syntax = "proto3";

package cmvr.api;

import "cmvr/api/common.proto";
import "cmvr/api/agv_command.proto";

service AgvService {
  rpc getRuntimeState(AgvRuntimeStateCommand.Request) returns (AgvRuntimeStateCommand.Feedback);
  rpc getNavigationStatus(AgvNavigationStatusCommand.Request) returns (AgvNavigationStatusCommand.Feedback);
  rpc emergencyStop(CommandHeader.Request) returns (CommandHeader.Feedback);
  rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
  rpc navigateToPose(AgvNavigateToPoseCommand.Request) returns (AgvNavigateToPoseCommand.Feedback);
  rpc navigateToStation(AgvNavigateToStationCommand.Request) returns (AgvNavigateToStationCommand.Feedback);
  rpc followPath(AgvFollowPathCommand.Request) returns (AgvFollowPathCommand.Feedback);
  rpc pauseNavigation(CommandHeader.Request) returns (CommandHeader.Feedback);
  rpc resumeNavigation(CommandHeader.Request) returns (CommandHeader.Feedback);
  rpc cancelNavigation(CommandHeader.Request) returns (CommandHeader.Feedback);
  rpc setVelocity(AgvSetVelocityCommand.Request) returns (AgvSetVelocityCommand.Feedback);
  rpc stopVelocityControl(CommandHeader.Request) returns (CommandHeader.Feedback);
  rpc listMaps(AgvListMapsCommand.Request) returns (AgvListMapsCommand.Feedback);
  rpc listStations(AgvListStationsCommand.Request) returns (AgvListStationsCommand.Feedback);
  rpc switchMap(AgvMapCommand.Request) returns (AgvMapCommand.Feedback);
  rpc uploadMap(AgvMapCommand.Request) returns (AgvMapCommand.Feedback);
  rpc downloadMap(AgvMapCommand.Request) returns (AgvMapCommand.Feedback);
}