syntax = "proto3";

package cmvr.config;

import "cmvr/api/arm_teleop_v1.proto";

message UmeTeleopReconnectConfig {
  uint32 initial_delay_ms = 1;
  uint32 maximum_delay_ms = 2;
  double multiplier = 3;
}

// Transport/session configuration only. Robot kinematics, SEW, FK and IK stay
// in UME and publish already-computed joint setpoints through the client API.
message UmeTeleopConfig {
  string id = 1;
  string server_address = 2;

  // M6 deliberately supports only an explicitly opted-in insecure channel.
  // Keep the task disabled until the endpoint and deployment security policy
  // are configured. TLS credentials can be added without changing the v1 API.
  bool allow_insecure = 3;

  cmvr.api.armteleop.v1.OpenSession open_session = 4;
  UmeTeleopReconnectConfig reconnect = 5;
}

message UmeTeleopRootConfig {
  UmeTeleopConfig ume_teleop = 1;
}