syntax = "proto3";

package cmvr.api;

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

// Selects exactly one motor inside the MotorManager named by header.device_id.
message MotorTarget {
  CommandHeader.Request header = 1;
  oneof selector {
    uint32 motor_id = 2;
    string joint_name = 3;
  }
}

message MotorWaitOptions {
  // Zero selects the server default (30 seconds).
  uint32 timeout_ms = 1;
  // Zero selects the server default (10 milliseconds).
  uint32 poll_period_ms = 2;
  // Zero selects the server default.
  double position_tolerance_rad = 3;
  double velocity_tolerance_rad_s = 4;
  // Number of consecutive in-tolerance samples. Zero selects the default (3).
  uint32 settle_sample_count = 5;
}

enum MotorControlType {
  MOTOR_CONTROL_NONE = 0;
  MOTOR_CONTROL_SET_ZERO = 1;
  MOTOR_CONTROL_PROFILE_POSITION = 2;
  MOTOR_CONTROL_PROFILE_VELOCITY = 3;
  MOTOR_CONTROL_CYCLIC_POSITION = 4;
  MOTOR_CONTROL_CYCLIC_VELOCITY = 5;
  MOTOR_CONTROL_SET_ENABLED = 6;
}

message MotorStatus {
  uint32 motor_id = 1;
  string joint_name = 2;
  cmvr.msgs.RunMode run_mode = 3;
  double position_rad = 4;
  double velocity_rad_s = 5;
  bool target_reached = 6;
  bool service_busy = 7;
  MotorControlType active_control = 8;
  bool emergency_stopped = 9;
  string last_error = 10;
}

message MotorCommandResponse {
  CommandHeader.Feedback header = 1;
  MotorStatus status = 2;
  uint64 elapsed_ms = 3;
}

message SetMotorZeroRequest {
  MotorTarget target = 1;
}

message MoveMotorToZeroRequest {
  MotorTarget target = 1;
  double max_velocity_rad_s = 2;
  double acceleration_rad_s2 = 3;
  MotorWaitOptions wait = 4;
}

message ProfilePositionRequest {
  MotorTarget target = 1;
  double target_position_rad = 2;
  double max_velocity_rad_s = 3;
  double acceleration_rad_s2 = 4;
  MotorWaitOptions wait = 5;
}

message ProfileVelocityRequest {
  MotorTarget target = 1;
  double target_velocity_rad_s = 2;
  double acceleration_rad_s2 = 3;
  MotorWaitOptions wait = 4;
}

message EmergencyStopRequest {
  MotorTarget target = 1;
}

message GetMotorStatusRequest {
  MotorTarget target = 1;
}

message GetMotorStatusResponse {
  CommandHeader.Feedback header = 1;
  MotorStatus status = 2;
}

message SetMotorEnabledRequest {
  MotorTarget target = 1;
  bool enabled = 2;
}

message CyclicStreamOpen {
  MotorTarget target = 1;
  // The device/driver watchdog is authoritative. This service watchdog prevents a
  // stalled gRPC client from retaining control indefinitely.
  uint32 watchdog_timeout_ms = 2;
}

message CyclicPositionSetpoint {
  uint64 sequence = 1;
  double target_position_rad = 2;
  optional double target_velocity_rad_s = 3;
}

message CyclicVelocitySetpoint {
  uint64 sequence = 1;
  double target_velocity_rad_s = 2;
}

message CyclicPositionRequest {
  oneof payload {
    CyclicStreamOpen open = 1;
    CyclicPositionSetpoint setpoint = 2;
  }
}

message CyclicVelocityRequest {
  oneof payload {
    CyclicStreamOpen open = 1;
    CyclicVelocitySetpoint setpoint = 2;
  }
}

enum CyclicStreamPhase {
  CYCLIC_STREAM_PHASE_UNSPECIFIED = 0;
  CYCLIC_STREAM_OPENED = 1;
  CYCLIC_STREAM_APPLIED = 2;
  CYCLIC_STREAM_STOPPED = 3;
  CYCLIC_STREAM_WATCHDOG_EXPIRED = 4;
  CYCLIC_STREAM_FAILED = 5;
}

message CyclicControlResponse {
  CommandHeader.Feedback header = 1;
  CyclicStreamPhase phase = 2;
  uint64 sequence = 3;
  uint64 dropped_setpoints = 4;
  // Present for OPENED and terminal responses. APPLIED deliberately omits
  // live status so one cyclic sample does not trigger extra fieldbus reads.
  MotorStatus status = 5;
}