syntax = "proto3";
package cmvr.config;

import "cmvr/config/joint_limits_config.proto";

message MotorConfigItem {
  int32 id = 1;
  string joint_name = 2;
  double limit_q_lb = 3;
  double limit_q_ub = 4;
  double limit_qd = 5;
  double limit_qdd = 6;
}

message MotorList {
  repeated MotorConfigItem motors = 1;
}

message EthercatSlaveConfig {
  int32 motor_id = 1;
  int32 slave_index = 2;
  uint32 vendor_id = 3;
  uint32 product_code = 4;
}

message SocketCanConfig {
  string dev_id = 1;
  int32 channel_id = 2;
}

message EtherCATConfig {
  string master_id = 1;
  int32 cycle_us = 2;
  repeated EthercatSlaveConfig slaves = 10;
}

message MujocoMotorGroupConfig {
  string world_id = 1;
}

enum MotorBusType {
  MOTOR_BUS_UNKNOWN = 0;
  MOTOR_BUS_CAN = 1;
  MOTOR_BUS_ETHERCAT = 2;
  MOTOR_BUS_MUJOCO = 3;
}

enum MotorVendor {
  MOTOR_VENDOR_UNKNOWN = 0;
  MOTOR_VENDOR_TI5 = 1;
  MOTOR_VENDOR_MUJOCO = 2;
}

enum MotorProtocol {
  MOTOR_PROTOCOL_UNKNOWN = 0;
  MOTOR_PROTOCOL_CANOPEN = 1;
  MOTOR_PROTOCOL_ETHERCAT_CIA402 = 2;
  MOTOR_PROTOCOL_MUJOCO = 3;
}

message MotorGroupConfig {
  string id = 1;
  MotorBusType bus_type = 2;
  MotorVendor vendor = 3;
  MotorProtocol protocol = 4;
  string tool_frame = 5;

  oneof bus_config {
    SocketCanConfig can = 10;
    EtherCATConfig ethercat = 11;
    MujocoMotorGroupConfig mujoco = 12;
  }

  JointLimitsConfig joint_limits = 30;
  MotorList motors = 40;
}

message MotorConfig {
  string id = 1;
  repeated MotorGroupConfig motor_groups = 2;
}
message MotorRootConfig {
  MotorConfig motor = 1;
}