syntax = "proto3";

package cmvr.msgs;

message AgvPose2d {
  double x = 1;
  double y = 2;
  double theta = 3;
}

message AgvVelocity {
  double vx = 1;
  double vy = 2;
  double wz = 3;
}

message AgvBatteryState {
  double percentage = 1;
  double voltage = 2;
  double current = 3;
  double temperature = 4;
  bool charging = 5;
}

message AgvMotionOptions {
  double max_speed = 1;
  double max_angular_speed = 2;
  double max_acceleration = 3;
  double max_angular_acceleration = 4;
  double reach_distance = 5;
  double reach_angle = 6;
  double speed_ratio = 7;
  bool asynchronous = 8;
}

message AgvAdapterParams {
  map<string, string> values = 1;
}

message AgvRuntimeState {
  double timestamp = 1;
  int32 mode = 2;
  bool connected = 3;
  bool localized = 4;
  bool moving = 5;
  bool fault = 6;
  bool emergency_stopped = 7;
  AgvPose2d pose = 8;
  AgvVelocity velocity = 9;
  AgvBatteryState battery = 10;
  string current_map = 11;
  string current_station = 12;
  string last_error = 13;
}

message AgvStation {
  string id = 1;
  string type = 2;
  AgvPose2d pose = 3;
  string description = 4;
}

message AgvPathSegment {
  string source_station = 1;
  string target_station = 2;
}

message AgvNavigationStatus {
  int32 state = 1;
  int32 type = 2;
  double progress = 3;
  string message = 4;
}