cmvr-es/protos/cmvr/api/safety_command.proto

syntax = "proto3";

package cmvr.api;

import "cmvr/api/common.proto";

enum SafetyTriState {
    SAFETY_TRI_STATE_UNKNOWN = 0;
    SAFETY_TRI_STATE_FALSE = 1;
    SAFETY_TRI_STATE_TRUE = 2;
}

enum SafetyCondition {
    SAFETY_CONDITION_UNKNOWN = 0;
    SAFETY_CONDITION_NOMINAL = 1;
    SAFETY_CONDITION_RESTRICTED = 2;
    SAFETY_CONDITION_UNSAFE = 3;
}

enum SystemAdmissionState {
    SYSTEM_ADMISSION_STATE_UNSPECIFIED = 0;
    SYSTEM_ADMISSION_STATE_STARTING = 1;
    SYSTEM_ADMISSION_STATE_OPEN = 2;
    SYSTEM_ADMISSION_STATE_STOPPING = 3;
    SYSTEM_ADMISSION_STATE_LATCHED = 4;
    SYSTEM_ADMISSION_STATE_RECOVERING = 5;
    SYSTEM_ADMISSION_STATE_SHUTTING_DOWN = 6;
}

enum DeviceAdmissionState {
    DEVICE_ADMISSION_STATE_UNSPECIFIED = 0;
    DEVICE_ADMISSION_STATE_OBSERVING = 1;
    DEVICE_ADMISSION_STATE_OPEN = 2;
    DEVICE_ADMISSION_STATE_BLOCKED = 3;
    DEVICE_ADMISSION_STATE_QUARANTINED = 4;
    DEVICE_ADMISSION_STATE_RECOVERING = 5;
    DEVICE_ADMISSION_STATE_REMOVED = 6;
}

enum SafetyBlockerScope {
    SAFETY_BLOCKER_SCOPE_UNSPECIFIED = 0;
    SAFETY_BLOCKER_SCOPE_DEVICE = 1;
    SAFETY_BLOCKER_SCOPE_SYSTEM = 2;
}

enum SafetyRecoveryRequirement {
    SAFETY_RECOVERY_REQUIREMENT_UNSPECIFIED = 0;
    SAFETY_RECOVERY_REQUIREMENT_REFRESH_ONLY = 1;
    SAFETY_RECOVERY_REQUIREMENT_CLEAR_SOFTWARE_LATCH = 2;
    SAFETY_RECOVERY_REQUIREMENT_HARDWARE_RELEASE_REQUIRED = 3;
    SAFETY_RECOVERY_REQUIREMENT_MANUAL_INSPECTION_REQUIRED = 4;
}

enum SafetyOperationResult {
    SAFETY_OPERATION_RESULT_UNSPECIFIED = 0;
    SAFETY_OPERATION_RESULT_SUCCEEDED = 1;
    SAFETY_OPERATION_RESULT_RECOVERED = 2;
    SAFETY_OPERATION_RESULT_VERIFIED_BUT_STILL_BLOCKED = 3;
    SAFETY_OPERATION_RESULT_BLOCKER_REMAINS = 4;
    SAFETY_OPERATION_RESULT_EPOCH_MISMATCH = 5;
    SAFETY_OPERATION_RESULT_NOTHING_TO_RECOVER = 6;
    SAFETY_OPERATION_RESULT_TIMED_OUT = 7;
    SAFETY_OPERATION_RESULT_FAILED = 8;
}

message DeviceIdList {
    repeated string device_ids = 1;
}

message SafetyScope {
    oneof target {
        bool all_devices = 1;
        DeviceIdList devices = 2;
    }
}

message SafetyBlockerInfo {
    CommandReasonCode reason_code = 1;
    SafetyBlockerScope scope = 2;
    SafetyRecoveryRequirement recovery_requirement = 3;
    string source_id = 4;
    string operation_id = 5;
    uint64 first_observed_at_unix_ms = 6;
    uint64 last_observed_at_unix_ms = 7;
}

message DeviceSafetyStateInfo {
    string device_id = 1;
    string device_kind = 2;
    string policy_family = 3;
    string lifecycle_state = 4;
    string health_state = 5;
    DeviceAdmissionState admission_state = 6;
    SafetyCondition condition = 7;
    bool has_sample = 8;
    bool snapshot_fresh = 9;
    uint64 sample_age_ms = 10;
    uint64 sample_sequence = 11;
    uint64 observed_at_unix_ms = 12;
    uint64 device_generation = 13;
    SafetyTriState connected = 14;
    SafetyTriState operational_ready = 15;
    SafetyTriState quiescent = 16;
    SafetyTriState motion_active = 17;
    SafetyTriState actuator_enabled = 18;
    SafetyTriState emergency_stop_active = 19;
    SafetyTriState protective_stop_active = 20;
    SafetyTriState fault_active = 21;
    repeated SafetyBlockerInfo blockers = 22;
}

message SafetyOperationTargetResult {
    string target_id = 1;
    SafetyOperationResult result = 2;
    CommandReasonCode reason_code = 3;
    string detail = 4;
    DeviceAdmissionState before_state = 5;
    DeviceAdmissionState after_state = 6;
}

message SafetyParticipantResultInfo {
    bool recorded = 1;
    bool success = 2;
    CommandReasonCode reason_code = 3;
    string detail = 4;
}

message SafetyParticipantStateInfo {
    string participant_id = 1;
    string phase = 2;
    bool required = 3;
    bool registered = 4;
    bool barrier_active = 5;
    bool barrier_retained = 6;
    string operation_id = 7;
    uint64 safety_epoch = 8;
    SafetyParticipantResultInfo last_request = 9;
    SafetyParticipantResultInfo last_verify = 10;
    SafetyParticipantResultInfo last_release = 11;
}

message GetSafetyStateCommand {
    message Request {
        SafetyScope scope = 1;
    }

    message Feedback {
        CommandHeader.Feedback header = 1;
        SystemAdmissionState system_state = 2;
        uint64 safety_epoch = 3;
        string control_service_instance_id = 4;
        string enforcement_mode = 5;
        repeated DeviceSafetyStateInfo devices = 6;
        string active_operation_id = 7;
        string active_operation_phase = 8;
        uint64 sampled_at_unix_ms = 9;
        repeated SafetyParticipantStateInfo participants = 10;
    }
}

message RecoverSafetyStateCommand {
    enum Mode {
        MODE_UNSPECIFIED = 0;
        VERIFY_ONLY = 1;
        CLEAR_SOFTWARE_LATCH = 2;
    }

    message Request {
        string recovery_id = 1;
        SafetyScope scope = 2;
        uint64 expected_safety_epoch = 3;
        Mode mode = 4;
        string reason = 5;
        uint32 timeout_ms = 6;
    }

    message Feedback {
        CommandHeader.Feedback header = 1;
        SafetyOperationResult result = 2;
        uint64 previous_safety_epoch = 3;
        uint64 current_safety_epoch = 4;
        SystemAdmissionState system_state = 5;
        repeated SafetyOperationTargetResult targets = 6;
        string recovery_id = 7;
    }
}

message RestoreOperationalStateCommand {
    message Request {
        string recovery_id = 1;
        string reason = 2;
        uint32 timeout_ms = 3;
    }

    message Feedback {
        CommandHeader.Feedback header = 1;
        SafetyOperationResult result = 2;
        uint64 previous_safety_epoch = 3;
        uint64 current_safety_epoch = 4;
        SystemAdmissionState system_state = 5;
        repeated SafetyOperationTargetResult targets = 6;
        string recovery_id = 7;
    }
}