syntax = "proto3";

package arci;

import "google/protobuf/empty.proto";
import "google/protobuf/wrappers.proto";
import "google/protobuf/duration.proto";
import "google/protobuf/timestamp.proto";

service JointTrajectoryClient {
  rpc JointNames(google.protobuf.Empty) returns (JointNamesResponse) {}
  rpc CurrentJointPositions(google.protobuf.Empty)
      returns (JointPositionsResponse) {}
  rpc SendJointPositions(JointPositionsRequest)
      returns (google.protobuf.Empty) {}
  rpc SendJointTrajectory(JointTrajectoryRequest)
      returns (google.protobuf.Empty) {}
}

service Speaker {
  rpc Speak(google.protobuf.StringValue) returns (google.protobuf.Empty);
}

service MoveBase {
  rpc SendVelocity(BaseVelocity) returns (google.protobuf.Empty);
  rpc CurrentVelocity(google.protobuf.Empty) returns (BaseVelocity);
}

service Navigation {
  rpc SendGoalPose(GoalPoseRequest) returns (google.protobuf.Empty);
  rpc Cancel(google.protobuf.Empty) returns (google.protobuf.Empty);
}

service Localization {
  rpc CurrentPose(google.protobuf.StringValue) returns (Isometry2);
}

service TransformResolver {
  rpc ResolveTransformation(ResolveTransformationRequest) returns (Isometry3);
}

service Gamepad {
  rpc NextEvent(google.protobuf.Empty) returns (GamepadEvent);
  rpc Stop(google.protobuf.Empty) returns (google.protobuf.Empty);
}

service MotorDriveEffort {
  rpc SetMotorEffort(google.protobuf.DoubleValue) returns (google.protobuf.Empty);
  rpc GetMotorEffort(google.protobuf.Empty) returns (google.protobuf.DoubleValue);
}

service MotorDrivePosition {
  rpc SetMotorPosition(google.protobuf.DoubleValue) returns (google.protobuf.Empty);
  rpc GetMotorPosition(google.protobuf.Empty) returns (google.protobuf.DoubleValue);
}

service MotorDriveVelocity {
  rpc SetMotorVelocity(google.protobuf.DoubleValue) returns (google.protobuf.Empty);
  rpc GetMotorVelocity(google.protobuf.Empty) returns (google.protobuf.DoubleValue);
}

message JointNamesResponse {
  repeated string names = 1;
}

message JointPositionsResponse {
  repeated double positions = 1;
}

message JointPositionsRequest {
  repeated double positions = 1;
  google.protobuf.Duration duration = 2;
}

message JointTrajectoryRequest {
  repeated TrajectoryPoint trajectory = 1;
}

message TrajectoryPoint {
  repeated double positions = 1;
  repeated double velocities = 2;
  google.protobuf.Duration time_from_start = 3;
}

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

message GoalPoseRequest {
  Isometry2 goal = 1;
  string frame_id = 2;
  google.protobuf.Duration timeout = 3;
}

message Isometry2 {
  UnitComplex rotation = 1;
  Translation2 translation = 2;
}

message UnitComplex {
  double re = 1;
  double im = 2;
}

message Translation2 {
  double x = 1;
  double y = 2;
}

message ResolveTransformationRequest {
  string from = 1;
  string to = 2;
  google.protobuf.Timestamp time = 3;
}

message Isometry3 {
  UnitQuaternion rotation = 1;
  Translation3 translation = 2;
}

message UnitQuaternion {
  double x = 1;
  double y = 2;
  double z = 3;
  double w = 4;
}

message Translation3 {
  double x = 1;
  double y = 2;
  double z = 3;
}

message GamepadEvent {
  oneof Event {
    google.protobuf.Empty unknown = 1;
    Button button_pressed = 2;
    Button button_released = 3;
    AxisChanged axis_changed = 4;
    google.protobuf.Empty connected = 5;
    google.protobuf.Empty disconnected = 6;
  }
}

enum Button {
  BUTTON_SOUTH = 0;
  BUTTON_EAST = 1;
  BUTTON_NORTH = 2;
  BUTTON_WEST = 3;
  BUTTON_LEFT_TRIGGER = 4;
  BUTTON_LEFT_TRIGGER2 = 5;
  BUTTON_RIGHT_TRIGGER = 6;
  BUTTON_RIGHT_TRIGGER2 = 7;
  BUTTON_SELECT = 8;
  BUTTON_START = 9;
  BUTTON_MODE = 10;
  BUTTON_LEFT_THUMB = 11;
  BUTTON_RIGHT_THUMB = 12;
  BUTTON_D_PAD_UP = 13;
  BUTTON_D_PAD_DOWN = 14;
  BUTTON_D_PAD_LEFT = 15;
  BUTTON_D_PAD_RIGHT = 16;
  BUTTON_UNKNOWN = 17;
}

message AxisChanged {
  Axis axis = 1;
  double value = 2;
}

enum Axis {
  AXIS_LEFT_STICK_X = 0;
  AXIS_LEFT_STICK_Y = 1;
  AXIS_LEFT_TRIGGER = 2;
  AXIS_RIGHT_STICK_X = 3;
  AXIS_RIGHT_STICK_Y = 4;
  AXIS_RIGHT_TRIGGER = 5;
  AXIS_D_PAD_X = 6;
  AXIS_D_PAD_Y = 7;
  AXIS_UNKNOWN = 8;
}