// Copyright (c) 2018 Anki, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License in the file LICENSE.txt or at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

// External interface for robot <-> app and robot <-> sdk communication

syntax = "proto3";

package Anki.Vector.external_interface;

option go_package = "Anki.Vector.external_interface";

import "messages.proto";
import "response_status.proto";

// Attempt to connect to a cube. If a cube is currently connected,
// this will do nothing.
message ConnectCubeRequest {
}

message ConnectCubeResponse {
  ResponseStatus status     = 1;
  bool         success    = 2;
  uint32       object_id  = 3;
  string       factory_id = 4;
}

message CubesAvailableRequest {
}

message CubesAvailableResponse {
  ResponseStatus status = 1;
  repeated string factory_ids = 2;
}

// Requests a disconnection from the currently connected cube.
message DisconnectCubeRequest {
}

message DisconnectCubeResponse {
  ResponseStatus status = 1;
}

// Plays the default cube connection animation on the currently
// connected cube's lights.  This is intended for app level user
// surfacing of cube connectivity, not for sdk cube light control.
message FlashCubeLightsRequest {
}

message FlashCubeLightsResponse {
  ResponseStatus status = 1;
}

// Forget the robot's preferred cube. This will cause the robot to
// connect to the cube with the highest RSSI (signal strength) next
// time a connection is requested. Saves this preference to disk.
// The next cube that the robot connects to will become its
// preferred cube.
message ForgetPreferredCubeRequest {
}

message ForgetPreferredCubeResponse {
  ResponseStatus status = 1;
}

// Set the robot's preferred cube and save it to disk. The robot
// will always attempt to connect to this cube if it is available.
// This is only used in simulation for now.
message SetPreferredCubeRequest {
  string factory_id = 1;
}

message SetPreferredCubeResponse {
  ResponseStatus status = 1;
}

// Sets each LED on victor's cube.  Two states are specified
// designated 'on' and 'off', each with a color, duration,
// and state transition time
message SetCubeLightsRequest {
  // This is a uint_8 internally.
  enum MakeRelativeMode
  {
    UNKNOWN   = 0;
    OFF       = 1;
    BY_CORNER = 2;
    BY_SIDE   = 3;
  }

  uint32           object_id                = 1;
  repeated uint32  on_color                 = 2;
  repeated uint32  off_color                = 3;
  repeated uint32  on_period_ms             = 4;
  repeated uint32  off_period_ms            = 5;
  repeated uint32  transition_on_period_ms  = 6;
  repeated uint32  transition_off_period_ms = 7;
  repeated int32   offset                   = 8;
  float            relative_to_x            = 9;
  float            relative_to_y            = 10;
  bool             rotate                   = 11;
  MakeRelativeMode make_relative            = 12;
}
message SetCubeLightsResponse {
  ResponseStatus status = 1;
}

enum ObjectType
{
  INVALID_OBJECT = 0;
  UNKNOWN_OBJECT = 1;

  //////////////////////////////////////////////////////////////////////////
  // Light Cube (a.k.a. Active Block)
  //
  BLOCK_LIGHTCUBE1 = 2;
  
  CHARGER_BASIC = 6;

  FIRST_CUSTOM_OBJECT_TYPE = 15;
}

enum CustomType
{
  option allow_alias = true;

  INVALID_CUSTOM_TYPE = 0;

  CUSTOM_TYPE_00 = 1;
  CUSTOM_TYPE_01 = 2;
  CUSTOM_TYPE_02 = 3;
  CUSTOM_TYPE_03 = 4;
  CUSTOM_TYPE_04 = 5;
  CUSTOM_TYPE_05 = 6;
  CUSTOM_TYPE_06 = 7;
  CUSTOM_TYPE_07 = 8;
  CUSTOM_TYPE_08 = 9;
  CUSTOM_TYPE_09 = 10;
  CUSTOM_TYPE_10 = 11;
  CUSTOM_TYPE_11 = 12;
  CUSTOM_TYPE_12 = 13;
  CUSTOM_TYPE_13 = 14;
  CUSTOM_TYPE_14 = 15;
  CUSTOM_TYPE_15 = 16;
  CUSTOM_TYPE_16 = 17;
  CUSTOM_TYPE_17 = 18;
  CUSTOM_TYPE_18 = 19;
  CUSTOM_TYPE_19 = 20;

  CUSTOM_TYPE_COUNT = 20;
}

// Note: ObjectFamily is deprecated and will be removed in future releases
enum ObjectFamily {
  option allow_alias = true;

  INVALID_FAMILY    = 0;
  UNKNOWN_FAMILY    = 1;
  BLOCK             = 2;
  LIGHT_CUBE        = 3;
  CHARGER           = 4;
  CUSTOM_OBJECT     = 7;

  OBJECT_FAMILY_COUNT = 7;
}

message ObjectAvailable {
  string factory_id = 1;
}

// Indicates that a cube has connected or disconnected to the robot.
// This message will be sent for any connects or disconnects regardless
// of whether it originated from us or underlying robot behavior.
message ObjectConnectionState {
  uint32     object_id   = 1;
  string     factory_id  = 2;
  ObjectType object_type = 3;
  bool       connected   = 4;
}

message ObjectMoved {
  uint32 timestamp = 1;
  uint32 object_id = 2;
}

message ObjectStoppedMoving {
  uint32 timestamp = 1;
  uint32 object_id = 2;
}

enum UpAxis {
  INVALID_AXIS = 0;
  X_NEGATIVE   = 1;
  X_POSITIVE   = 2;
  Y_NEGATIVE   = 3;
  Y_POSITIVE   = 4;
  Z_NEGATIVE   = 5;
  Z_POSITIVE   = 6;
  NUM_AXES     = 7;
}

message ObjectUpAxisChanged {
  uint32 timestamp = 1;
  uint32 object_id = 2;
  UpAxis up_axis   = 3;
}

message ObjectTapped {
  uint32 timestamp = 1;
  uint32 object_id = 2;
}

// RobotObservedObject for signaling that an object
//  with specified ID/Type was seen at a particular location in the image
//  and the world
message RobotObservedObject {
    uint32       timestamp                = 1;
    ObjectFamily object_family            = 2; // ObjectFamily is deprecated. Use ObjectType instead to reason about groupings of objects.
    ObjectType   object_type              = 3;
    int32        object_id                = 4; // signed to match U2G::PickAndPlaceObject which has the option to have objectID<0
    CladRect     img_rect                 = 5; // position in image coords
    PoseStruct   pose                     = 6;
    float        top_face_orientation_rad = 7; // absolute orienation of top face, iff isActive==true
    uint32       is_active                = 8;
}

// Indicates that a the connection subscribed through ConnectCube has
// been lost.
message CubeConnectionLost {
}

// Constants associated with the audio feed
enum ObjectConstants {
  OBJECT_CONSTANTS_NULL             = 0; // error value
  FIXED_CUSTOM_WALL_THICKNESS_MM    = 10; // The depth of custom walls used in the engine
}

enum CustomObjectMarker {
  option allow_alias = true;

  CUSTOM_MARKER_UNKNOWN     = 0;

  CUSTOM_MARKER_CIRCLES_2   = 1;
  CUSTOM_MARKER_CIRCLES_3   = 2;
  CUSTOM_MARKER_CIRCLES_4   = 3;
  CUSTOM_MARKER_CIRCLES_5   = 4;

  CUSTOM_MARKER_DIAMONDS_2  = 5;
  CUSTOM_MARKER_DIAMONDS_3  = 6;
  CUSTOM_MARKER_DIAMONDS_4  = 7;
  CUSTOM_MARKER_DIAMONDS_5  = 8;

  CUSTOM_MARKER_HEXAGONS_2  = 9;
  CUSTOM_MARKER_HEXAGONS_3  = 10;
  CUSTOM_MARKER_HEXAGONS_4  = 11;
  CUSTOM_MARKER_HEXAGONS_5  = 12;

  CUSTOM_MARKER_TRIANGLES_2 = 13;
  CUSTOM_MARKER_TRIANGLES_3 = 14;
  CUSTOM_MARKER_TRIANGLES_4 = 15;
  CUSTOM_MARKER_TRIANGLES_5 = 16;

  CUSTOM_MARKER_COUNT       = 16;
}

enum CustomObjectDeletionMode {
  DELETION_MASK_UNKNOWN               = 0;
  DELETION_MASK_FIXED_CUSTOM_OBJECTS  = 1;
  DELETION_MASK_CUSTOM_MARKER_OBJECTS = 2;
  DELETION_MASK_ARCHETYPES            = 3;
}

// Deletes all custom objects matching a given deletion mode.
message DeleteCustomObjectsRequest {
  CustomObjectDeletionMode mode = 1;
}

message DeleteCustomObjectsResponse {
  ResponseStatus status = 1;
}

// Creates a CustomObject at the specific pose with no markers associated with it
// Since this object has no markers with which to be observed, it will remain in the
// specified pose as an obstacle forever (or until deleted with a deletion message above)
message CreateFixedCustomObjectRequest {
  PoseStruct  pose      = 1;
  float       x_size_mm = 2;
  float       y_size_mm = 3;
  float       z_size_mm = 4;
}

message CreateFixedCustomObjectResponse {
  ResponseStatus  status    = 1;
  uint32          object_id = 2;
}

// Defines a custom object of the given size with the given markers centered on each side
// If isUnique=true, there is guaranteed to be no more than one object of this type present in the world
message CustomBoxDefinition {
  CustomObjectMarker marker_front     = 1;
  CustomObjectMarker marker_back      = 2;
  CustomObjectMarker marker_top       = 3;
  CustomObjectMarker marker_bottom    = 4;
  CustomObjectMarker marker_left      = 5;
  CustomObjectMarker marker_right     = 6;
  float              x_size_mm        = 7;
  float              y_size_mm        = 8;
  float              z_size_mm        = 9;
  float              marker_width_mm  = 10;
  float              marker_height_mm = 11;
}

// Defines a custom cube of the given size. The cube will have the same marker centered on all faces.
// If isUnique=true, there is guaranteed to be no more than one cube of this type present in the world at a time.
message CustomCubeDefinition {
  CustomObjectMarker marker           = 1;
  float              size_mm          = 2;
  float              marker_width_mm  = 3;
  float              marker_height_mm = 4;
}

// Defines a custom wall of the given height and width, with the same marker centered on both sides (front and back).
// The wall's thickness is assumed to be 1cm (and thus there are no markers on its left, right, top, or bottom)
// If isUnique=true, there is guaranteed to be no more than one wall of this type present in the world at a time.
message CustomWallDefinition {
  CustomObjectMarker marker           = 1;
  float              width_mm         = 2;
  float              height_mm        = 3;
  float              marker_width_mm  = 4;
  float              marker_height_mm = 5;
}

message DefineCustomObjectRequest {
  CustomType             custom_type = 1;
  bool                   is_unique   = 2;

  oneof custom_object_definition {
    CustomBoxDefinition  custom_box  = 3;
    CustomCubeDefinition custom_cube = 4;
    CustomWallDefinition custom_wall = 5;
  }
}

message DefineCustomObjectResponse {
  ResponseStatus  status  = 1;
  bool            success = 2;
}

message ObjectEvent {
  oneof object_event_type {
    ObjectAvailable       object_available        = 1;
    ObjectConnectionState object_connection_state = 2;
    ObjectMoved           object_moved            = 3;
    ObjectStoppedMoving   object_stopped_moving   = 4;
    ObjectUpAxisChanged   object_up_axis_changed  = 5;
    ObjectTapped          object_tapped           = 6;
    RobotObservedObject   robot_observed_object   = 7;
    CubeConnectionLost    cube_connection_lost    = 8;
  }
}