syntax = "proto3";
package synapse.msgs;

import "actuators.proto";
import "altimeter.proto";
import "battery_state.proto";
import "bezier_trajectory.proto";
import "can.proto";
import "imu.proto";
import "input.proto";
import "led_array.proto";
import "magnetic_field.proto";
import "nav_sat_fix.proto";
import "odometry.proto";
import "pose.proto";
import "pose_with_covariance.proto";
import "pwm.proto";
import "quaternion.proto";
import "safety.proto";
import "sim_clock.proto";
import "status.proto";
import "time.proto";
import "twist.proto";
import "twist_with_covariance.proto";
import "vector3.proto";
import "wheel_odometry.proto";

enum Topic {
	TOPIC_CMD_VEL=0;
	TOPIC_ODOMETRY=1;
	TOPIC_INPUT=2;
	TOPIC_BEZIER_TRAJECTORY=3;
	TOPIC_IMU=4;
	TOPIC_MAGNETIC_FIELD=5;
	TOPIC_NAV_SAT_FIX=6;
	TOPIC_ALTIMETER=7;
	TOPIC_ACTUATORS=8;
	TOPIC_CLOCK_OFFSET=9;
	TOPIC_BATTERY_STATE=10;
	TOPIC_WHEEL_ODOMETRY=11;
	TOPIC_LED_ARRAY=12;
	TOPIC_STATUS=13;
	TOPIC_SAFETY=14;
	TOPIC_UPTIME=15;
	TOPIC_SIM_CLOCK=63;
}

message Frame
{
	Topic topic = 1;
	oneof msg
	{
		Actuators actuators = 2;
		Altimeter alitimeter = 3;
		BatteryState battery_state = 4;
		BezierTrajectory bezier_trajectory = 5;
		Can can = 6;
		Imu imu = 7;
		Input input = 8;
		LEDArray led_array = 9;
		MagneticField magnetic_field = 10;
		NavSatFix nav_sat_fix = 11;
		Odometry odometry = 12;
		Pose pose = 13;
		PoseWithCovariance pose_with_covariance = 14;
		Pwm pwm = 15;
		Quaternion quaternion = 16;
		Safety safety = 17;
		SimClock sim_clock = 18;
		Status status = 19;
		Time time = 20;
		Twist twist = 21;
		TwistWithCovariance twist_with_covariance = 22;
		Vector3 vector3 = 23;
		WheelOdometry wheel_odometry = 24;
	}
}