syntax = "proto3";

package cmvr.api;

import "cmvr/api/common.proto";
import "cmvr/msgs/agv.proto";

message AgvRuntimeStateCommand {
  message Request {
    CommandHeader.Request header = 1;
  }
  message Feedback {
    CommandHeader.Feedback header = 1;
    cmvr.msgs.AgvRuntimeState state = 2;
  }
}

message AgvNavigationStatusCommand {
  message Request {
    CommandHeader.Request header = 1;
  }
  message Feedback {
    CommandHeader.Feedback header = 1;
    cmvr.msgs.AgvNavigationStatus status = 2;
  }
}

message AgvNavigateToPoseCommand {
  message Request {
    CommandHeader.Request header = 1;
    cmvr.msgs.AgvPose2d pose = 2;
    cmvr.msgs.AgvMotionOptions options = 3;
    cmvr.msgs.AgvAdapterParams adapter_params = 4;
  }
  message Feedback {
    CommandHeader.Feedback header = 1;
  }
}

message AgvNavigateToStationCommand {
  message Request {
    CommandHeader.Request header = 1;
    string station_id = 2;
    cmvr.msgs.AgvMotionOptions options = 3;
    cmvr.msgs.AgvAdapterParams adapter_params = 4;
  }
  message Feedback {
    CommandHeader.Feedback header = 1;
  }
}

message AgvFollowPathCommand {
  message Request {
    CommandHeader.Request header = 1;
    repeated cmvr.msgs.AgvPathSegment path = 2;
  }
  message Feedback {
    CommandHeader.Feedback header = 1;
  }
}

message AgvSetVelocityCommand {
  message Request {
    CommandHeader.Request header = 1;
    cmvr.msgs.AgvVelocity velocity = 2;
  }
  message Feedback {
    CommandHeader.Feedback header = 1;
  }
}

message AgvListMapsCommand {
  message Request {
    CommandHeader.Request header = 1;
  }
  message Feedback {
    CommandHeader.Feedback header = 1;
    repeated string maps = 2;
  }
}

message AgvListStationsCommand {
  message Request {
    CommandHeader.Request header = 1;
  }
  message Feedback {
    CommandHeader.Feedback header = 1;
    repeated cmvr.msgs.AgvStation stations = 2;
  }
}

message AgvMapCommand {
  message Request {
    CommandHeader.Request header = 1;
    string map_name = 2;
    string content = 3;
  }
  message Feedback {
    CommandHeader.Feedback header = 1;
    string content = 2;
  }
}