syntax = "proto3";
package synapse.msgs;

import "header.proto";

message Status {

	enum Arming {
		ARMING_UNKNOWN=0;
		ARMING_DISARMED=1;
		ARMING_ARMED=2;
	}

	enum Fuel {
		FUEL_UNKNOWN=0;
		FUEL_CRITICAL=1;
		FUEL_LOW=2;
		FUEL_NOMINAL=3;
		FUEL_OVER_CAPACITY=4;
	}

	enum LinkStatus {
		STATUS_UNKNOWN=0;
		STATUS_DISABLED=1;
		STATUS_LOSS=2;
		STATUS_NOMINAL=3;
	}

	// What is the input source (which can arm, change modes etc.)?
	enum InputSource {
		INPUT_SOURCE_UNKNOWN=0;
		INPUT_SOURCE_RADIO_CONTROL=1;
		INPUT_SOURCE_ETHERNET=2;
		INPUT_SOURCE_CAN=3;
		INPUT_SOURCE_RESERVED_0=4;
		INPUT_SOURCE_RESERVED_1=5;
		INPUT_SOURCE_RESERVED_2=6;
		INPUT_SOURCE_RESERVED_3=7;
	}

	// What is the topic source?
	// if it is input, it follows the input source
	// mode command source
	enum TopicSource {
		TOPIC_SOURCE_UNKNOWN=0;
		TOPIC_SOURCE_INPUT=1;
		TOPIC_SOURCE_LOCAL=2;
		TOPIC_SOURCE_ETHERNET=3;
		TOPIC_SOURCE_CAN=4;
		TOPIC_SOURCE_RESERVED_0=5;
		TOPIC_SOURCE_RESERVED_1=6;
		TOPIC_SOURCE_RESERVED_2=7;
	}

	// control mode is further subdivided by topic source
	// if topic source is input, input is further
	// subdivided by input source
	enum Mode {
		MODE_UNKNOWN=0;
		MODE_CALIBRATION=1;
		MODE_ACTUATORS=2; // raw actuator control
		MODE_ATTITUDE_RATE=3; // raw throttle, att. rate feedback
		MODE_ATTITUDE=4; // raw throttle, att. feeback
		MODE_ALTITUDE=5; // throttle controls altitude, att. feedback
		MODE_POSITION=6; // pos. feedback, sending waypoint
		MODE_VELOCITY=7; // vel. feedback (cmd. vel) normal flight
		MODE_ACCELERATION=8; // command acceleration
		MODE_BEZIER=9; // send bezier trajectory to follow
		MODE_RESERVED_0=10;
		MODE_RESERVED_1=11;
		MODE_RESERVED_2=12;
		MODE_RESERVED_3=13;
		MODE_RESERVED_4=14;
		MODE_RESERVED_5=15;
	}

	enum Safety {
		SAFETY_UNKNOWN=0;
		SAFETY_SAFE=1;
		SAFETY_UNSAFE=2;
	}

	enum Flag {
		FLAG__=0;
		FLAG_LIGHTING=1;
		FLAG_RESERVED_0=2;
		FLAG_RESERVED_1=4;
		FLAG_RESERVED_2=8;
		FLAG_RESERVED_3=16;
		FLAG_RESERVED_4=32;
		FLAG_RESERVED_5=64;
		FLAG_RESERVED_6=128;
		FLAG_RESERVED_7=256;
		FLAG_RESERVED_8=512;
		FLAG_RESERVED_9=1024;
		FLAG_RESERVED_10=2048;
		FLAG_RESERVED_11=4096;
		FLAG_RESERVED_12=8192;
		FLAG_RESERVED_13=16384;
		FLAG_RESERVED_14=32768;
		FLAG_RESERVED_15=65536;
		FLAG_RESERVED_16=131072;
		FLAG_RESERVED_17=262144;
		FLAG_RESERVED_18=524288;
		FLAG_RESERVED_19=1048576;
		FLAG_RESERVED_20=2097152;
		FLAG_RESERVED_21=4194304;
		FLAG_RESERVED_22=8388608;
		FLAG_RESERVED_23=16777216;
		FLAG_RESERVED_24=33554432;
		FLAG_RESERVED_25=67108864;
		FLAG_RESERVED_26=134217728;
		FLAG_RESERVED_27=268435456;
		FLAG_RESERVED_28=536870912;
		FLAG_RESERVED_29=1073741824;
	}

	Header header = 1;
	Arming arming = 2;
	string status_message = 3;
	LinkStatus input_status = 4;
	InputSource input_source = 5;
	LinkStatus topic_status = 6;
	TopicSource topic_source = 7;
	LinkStatus electrode_status = 8;
	Mode mode = 9;
	Safety safety = 10;
	Fuel fuel = 11;
	uint32 fuel_percentage = 12;
	float power = 13;
	uint32 request_seq = 14;
	bool request_rejected = 15;
	fixed32 flag = 16;
}