syntax = "proto3";

package kos.imu;

import "google/protobuf/empty.proto";
import "google/protobuf/duration.proto";
import "google/longrunning/operations.proto";
import "kos/common.proto";

option go_package = "kos/imu;imu";
option java_package = "com.kos.imu";
option csharp_namespace = "KOS.IMU";

// The IMUService provides methods to interact with the Inertial Measurement Unit.
service IMUService {
    // Retrieves the latest IMU sensor values.
    rpc GetValues(google.protobuf.Empty) returns (IMUValuesResponse);

    // Calibrates the IMU (long-running operation).
    rpc Calibrate(google.protobuf.Empty) returns (google.longrunning.Operation) {
        option (google.longrunning.operation_info) = {
            response_type: "CalibrateIMUResponse"
            metadata_type: "CalibrateIMUMetadata"
        };
    }

    // Zeros the IMU readings.
    rpc Zero(ZeroIMURequest) returns (kos.common.ActionResponse);

    // Retrieves Euler angles from the IMU.
    rpc GetEuler(google.protobuf.Empty) returns (EulerAnglesResponse);

    // Retrieves quaternion from the IMU.
    rpc GetQuaternion(google.protobuf.Empty) returns (QuaternionResponse);
}

// Response message containing IMU values.
message IMUValuesResponse {
    double accel_x = 1; // Acceleration X-axis
    double accel_y = 2; // Acceleration Y-axis
    double accel_z = 3; // Acceleration Z-axis
    double gyro_x = 4;  // Gyroscope X-axis
    double gyro_y = 5;  // Gyroscope Y-axis
    double gyro_z = 6;  // Gyroscope Z-axis
    optional double mag_x = 7;   // Magnetometer X-axis
    optional double mag_y = 8;   // Magnetometer Y-axis
    optional double mag_z = 9;   // Magnetometer Z-axis
    kos.common.Error error = 10; // Error details if any
}

// Response message for Calibrate IMU operation.
message CalibrateIMUResponse {
    kos.common.Error error = 1; // Error details if calibration failed
}

// Metadata for Calibrate IMU operation.
message CalibrateIMUMetadata {
    string status = 1; // Status ("IN_PROGRESS", "SUCCEEDED", "FAILED")
}

// Request message for Zero IMU.
message ZeroIMURequest {
    google.protobuf.Duration duration = 1; // Duration for zeroing
}

// Response message containing Euler angles.
message EulerAnglesResponse {
    double roll = 1;    // Roll angle
    double pitch = 2;   // Pitch angle
    double yaw = 3;     // Yaw angle
    kos.common.Error error = 4; // Error details if any
}

// Response message containing quaternion.
message QuaternionResponse {
    double x = 1; // Quaternion X component
    double y = 2; // Quaternion Y component
    double z = 3; // Quaternion Z component
    double w = 4; // Quaternion W component
    kos.common.Error error = 5; // Error details if any
}