_CAMERA",
             "DEVICE_TYPE_RH56DFTP_DEXHAND", "DEVICE_TYPE_PX6AX_GEN3",
             "DEVICE_TYPE_FFMPEG_MICROPHONE", "DEVICE_TYPE_FFMPEG_SPEAKER",
             "DEVICE_TYPE_HUMANOID_ROBOT", "DEVICE_TYPE_MOTOR_ARM",
             "DEVICE_TYPE_CARTESIAN_ARM";

    DEVICE_TYPE_UNKNOWN = 0;
    DEVICE_TYPE_BIO_HEAD_ROBOT = 8;
    DEVICE_TYPE_MOTOR_SYSTEM = 9;
    DEVICE_TYPE_ROBOT_ARM = 12;
    DEVICE_TYPE_CAMERA = 13;
    DEVICE_TYPE_DEXHAND = 14;
    DEVICE_TYPE_MICROPHONE = 15;
    DEVICE_TYPE_SPEAKER = 16;
    DEVICE_TYPE_AGV = 17;
    DEVICE_TYPE_MUJOCO_WORLD = 18;
    DEVICE_TYPE_MUJOCO_VIEWER = 19;
  }

  string id = 1;
  DeviceType type = 2;
  string config_file = 3;
  bool enable = 4;
  bool safety_enforce = 5;
  uint32 maximum_safety_snapshot_age_ms = 6;
  uint32 safety_stop_timeout_ms = 7;
  bool required_control_device = 8;
}

message DeviceManagerConfig {
  string name = 1;
  string version = 2;
  string description = 3;
  repeated DeviceConfigEntry devices = 4;
  bool init_all_motors_when_no_active_joints = 20;
  SafetyManagerConfig safety = 21;
}
message DeviceManagerRootConfig {
  DeviceManagerConfig device_manager = 1;
}