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;
  double encoder_counts_per_rev = 7;
  double gear_ratio = 8;
}

message MotorList {
  repeated MotorConfigItem motors = 1;
}

message EthercatSlaveConfig {
  int32 motor_id = 1;
  uint32 alias = 2;
  uint32 position = 3;
}

message Cia402ProtocolConfig {
  uint32 state_transition_timeout_ms = 2;
  uint32 velocity_stop_timeout_ms = 3;
  uint32 status_poll_period_ms = 4;
  double stopped_velocity_tolerance_rad_s = 5;
}

message ZeroCalibrationConfig {
  uint32 timeout_ms = 1;
  uint32 poll_period_ms = 2;
  uint32 stable_sample_count = 3;
  uint32 position_tolerance_counts = 4;
  uint32 stable_delta_counts = 5;
}

message EtherCATDcConfig {
  optional bool enable = 1;
  optional int32 reference_motor_id = 2;
  optional uint32 sync0_cycle_us = 3;
  optional int32 sync0_shift_us = 4;
  optional uint32 sync_reference_clock_period = 5;
  optional uint32 assign_activate = 6;
  optional uint32 sync_monitor_period_ms = 7;
}

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

message EtherCATConfig {
  uint32 master_index = 1;
  int32 cycle_us = 2;
  Cia402ProtocolConfig cia402 = 3;
  EtherCATDcConfig dc = 4;
  optional uint32 slave_op_timeout_ms = 5;
  optional uint32 slave_state_poll_period_ms = 6;
  ZeroCalibrationConfig zero_calibration = 7;
  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;
  MOTOR_VENDOR_EYOU = 3;
}

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;

  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;
}