syntax = "proto3";
package cmvr.config;

import "cmvr/config/lawba_ik_config.proto";
import "cmvr/config/pinocchio_dls_ik_config.proto";
import "cmvr/config/pinocchio_qp_ik_config.proto";
import "cmvr/config/srs_ik_config.proto";
import "cmvr/config/cartesian_motion_validation_config.proto";
import "cmvr/config/motor_config/motor_config.proto";

enum ToppraPathType {
  TOPPRA_PATH_TYPE_UNKNOWN = 0;
  TOPPRA_PATH_TYPE_LINEAR = 1;
  TOPPRA_PATH_TYPE_CUBIC_HERMITE = 2;
  TOPPRA_PATH_TYPE_QUINTIC = 3;
  TOPPRA_PATH_TYPE_NATURAL = 4;
}

message MotorRobotArmBackendConfig {
  string motor_system_id = 2;
  int32 dof = 3;
  repeated string joint_names = 4;
  int32 upd_freq = 5;
  int32 buffer_size = 6;
  double default_vel = 7;
  double default_acc = 8;
  repeated string motor_group_ids = 9;
  // Reserved opt-in for a future atomic/timed group position-servo primitive.
  // MotorRobotArm's current sequential per-joint servoJ implementation
  // deliberately rejects this capability even if this field is true.
  bool enable_teleop_group_servo = 10;
}

enum VendorRobotArmBrand {
  VENDOR_ROBOT_ARM_BRAND_UNKNOWN = 0;
  VENDOR_ROBOT_ARM_BRAND_AUBO_ARM = 1;
  VENDOR_ROBOT_ARM_BRAND_HUAYAN_ARM = 2;
}

message VendorRobotArmBackendConfig {
  VendorRobotArmBrand brand = 1;
  string ip = 2;
  int32 port = 3;
  string model = 4;
  int32 dof = 5;
  repeated string joint_names = 6;
  string base_frame = 7;
  string tool_frame = 8;
  string username = 9;
  string password = 10;
}

enum DamiaoMotorModel {
  DAMIAO_MOTOR_MODEL_UNKNOWN = 0;
  DAMIAO_MOTOR_MODEL_DM4310 = 1;
  DAMIAO_MOTOR_MODEL_DM4310_48V = 2;
  DAMIAO_MOTOR_MODEL_DM4340 = 3;
  DAMIAO_MOTOR_MODEL_DM4340_48V = 4;
  DAMIAO_MOTOR_MODEL_DM6006 = 5;
  DAMIAO_MOTOR_MODEL_DM8006 = 6;
  DAMIAO_MOTOR_MODEL_DM8009 = 7;
  DAMIAO_MOTOR_MODEL_DM10010L = 8;
  DAMIAO_MOTOR_MODEL_DM10010 = 9;
  DAMIAO_MOTOR_MODEL_DMH3510 = 10;
  DAMIAO_MOTOR_MODEL_DMH6215 = 11;
  DAMIAO_MOTOR_MODEL_DMG6220 = 12;
}

message DamiaoJointConfig {
  string joint_name = 1;
  uint32 command_id = 2;
  uint32 feedback_id = 3;
  uint32 reported_motor_id = 4;
  DamiaoMotorModel model = 5;
  // Only +1 and -1 are accepted.
  int32 direction = 6;
  // q_joint = direction * q_motor + zero_offset_rad.
  double zero_offset_rad = 7;
  double joint_lower_rad = 8;
  double joint_upper_rad = 9;
  double max_velocity_rad_s = 10;
  double max_torque_nm = 11;
  // Explicit whitelist for the four-bit status nibble in MIT feedback.
  // The code intentionally does not guess vendor/firmware meanings. At least
  // one reviewed value is required before hardware_enabled may be true.
  repeated uint32 healthy_feedback_status = 12;
  // Raw byte thresholds, interpreted only as ordered protocol values. Nonzero
  // reviewed limits are required before hardware_enabled may be true.
  uint32 max_driver_temperature_raw = 13;
  uint32 max_motor_temperature_raw = 14;
}

message UmeRobotArmBackendConfig {
  SocketCanConfig can = 1;
  repeated DamiaoJointConfig joints = 2;
  uint32 control_frequency_hz = 3;
  uint32 cycle_deadline_us = 4;
  uint32 feedback_watchdog_ms = 5;
  uint32 shutdown_timeout_ms = 6;
  // This is deliberately false in every checked-in configuration.
  bool hardware_enabled = 7;
}

message SpeedLPlannerConfig {
  double linear_velocity_max = 1;
  double linear_acceleration_max = 2;
  double linear_jerk_max = 3;
  double angular_velocity_max = 4;
  double angular_acceleration_max = 5;
  double angular_jerk_max = 6;
  double linear_target_replan_threshold = 8;
  double angular_target_replan_threshold = 9;
  double linear_reverse_cos_threshold = 10;
  double linear_reverse_switch_speed_threshold = 11;
  optional bool enforce_joint_acceleration_limits = 17;
  CartesianLineDeviationCheckConfig line_deviation_check = 18;
  JointVelocityCheckConfig joint_velocity_check = 19;
  CartesianVelocityFeasibilityCheckConfig cartesian_velocity_feasibility_check = 20;
}

message CartesianVelocityControllerConfig {
  double control_period_s = 1;
  double stop_twist_norm = 2;
  double stop_command_velocity_norm = 3;
  double stop_measured_velocity_norm = 4;
  double stop_acceleration = 5;
}

message ToppraJointMotionPlannerConfig {
  ToppraPathType path_type = 1;
  double sample_period_s = 2;
  int32 grid_size = 3;
  int32 high_grid_size = 4;
}

message MoveJConfig {
  oneof algorithm {
    ToppraJointMotionPlannerConfig toppra_joint_motion_planner = 1;
  }
}

message MoveLPlannerConfig {
  double sample_period_s = 1;
  double position_gain = 2;
  double rotation_gain = 3;
  CartesianLineDeviationCheckConfig line_deviation_check = 4;
  JointContinuityCheckConfig joint_continuity_check = 5;
  CartesianStepFeasibilityCheckConfig cartesian_step_feasibility_check = 6;
}

message MoveLConfig {
  oneof algorithm {
    MoveLPlannerConfig pinocchio_cartesian_motion_planner = 1;
  }
}

message SpeedLControllerConfig {
  oneof algorithm {
    CartesianVelocityControllerConfig cartesian_velocity_controller = 1;
  }
}

message SpeedLConfig {
  oneof algorithm {
    SpeedLPlannerConfig pinocchio_cartesian_motion_planner = 1;
  }

  SpeedLControllerConfig speed_l_controller = 10;
}

message ArmKinematicsConfig {
  oneof algorithm {
    PinocchioDlsIKConfig pinocchio_dls_ik_solver = 10;
    PinocchioQpIKConfig pinocchio_qp_ik_solver = 11;
    SrsIKConfig srs_ik_solver = 12;
    LawbaIKConfig lawba_ik_solver = 13;
  }
}

message ArmMotionConfig {
  MoveJConfig move_j = 1;
  MoveLConfig move_l = 2;
  SpeedLConfig speed_l = 4;
}

message RobotArmConfig {
  string id = 1;

  oneof backend {
    MotorRobotArmBackendConfig motor = 10;
    VendorRobotArmBackendConfig vendor = 11;
    UmeRobotArmBackendConfig ume = 12;
  }

  ArmKinematicsConfig kinematics = 20;
  ArmMotionConfig motion = 21;
}

message ArmConfig {
  repeated RobotArmConfig robot_arms = 1;
}

message ArmRootConfig {
  ArmConfig arm = 1;
}