// 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 "response_status.proto";
import "extensions.proto";
import "alexa.proto"; // App only

// A null message used by streams to verify that the client is
// still connected.
message KeepAlivePing {}

// An animation trigger object.
message AnimationTrigger {
  // The name of a given animation trigger.
  string name = 1;
}

// An animation object.
message Animation {
  // The name of a given animation.
  string name = 1;
}

// See the DriveWheels rpc for more details.
message DriveWheelsRequest {
  float left_wheel_mmps   = 1;
  float right_wheel_mmps  = 2;
  float left_wheel_mmps2  = 3;
  float right_wheel_mmps2 = 4;
}

// See the DriveWheels rpc for more details.
message DriveWheelsResponse {
  // A generic status.
  ResponseStatus status = 1;
}

// See the MoveHead rpc for more details.
message MoveHeadRequest {
  float speed_rad_per_sec = 1;
}

// See the MoveHead rpc for more details.
message MoveHeadResponse {
  // A generic status.
  ResponseStatus status = 1;
}

// See the MoveLift rpc for more details.
message MoveLiftRequest {
  float speed_rad_per_sec = 1;
}

// See the MoveLift rpc for more details.
message MoveLiftResponse {
  // A generic status.
  ResponseStatus status = 1;
}

// See the StopAllMotors rpc for more details.
message StopAllMotorsRequest {
}

// See the StopAllMotors rpc for more details.
message StopAllMotorsResponse {
  ResponseStatus status = 1;
}

// See PlayAnimationTrigger rpc for more details.
message PlayAnimationTriggerRequest {
  // The animation trigger to play.
  AnimationTrigger animation_trigger = 1;
  // The number of times to play the animation in a row.
  uint32 loops = 2;
  // Automatically ignore the lift track if Vector is currently carrying an object.
  bool use_lift_safe = 3;
  // Ignore any movement of Vector's body when playing the animation.
  bool ignore_body_track = 4;
  // Ignore any movement of Vector's head when playing the animation.
  bool ignore_head_track = 5;
  // Ignore any movement of Vector's lift when playing the animation.
  bool ignore_lift_track = 6;
}

// See PlayAnimation rpc for more details.
message PlayAnimationRequest {
  // The animation to play.
  Animation animation = 1;
  // The number of times to play the animation in a row.
  uint32 loops = 2;
  // Ignore any movement of Vector's body in the given animation.
  bool ignore_body_track = 3;
  // Ignore any movement of Vector's head in the given animation.
  bool ignore_head_track = 4;
  // Ignore any movement of Vector's lift in the given animation.
  bool ignore_lift_track = 5;
}

// See PlayAnimation rpc for more details.
message PlayAnimationResponse {
  // A generic status.
  ResponseStatus status = 1;
  // Information on whether the animation played successfully.
  BehaviorResults result = 2;
  // The animation that the robot executed.
  Animation animation = 3;
}

// See ListAnimations rpc for more details.
message ListAnimationsRequest {}

// See ListAnimations rpc for more details.
message ListAnimationsResponse {
  // A generic status.
  ResponseStatus status = 1;
  // The animations that Vector knows.
  repeated Animation animation_names = 2;
}

// See ListAnimationTriggers rpc for more details.
message ListAnimationTriggersRequest {}

// See ListAnimationTriggers rpc for more details.
message ListAnimationTriggersResponse {
  // A generic status.
  ResponseStatus status = 1;
  // The animation triggers that Vector knows.
  repeated AnimationTrigger animation_trigger_names = 2;
}

// See DisplayFaceImageRGB rpc for more details.
message DisplayFaceImageRGBRequest {
  // The image to render.
  bytes face_data = 1;
  // How long to display the image on the face.
  uint32 duration_ms = 2;
  // If this image should overwrite any current images on the face.
  bool interrupt_running = 3;
}

// See DisplayFaceImageRGB rpc for more details.
message DisplayFaceImageRGBResponse {
  // A generic status.
  ResponseStatus status = 1;
}

message MeetVictorFaceScanStarted
{
}

message MeetVictorFaceScanComplete
{
}

message Status {
  oneof status_type {
    FeatureStatus                   feature_status                   = 1; // App only
    MeetVictorFaceScanStarted       meet_victor_face_scan_started    = 2;
    MeetVictorFaceScanComplete      meet_victor_face_scan_complete   = 3;
    FaceEnrollmentCompleted         face_enrollment_completed        = 4;
  }
}

message WakeWord {
  oneof wake_word_type {
    WakeWordBegin     wake_word_begin    = 1;
    WakeWordEnd       wake_word_end      = 2;
  }
}

message TimeStampedStatus {
  Status status = 1;
  uint32 timestamp_utc = 2;
}

message PoseStruct {
  // Translation
  float x = 1;
  float y = 2;
  float z = 3;

  // Rotation quaternion
  float q0 = 4;
  float q1 = 5;
  float q2 = 6;
  float q3 = 7;

  uint32 origin_id = 8; // Which coordinate frame this pose is in (0 for none or unknown)
}

// All values are in mm/s^2.
message AccelData {
  float x = 1;
  float y = 2;
  float z = 3;
}

// All values are in rad/s.
message GyroData {
  float x = 1;
  float y = 2;
  float z = 3;
}

message ProxData {
  uint32 distance_mm             = 1;
  float  signal_quality          = 2;
  bool   unobstructed            = 3; // The sensor has confirmed it has not detected anything up to its max range
  bool   found_object            = 4; // The sensor detected an object in the valid operating range
  bool   is_lift_in_fov          = 5; // Lift (or object on lift) is occluding the sensor
}

message TouchData {
  uint32 raw_touch_value  = 1; // Raw input from the touch sensor
  bool   is_being_touched = 2; // Robot's context aware evaluation of whether it currently is or isn't being touched
}

message RobotState {
  PoseStruct pose = 1;
  float pose_angle_rad = 2;
  float pose_pitch_rad = 3;
  float left_wheel_speed_mmps = 4;
  float right_wheel_speed_mmps = 5;
  float head_angle_rad = 6;
  float lift_height_mm = 7;
  AccelData accel = 8;
  GyroData gyro = 9;
  int32 carrying_object_id = 10;
  int32 carrying_object_on_top_id = 11; // Not supported by engine
  int32 head_tracking_object_id = 12;
  int32 localized_to_object_id = 13;
  uint32 last_image_time_stamp = 14;
  uint32 status = 15;
  ProxData prox_data = 16;
  TouchData touch_data = 17;
}

enum RobotStatus {
  ROBOT_STATUS_NONE                    = 0x0;
  ROBOT_STATUS_IS_MOVING               = 0x1;
  ROBOT_STATUS_IS_CARRYING_BLOCK       = 0x2;
  ROBOT_STATUS_IS_PICKING_OR_PLACING   = 0x4;
  ROBOT_STATUS_IS_PICKED_UP            = 0x8;
  ROBOT_STATUS_IS_BUTTON_PRESSED       = 0x10;
  ROBOT_STATUS_IS_FALLING              = 0x20;
  ROBOT_STATUS_IS_ANIMATING            = 0x40;
  ROBOT_STATUS_IS_PATHING              = 0x80;
  ROBOT_STATUS_LIFT_IN_POS             = 0x100;
  ROBOT_STATUS_HEAD_IN_POS             = 0x200;
  ROBOT_STATUS_CALM_POWER_MODE         = 0x400;
  ROBOT_STATUS_IS_ON_CHARGER           = 0x1000;
  ROBOT_STATUS_IS_CHARGING             = 0x2000;
  ROBOT_STATUS_CLIFF_DETECTED          = 0x4000;
  ROBOT_STATUS_ARE_WHEELS_MOVING       = 0x8000;
  ROBOT_STATUS_IS_BEING_HELD           = 0x10000;
  ROBOT_STATUS_IS_MOTION_DETECTED      = 0x20000;
}

message CladPoint
{
  float x = 1;
  float y = 2;
}

message CladRect
{
  float x_top_left = 1;
  float y_top_left = 2;
  float width = 3;
  float height = 4;
}

message RobotObservedMotion {
  uint32 timestamp = 1; // Timestamp of the corresponding image

  // Area of the supporting region for the point, as a fraction of the image
  float img_area = 2;
  int32 img_x = 3; // Pixel coordinate of the point in the image, relative to top-left corner.
  int32 img_y = 4; // Pixel coordinate of the point in the image, relative to top-left corner.

  // Area of the supporting region for the point, as a fraction of the ground ROI
  // If unable to map to the ground, area=0
  float ground_area = 5;
  int32 ground_x = 6; // Coordinates of the point on the ground, relative to robot, in mm
  int32 ground_y = 7; // Coordinates of the point on the ground, relative to robot, in mm

  // Top area
  // Area of the supporting region for the point, as a fraction of the top region
  float top_img_area = 8;
  int32 top_img_x = 9; // Pixel coordinate of the point in the image, relative to top-left corner.
  int32 top_img_y = 10; // Pixel coordinate of the point in the image, relative to top-left corner.

  // Bottom area
  // Area of the supporting region for the point, as a fraction of the bottom region
  float bottom_img_area = 11;
  int32 bottom_img_x = 12; // Pixel coordinate of the point in the image, relative to top-left corner.
  int32 bottom_img_y = 13; // Pixel coordinate of the point in the image, relative to top-left corner.

  // Left area
  // Area of the supporting region for the point, as a fraction of the left region
  float left_img_area = 14;
  int32 left_img_x = 15; // Pixel coordinate of the point in the image, relative to top-left corner.
  int32 left_img_y = 16; // Pixel coordinate of the point in the image, relative to top-left corner.

  // Right area
  // Area of the supporting region for the point, as a fraction of the right region
  float right_img_area = 17;
  int32 right_img_x = 18; // Pixel coordinate of the point in the image, relative to top-left corner.
  int32 right_img_y = 19; // Pixel coordinate of the point in the image, relative to top-left corner.
}

 // Event confirming that an enrolled face has been removed from the robot.
message RobotErasedEnrolledFace {
  int32 face_id = 1;
  string name = 2;
}

enum UnexpectedMovementType {
  TURNED_BUT_STOPPED = 0;
  TURNED_IN_SAME_DIRECTION = 1;
  TURNED_IN_OPPOSITE_DIRECTION = 2;
  ROTATING_WITHOUT_MOTORS = 3;
}

enum UnexpectedMovementSide {
  UNKNOWN = 0;
  FRONT = 1;
  BACK = 2;
  LEFT = 3;
  RIGHT = 4;
}

// Event dispatched when the robot does not move as expected. Has additional information
// such as the direction and type of unexpected motion.
message UnexpectedMovement {
  uint32 timestamp = 1;
  UnexpectedMovementType movement_type = 2;
  UnexpectedMovementSide movement_side = 3;
}

// This is an int8 on the clad side.
// Proto field names are prefixed with "EXPRESSION_"
enum FacialExpression {
  option allow_alias = true;
  EXPRESSION_UNKNOWN = 0;    // e.g. expression estimation disabled.

  EXPRESSION_NEUTRAL = 1;
  EXPRESSION_HAPPINESS = 2;
  EXPRESSION_SURPRISE = 3;
  EXPRESSION_ANGER = 4;
  EXPRESSION_SADNESS = 5;

  // Clad does not account for "Unknown" in the count.
  EXPRESSION_COUNT = 5;
}

message RobotObservedFace {
  int32 face_id = 1;         // negative: tracked but not recognized; positive: recognized face
  uint32 timestamp = 2;
  PoseStruct pose = 3;
  CladRect img_rect = 4;       // position in image coords
  string name = 5;           // Empty if none assigned yet

  FacialExpression expression = 6;

  // Individual expression values histogram, sums to 100 (Exception: all zero if expression=Unknown)
  repeated uint32 expression_values = 7;

  // Face landmarks
  repeated CladPoint left_eye = 8;
  repeated CladPoint right_eye = 9;
  repeated CladPoint nose = 10;
  repeated CladPoint mouth = 11;
}

// RobotChangedObservedFaceID
//  This generally happens when a tracked face (negative ID) is recognized and
//  receives a positive ID or when face records get merged
message RobotChangedObservedFaceID {
  int32   old_id = 1;
  int32   new_id = 2;
}

enum FaceEnrollmentResult {
  SUCCESS = 0;

  // Failures:
  SAW_WRONG_FACE = 1;
  SAW_MULTIPLE_FACES = 2;
  TIMED_OUT = 3;
  SAVE_FAILED = 4;
  INCOMPLETE = 5;
  CANCELLED = 6;
  NAME_IN_USE = 7;
  NAMED_STORAGE_FULL = 8;
  UNKNOWN_FAILURE = 9;
}

message FaceEnrollmentCompleted {
  FaceEnrollmentResult result = 1;
  int32                face_id = 2;
  string               name = 3;
}

message CancelFaceEnrollmentRequest {
}

message CancelFaceEnrollmentResponse {
  ResponseStatus status = 1;
}

message RequestEnrolledNamesRequest {
}

message LoadedKnownFace {
  int64  seconds_since_first_enrolled = 1;
  int64  seconds_since_last_updated = 2;
  int64  seconds_since_last_seen = 3;
  int64  last_seen_seconds_since_epoch = 4;
  int32  face_id = 5;
  string name = 6;
}

message RobotRenamedEnrolledFace {
    int32   face_id = 1;
    string  name = 2;
}

message RequestEnrolledNamesResponse {
  ResponseStatus status = 1;
  repeated LoadedKnownFace faces = 2;
}

message UpdateEnrolledFaceByIDRequest {
  int32 face_id = 1;
  string old_name = 2;
  string new_name = 3;
}

message UpdateEnrolledFaceByIDResponse {
  ResponseStatus status = 1;
}

message EraseEnrolledFaceByIDRequest {
  int32 face_id = 1;
}

message EraseEnrolledFaceByIDResponse {
  ResponseStatus status = 1;
}

message EraseAllEnrolledFacesRequest {
}

message EraseAllEnrolledFacesResponse {
  ResponseStatus status = 1;
}

message SetFaceToEnrollRequest {
  string  name = 1;

  int32   observed_id = 2;  // The ID of a specific observed face to enroll (0 for next one we see)
  int32   save_id = 3;      // The ID of an existing face to merge final enrollment into (0 for none,
                            // i.e. use observedID)

  bool    save_to_robot = 4;  // Save to robot's NVStorage when done (NOTE: will (re)save everyone enrolled!)
  bool    say_name = 5;       // Play say-name/celebration animations on success before completing
  bool    use_music = 6;      // Starts special music during say-name animations (will leave music playing!)
}

message SetFaceToEnrollResponse {
  ResponseStatus status = 1;
}

message EnrollFaceRequest {
}

message EnrollFaceResponse {
  ResponseStatus status = 1;
  BehaviorResults result = 2;
}

enum BehaviorResults {
  BEHAVIOR_INVALID_STATE = 0;
  BEHAVIOR_COMPLETE_STATE = 1;
  BEHAVIOR_WONT_ACTIVATE_STATE = 2;
}

message DriveOffChargerRequest {
}

message DriveOffChargerResponse {
  ResponseStatus status = 1;
  BehaviorResults result = 2;
}

message DriveOnChargerRequest {
}

message DriveOnChargerResponse {
  ResponseStatus status = 1;
  BehaviorResults result = 2;
}

message FindFacesRequest {
}

message FindFacesResponse {
  ResponseStatus status = 1;
  BehaviorResults result = 2;
}

message LookAroundInPlaceRequest {
}

message LookAroundInPlaceResponse {
  ResponseStatus status = 1;
  BehaviorResults result = 2;
}

//this triggers a Vector Behavior, different from RollObjectRequest which triggers an Action
message RollBlockRequest {
}

message RollBlockResponse {
  ResponseStatus status = 1;
  BehaviorResults result = 2;
}

message WakeWordBegin {
}

message WakeWordEnd {
  bool intent_heard = 1;
  string intent_json = 2;
}

message UserIntent {
  uint32 intent_id = 1;
  string json_data = 2;
}

message PhotoInfo {
  uint32 photo_id = 1;
  uint32 timestamp_utc = 2;
  bool photo_copied_to_app = 3;
  bool thumb_copied_to_app = 4;
}

message PhotosInfoRequest {
}

message PhotosInfoResponse {
  ResponseStatus status = 1;
  repeated PhotoInfo photo_infos = 2;
}

message PhotoRequest {
  uint32 photo_id = 1;
}

message PhotoPathMessage {
  bool success = 1;
  string full_path = 2;
}

message PhotoResponse {
  ResponseStatus status = 1;
  bool success = 2;
  bytes image = 3;
}

message ThumbnailRequest {
  uint32 photo_id = 1;
}

message ThumbnailPathMessage {
  bool success = 1;
  string full_path = 2;
}

message ThumbnailResponse {
  ResponseStatus status = 1;
  bool success = 2;
  bytes image = 3;
}

message DeletePhotoRequest {
  uint32 photo_id = 1;
}

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

message PhotoTaken {
  uint32 photo_id = 1;
}

// Struct containing all the information relevant to how a
// path should be modified or traversed.
message PathMotionProfile {
  float speed_mmps = 1;
  float accel_mmps2 = 2;
  float decel_mmps2 = 3;
  float point_turn_speed_rad_per_sec = 4;
  float point_turn_accel_rad_per_sec2 = 5;
  float point_turn_decel_rad_per_sec2 = 6;
  float dock_speed_mmps = 7;
  float dock_accel_mmps2 = 8;
  float dock_decel_mmps2 = 9;
  float reverse_speed_mmps = 10;
  bool  is_custom = 11;
}

// These codes are duplicated from actionResults.clad file and need to be kept in sync // App only
// The possible results of running an action.
  message ActionResult {
  // The possible results of running an action.
  enum ActionResultCode {
    ACTION_RESULT_SUCCESS                 = 0; // Action completed successfully.
    ACTION_RESULT_RUNNING                 = 16777216; // Action is still running.

    ACTION_RESULT_CANCELLED_WHILE_RUNNING = 33554432; // Action was cancelled by SDK request
    NOT_STARTED                           = 33554433; // Initial state of an Action to indicate it has not yet started.

    ABORT                                 = 50331648; // Action aborted itself (e.g. had invalid attributes, or a runtime failure).
    ANIM_ABORTED                          = 50331649; // Animation Action aborted itself (e.g. there was an error playing the animation).
    BAD_MARKER                            = 50331650; // There was an error related to vision markers.
    BAD_MESSAGE_TAG                       = 50331651; // There was a problem related to a subscribed or unsupported message tag
    BAD_OBJECT                            = 50331652; // There was a problem with the Object ID provided (e.g. there is no Object with that ID).
    BAD_POSE                              = 50331653; // There was a problem with the Pose provided.
    BAD_TAG                               = 50331654; // The SDK-provided tag was bad.
    CHARGER_UNPLUGGED_ABORT               = 50331655; // Vector is on the charger but cannot sense the contacts. Charger may be unplugged.
    CLIFF_ALIGN_FAILED_TIMEOUT            = 50331656;
    CLIFF_ALIGN_FAILED_NO_TURNING         = 50331657;
    CLIFF_ALIGN_FAILED_OVER_TURNING       = 50331658;
    CLIFF_ALIGN_FAILED_NO_WHITE           = 50331659;
    CLIFF_ALIGN_FAILED_STOPPED            = 50331660;
    FAILED_SETTING_CALIBRATION            = 50331661; // Shouldn't occur outside of factory.
    FOLLOWING_PATH_BUT_NOT_TRAVERSING     = 50331662; // There was an error following the planned path.
    INTERRUPTED                           = 50331663; // The action was interrupted by another Action or Behavior.
    INVALID_OFF_TREADS_STATE              = 50331664; // The robot ended up in an "off treads state" not valid for this action (e.g. the robot was placed on its back while executing a turn).
    MISMATCHED_UP_AXIS                    = 50331665; // The Up Axis of a carried object doesn't match the desired placement pose.
    NO_ANIM_NAME                          = 50331666; // No valid Animation name was found.
    NO_DISTANCE_SET                       = 50331667; // An invalid distance value was given.
    NO_FACE                               = 50331668; // There was a problem with the Face ID (e.g. Vector doesn't no where it is).
    NO_GOAL_SET                           = 50331669; // No goal pose was set.
    NO_PREACTION_POSES                    = 50331670; // No pre-action poses were found (e.g. could not get into position).
    NOT_CARRYING_OBJECT_ABORT             = 50331671; // No object is being carried, but the action requires one.
    NOT_ON_CHARGER_ABORT                  = 50331672; // Vector is expected to be on the charger, but is not.
    NULL_SUBACTION                        = 50331673; // No sub-action was provided.
    PATH_PLANNING_FAILED_ABORT            = 50331674; // Vector was unable to plan a path.
    PICKUP_OBJECT_UNEXPECTEDLY_MOVING     = 50331675; // The object that Vector is attempting to pickup is unexpectedly moving (e.g it is being moved by someone else).
    SEND_MESSAGE_TO_ROBOT_FAILED          = 50331676; // Shouldn't occur in SDK usage.
    STILL_CARRYING_OBJECT                 = 50331677; // Vector is unexpectedly still carrying an object.
    TIMEOUT                               = 50331678; // The Action timed out before completing correctly.
    TRACKS_LOCKED                         = 50331679; // One or more movement tracks (Head, Lift, Body, Face, Backpack Lights, Audio) are already being used by another Action.
    UNEXPECTED_DOCK_ACTION                = 50331680; // There was an internal error related to an unexpected type of dock action.
    UNKNOWN_TOOL_CODE                     = 50331681; // Shouldn't occur outside of factory.
    UPDATE_DERIVED_FAILED                 = 50331682; // There was a problem in the subclass's update on the robot.
    VISUAL_OBSERVATION_FAILED             = 50331683; // Vector did not see the expected result (e.g. unable to see cube in the expected position after a related action).
    SHOULDNT_DRIVE_ON_CHARGER             = 50331684; // Action is not permitted on the charger.

    RETRY                                 = 67108864; // The Action failed, but may succeed if retried.
    DID_NOT_REACH_PREACTION_POSE          = 67108865; // Failed to get into position.
    FAILED_TRAVERSING_PATH                = 67108866; // Failed to follow the planned path.
    LAST_PICK_AND_PLACE_FAILED            = 67108867; // The previous attempt to pick and place an object failed.
    MOTOR_STOPPED_MAKING_PROGRESS         = 67108868; // The required motor isn't moving so the action cannot complete.
    NOT_CARRYING_OBJECT_RETRY             = 67108869; // Not carrying an object when it was expected, but may succeed if the action is retried.
    NOT_ON_CHARGER_RETRY                  = 67108870; // Driving onto the charger failed, but may succeed if the action is retried.
    PATH_PLANNING_FAILED_RETRY            = 67108871; // Vector was unable to plan a path, but may succeed if the action is retried.
    PLACEMENT_GOAL_NOT_FREE               = 67108872; // There is no room to place the object at the desired destination.
    PICKUP_OBJECT_UNEXPECTEDLY_NOT_MOVING = 67108873; // The object that Vector thought he was lifting didn't start moving, so he must have missed.
    STILL_ON_CHARGER                      = 67108874; // Vector failed to drive off the charger.
    UNEXPECTED_PITCH_ANGLE                = 67108875; // Vector's pitch is at an unexpected angle for the Action.
  }
  ActionResultCode code = 1;
}

enum ActionTagConstants {
  INVALID_SDK_TAG = 0;
  FIRST_SDK_TAG   = 2000001;
  LAST_SDK_TAG    = 3000000;
}

// Cancel a previously-requested action. Action requests include GoToPoseRequest, DockWithCubeRequest, DriveStraightRequest, TurnInPlaceRequest, SetHeadAngleRequest, and SetLiftHeightRequest.
message CancelActionByIdTagRequest {
  uint32 id_tag = 1; // Use the id_tag provided to the action request
}

// Response from the robot to CancelActionByIdTagRequest.
message CancelActionByIdTagResponse {
  // A generic status.
  ResponseStatus status = 1;
}

// Cancel a behavior in progress
message CancelBehaviorRequest {
}

// Response from the robot to CancelBehaviorRequest.
message CancelBehaviorResponse {
  ResponseStatus status = 1;
}

// GotoPose
message GoToPoseRequest {
  float x_mm                    = 1;
  float y_mm                    = 2;
  float rad                     = 3;
  PathMotionProfile motion_prof = 4;
  int32 id_tag                  = 5;
  int32 num_retries             = 6;
}

message GoToPoseResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// This is a uint8 in CLAD
enum AlignmentType {
  ALIGNMENT_TYPE_UNKNOWN     = 0;
  ALIGNMENT_TYPE_LIFT_FINGER = 1; // Align the tips of the lift fingers with the target object
  ALIGNMENT_TYPE_LIFT_PLATE  = 2; // Align the flat part of the lift with the object (useful for getting the fingers in the cube's grooves)
  ALIGNMENT_TYPE_BODY        = 3; // Align the front of Vector's body (useful for when the lift is up)
  ALIGNMENT_TYPE_CUSTOM      = 4; // For use with distanceFromMarker parameter
}

message DockWithCubeRequest {
  int32             object_id               = 1;
  float             distance_from_marker_mm = 2;
  float             approach_angle_rad      = 3;
  AlignmentType     alignment_type          = 4;
  bool              use_approach_angle      = 5;
  bool              use_pre_dock_pose       = 6;
  PathMotionProfile motion_prof             = 7;
  int32             id_tag                  = 8;
  int32             num_retries             = 9;
}

message DockWithCubeResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

message DriveStraightRequest {
  float speed_mmps            = 1; // Speed should be positive
  float dist_mm               = 2; // Use +ve for forward, -ve for backward
  bool  should_play_animation = 3;
  int32 id_tag                = 4;
  int32 num_retries           = 5;
}

message DriveStraightResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// TurnInPlace
// If isAbsolute == 0, turns the specified number of radians, relative to the robot's current heading*
// If isAbsolute != 0, turns to the specified absolute orientation.
message TurnInPlaceRequest {
  float  angle_rad          = 1; // relative mode: positive turns left negative turns right
  float  speed_rad_per_sec  = 2;
  float  accel_rad_per_sec2 = 3;
  float  tol_rad            = 4; // This should be no smaller than POINT_TURN_ANGLE_TOL (DEG_TO_RAD(2.f)).
                                 // Smaller values are ignored except 0 which is interpreted to mean
                                 // default tolerance of POINT_TURN_ANGLE_TOL.
  uint32 is_absolute        = 5; // 0: angle_rad is relative to current orientation, 1: angle_rad is absolute angle to turn to
  int32  id_tag             = 6;
  int32  num_retries        = 7;
}

message TurnInPlaceResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// SetHeadAngle
message SetHeadAngleRequest {
  float angle_rad             = 1;
  float max_speed_rad_per_sec = 2;
  float accel_rad_per_sec2    = 3;
  float duration_sec          = 4;
  int32 id_tag                = 5;
  int32 num_retries           = 6;
}

message SetHeadAngleResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// SetLiftHeight
message SetLiftHeightRequest {
  float height_mm             = 1;
  float max_speed_rad_per_sec = 2;
  float accel_rad_per_sec2    = 3;
  float duration_sec          = 4;
  int32 id_tag                = 5;
  int32 num_retries           = 6;
}

message SetLiftHeightResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// TurnTowardsFace
message TurnTowardsFaceRequest {
  int32              face_id                    = 1;
  float              max_turn_angle_rad         = 2;
  int32              id_tag                     = 3;
  int32              num_retries                = 4;
}

message TurnTowardsFaceResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// GoToObject
message GoToObjectRequest {
  int32             object_id                      = 1;
  PathMotionProfile motion_prof                    = 2;
  float             distance_from_object_origin_mm = 3;
  bool              use_pre_dock_pose              = 4;
  int32             id_tag                         = 5;
  int32             num_retries                    = 6;
}

message GoToObjectResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// RollObject
message RollObjectRequest {
  int32             object_id            = 1; // negative value means "currently selected object"
  PathMotionProfile motion_prof          = 2;
  float             approach_angle_rad   = 3;
  bool              use_approach_angle   = 4;
  bool              use_pre_dock_pose    = 5;
  int32             id_tag               = 6;
  int32             num_retries          = 7;
}

message RollObjectResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// PopAWheelie
message PopAWheelieRequest {
  int32             object_id          = 1; // negative value means "currently selected object"
  PathMotionProfile motion_prof        = 2;
  float             approach_angle_rad = 3;
  bool              use_approach_angle = 4;
  bool              use_pre_dock_pose  = 5;
  int32             id_tag             = 6;
  int32             num_retries        = 7;
}

message PopAWheelieResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// PickupObject
message PickupObjectRequest {
  int32              object_id          = 1; // negative value means "currently selected object"
  PathMotionProfile  motion_prof        = 2;
  float              approach_angle_rad = 3;
  bool               use_approach_angle = 4;
  bool               use_pre_dock_pose  = 5;
  int32              id_tag             = 6;
  int32              num_retries        = 7;
}

message PickupObjectResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

// PlaceObjectOnGroundHere
message PlaceObjectOnGroundHereRequest {
  int32 id_tag      = 1;
  int32 num_retries = 2;
}

message PlaceObjectOnGroundHereResponse {
  ResponseStatus status = 1;
  ActionResult   result = 2;
}

enum BatteryLevel {
  BATTERY_LEVEL_UNKNOWN = 0;
  BATTERY_LEVEL_LOW     = 1;
  BATTERY_LEVEL_NOMINAL = 2;
  BATTERY_LEVEL_FULL    = 3;
}

message BatteryStateRequest {}

message BatteryStateResponse {
  ResponseStatus status = 1;
  BatteryLevel battery_level = 2;
  float battery_volts = 3;
  bool is_charging = 4;
  bool is_on_charger_platform = 5;
  float suggested_charger_sec = 6;
  CubeBattery cube_battery = 7;
}

message CubeBattery {
  enum CubeBatteryLevel {
    Low    = 0;
    Normal = 1;
  }
  CubeBatteryLevel level = 1;
  string           factory_id = 2;
  float            battery_volts = 3;
  float            time_since_last_reading_sec = 4;
}

message VersionStateRequest {}

message VersionStateResponse {
  ResponseStatus status = 1;
  string os_version = 2;
  string engine_build_id = 3;
}

message SayTextRequest {
  string text = 1;
  bool use_vector_voice = 2;
  float duration_scalar = 3; // Ranges from 0.05 (fast) to 20.0 (slow)
  float pitch_scalar = 4;    // Ranges from -1.0 (low) to +1.0 (high)
}

message SayTextResponse {
  enum UtteranceState {
    INVALID = 0;
    GENERATING = 1;
    READY = 2;
    PLAYING = 3;
    FINISHED = 4;
  }
  ResponseStatus status = 1;
  UtteranceState state = 2;
}

message StimulationInfo {
  repeated string emotion_events  = 1; // may be empty
  float  value                    = 2;
  float  velocity                 = 3; // value per second
  float  accel                    = 4; // value per sec per sec
  float  value_before_event       = 5; // matches value if there were no emotion events
  float  min_value                = 6;
  float  max_value                = 7;
}

// Constants associated with the audio feed
enum AudioConstants {
  AUDIO_CONSTANTS_NULL             = 0; // error value
  MIC_DETECTION_DIRECTIONS         = 12; // The number of audio directions the four microphones can isolate
  SAMPLE_COUNTS_PER_ENGINE_MESSAGE = 160; // The number of audio samples in each internal audio chunk
  SAMPLE_COUNTS_PER_SDK_MESSAGE    = 1600; // The number of audio samples delivered in each audio feed response
  MICROPHONE_SAMPLE_RATE           = 15625; // The sampling rate victor's microphones record at
  PROCESSED_SAMPLE_RATE            = 16000; // The sampling rate the robot processes audio at
}

// The robot can process audio in a variety of ways
enum AudioProcessingMode {
  AUDIO_UNKNOWN           = 0; // error value
  AUDIO_OFF               = 1; // deactivates audio SDK mode
  AUDIO_FAST_MODE         = 2; // unprocessed single microphone data - most performant on robot
  AUDIO_DIRECTIONAL_MODE  = 3; // beamforming support for focusing on specific direction - sounds cleanest
  AUDIO_VOICE_DETECT_MODE = 4; // multi-microphone non-beamforming - best for voice detection programs
}

// Request how the robot should process and send audio
message AudioSendModeRequest {
  AudioProcessingMode mode = 1;
}

// Event sent when the robot changes the mode it's processing and sending audio
message AudioSendModeChanged {
  AudioProcessingMode mode = 1;
}

// One frame of robot audio data and associated metadata
message AudioChunk {
  uint32 robot_time_stamp    = 1; // robot time at the final chunk of this audio sample group transmission
  uint32 group_id            = 2; // the id of this sample transmission group
  uint32 chunk_id            = 3; // the current batched chunk id within in this group id
  uint32 audio_chunk_count   = 4; // number of chunks batched within this group id
  bytes  signal_power        = 5; // mono audio amplitude samples
  bytes  direction_strengths = 6; // histogram data of which directions this audio chunk came from
  uint32 source_direction    = 7; // 0-11, with 12 representing "invalid"
  uint32 source_confidence   = 8; // accuracy of the calculated source_direction
  uint32 noise_floor_power   = 9; // power value, convert to db with log_10(value)
}

// Request the robot to send audio data
message AudioFeedRequest {}

// Streamed audio data from the robot
message AudioFeedResponse {
  option (streamed) = true;

  uint32 robot_time_stamp    = 1; // robot time at the transmission of this audio sample group
  uint32 group_id            = 2; // the index of this audio feed response
  bytes  signal_power        = 3; // mono audio amplitude samples
  bytes  direction_strengths = 4; // histogram data of which directions this audio chunk came from
  uint32 source_direction    = 5; // 0-11, with 12 representing "invalid"
  uint32 source_confidence   = 6; // accuracy of the calculated source_direction
  uint32 noise_floor_power   = 7; // power value, convert to db with log_10(value)
}

// Preflight and initialization for audio streaming to robot
message ExternalAudioStreamPrepare {
  uint32 audio_frame_rate = 1;    // 8000 - 16025
  uint32 audio_volume = 2;        // 0 - 100
}

// Send chunk of audio data to stream on robot
message ExternalAudioStreamChunk {
  uint32 audio_chunk_size_bytes = 1;  //current engine maximum of 1024 bytes
  bytes audio_chunk_samples = 2;      //16-bit little-endian PCM audio data
}

// Send notification of last chunk of audio sent to robot
message ExternalAudioStreamComplete {
}

// Cancel a playing external robot audio stream
message ExternalAudioStreamCancel {
}

// Request to stream audio to the robot
message ExternalAudioStreamRequest {
  oneof audio_request_type {
    ExternalAudioStreamPrepare audio_stream_prepare = 1;
    ExternalAudioStreamChunk audio_stream_chunk = 2;
    ExternalAudioStreamComplete audio_stream_complete = 3;
    ExternalAudioStreamCancel audio_stream_cancel = 4;
  }
}

// Audio has been played on the Robot
message ExternalAudioStreamPlaybackComplete {
}

// Audio playback failure
message ExternalAudioStreamPlaybackFailure {
}

// Audio has been sent to robot that would overrun the memory buffer
message ExternalAudioStreamBufferOverrun {
  uint32 audio_samples_sent = 1;
  uint32 audio_samples_played = 2;
}

// Response from streaming audio to robot
message ExternalAudioStreamResponse {
  oneof audio_response_type {
    ExternalAudioStreamPlaybackComplete audio_stream_playback_complete = 1;
    ExternalAudioStreamBufferOverrun audio_stream_buffer_overrun = 2;
    ExternalAudioStreamPlaybackFailure audio_stream_playback_failyer = 3;
  }
}

enum MasterVolumeLevel {
  VOLUME_LOW         = 0;
  VOLUME_MEDIUM_LOW  = 1;
  VOLUME_MEDIUM      = 2;
  VOLUME_MEDIUM_HIGH = 3;
  VOLUME_HIGH        = 4;
}

message MasterVolumeRequest
{
  MasterVolumeLevel volume_level = 1;
}

message MasterVolumeResponse
{
  ResponseStatus status = 1;
}

// When enabled, RobotObservedObject messages will be produced
message EnableMarkerDetectionRequest
{
  bool enable = 1;
}

message EnableMarkerDetectionResponse
{
  ResponseStatus status = 1;
}

// When enabled, RobotObservedFace messages will be produced
message EnableFaceDetectionRequest
{
  bool enable = 1;

  bool enable_smile_detection = 2;
  bool enable_expression_estimation = 3;
  bool enable_blink_detection = 4;
  bool enable_gaze_detection = 5;
}

message EnableFaceDetectionResponse
{
  ResponseStatus status = 1;
}

// When enabled, RobotObservedMotion messages will be produced
message EnableMotionDetectionRequest
{
  bool enable = 1;
}

message EnableMotionDetectionResponse
{
  ResponseStatus status = 1;
}

// When enabled, camera feed will appear on the robot's face, along with any
// detections that are enabled from above messages
message EnableMirrorModeRequest
{
  bool enable = 1;
}

message EnableMirrorModeResponse
{
  ResponseStatus status = 1;
}

// Sent if MirrorMode (camera feed displayed on face) is currently enabled but is automatically
// being disabled
message MirrorModeDisabled
{

}

// Toggle image streaming at the given resolution
message EnableImageStreamingRequest
{
  bool enable = 1;
  bool enable_high_resolution = 2;
}

message EnableImageStreamingResponse
{
  ResponseStatus status = 1;
}

// Request whether or not image streaming is enabled on the robot
message IsImageStreamingEnabledRequest {
}

// Indicates whether or not image streaming is enabled on the robot
message IsImageStreamingEnabledResponse {
  bool is_image_streaming_enabled = 1;
}

// Sent when vision modes are automatically disabled due to the SDK no longer having control
// of the robot
message VisionModesAutoDisabled
{

}

// One frame of image data and associated metadata
message ImageChunk {
  enum ImageEncoding {
    NONE_IMAGE_ENCODING = 0;
    RAW_GRAY = 1; // no compression
    RAW_RGB = 2;  // no compression, just [RGBRGBRG...]
    YUYV = 3;
    YUV420SP = 4;
    BAYER = 5;
    JPEG_GRAY = 6;
    JPEG_COLOR = 7;
    JPEG_COLOR_HALF_WIDTH = 8;
    JPEG_MINIMIZED_GRAY = 9; // Minimized grayscale JPEG - no header, no footer, no byte stuffing
    JPEG_MINIMIZED_COLOR = 10; // Minimized grayscale JPEG - no header, no footer, no byte stuffing, with added color data
  }
  uint32        frame_time_stamp = 1;
  uint32        image_id = 2;
  uint32        width = 3;
  uint32        height = 4;
  ImageEncoding image_encoding = 5;
  uint32        display_index = 6;
  uint32        image_chunk_count = 7;
  uint32        chunk_id = 8;
  bytes         data = 9;
}

message CameraFeedRequest {}

message CameraFeedResponse {
  option (streamed) = true;

  uint32                   frame_time_stamp = 1;
  uint32                   image_id = 2;
  ImageChunk.ImageEncoding image_encoding = 3;
  bytes                    data = 4;
}

// Request for a single image from the robot. Default resolution is 640*360,
// enabling high resolution provides a 1280*720 image.
message CaptureSingleImageRequest {
  bool enable_high_resolution = 1;
}

message CaptureSingleImageResponse {
  ResponseStatus           status = 1;
  uint32                   frame_time_stamp = 2;
  uint32                   image_id = 3;
  ImageChunk.ImageEncoding image_encoding = 4;
  bytes                    data = 5;
}

message SetEyeColorRequest {
  float hue = 1;
  float saturation = 2;
}

message SetEyeColorResponse {
  ResponseStatus status = 1;
}

message CameraConfigRequest {}

message CameraConfigResponse {
  float  focal_length_x = 1;
  float  focal_length_y = 2;
  float  center_x = 3;
  float  center_y = 4;
  float  fov_x = 5;  // Full FOV in degrees
  float  fov_y = 6;  // Full FOV in degrees
  uint32 min_camera_exposure_time_ms = 7;
  uint32 max_camera_exposure_time_ms = 8;
  float  min_camera_gain = 9;
  float  max_camera_gain = 10;
}

message SetCameraSettingsRequest {
  float   gain = 1;
  uint32  exposure_ms = 2;
  bool    enable_auto_exposure = 3;
}

message SetCameraSettingsResponse {
  ResponseStatus status = 1;
  string  status_message = 2;
}

// Event sent when camera exposure settings change
message CameraSettingsUpdate {
  float   gain = 1;
  uint32  exposure_ms = 2;
  bool    auto_exposure_enabled = 3;
}

message SDKInitializationRequest {
  string sdk_module_version = 1;
  string python_version = 2;
  string python_implementation = 3;
  string os_version = 4;
  string cpu_version = 5;
}

message SDKInitializationResponse {
  ResponseStatus status = 1;
}


// *** App only proto below ***

message AppDisconnected{}

message AppIntentRequest {
  string intent = 1;
  string param = 2;
}

message AppIntentResponse {
  ResponseStatus status = 1;
}

message FeatureStatus {
  string feature_name = 1;
  string source      = 2; // Voice, App, AI, Unknown
}

message Onboarding {
  oneof onboarding_type {
    OnboardingState                    onboarding_state              = 1;
    OnboardingWakeUpFinished           onboarding_wake_up_finished   = 9;
    Onboarding1p0ChargingInfo          onboarding_1p0_charging_info  = 10;
    // 1p0 backward compatibility messages ^^^
  }
}

message RobotHistoryRequest {
}

message RobotHistoryResponse {
  repeated TimeStampedStatus messages = 1;
}

enum OnboardingStages {
  NotStarted = 0;
  TimedOut = 1;
  // Maintain this numbering for backward compatibility
  Complete = 3;
  DevDoNothing = 4;
}

message OnboardingState {
  OnboardingStages stage = 1;
}

message OnboardingStateRequest {
}

message OnboardingStateResponse {
  ResponseStatus status = 1;
  OnboardingState onboarding_state = 2;
}

enum OnboardingPhase {
  InvalidPhase = 0;
  Default = 1;
  LookAtPhone = 2;
  WakeUp = 3;
  LookAtUser = 4;
  TeachWakeWord = 5;
  TeachComeHere = 6;
  TeachMeetVictor = 7;
}

enum OnboardingPhaseState {
  PhaseInvalid    = 0;
  PhasePending    = 1;
  PhaseInProgress = 2;
  PhaseComplete   = 3;
}

message OnboardingSetPhaseRequest {
  OnboardingPhase phase = 1;
}

message OnboardingSetPhaseResponse {
  ResponseStatus status = 1;
  OnboardingPhase phase = 2;
  OnboardingPhaseState phase_state = 3;
}

message OnboardingPhaseProgressRequest {
}

message OnboardingPhaseProgressResponse {
  ResponseStatus status = 1;
  OnboardingPhase last_set_phase = 2;
  OnboardingPhaseState last_set_phase_state = 3;
  int32 percent_completed = 4;
}

message OnboardingChargeInfoRequest {
}

message OnboardingChargeInfoResponse {
  ResponseStatus status = 1;
  bool on_charger = 2;
  bool needs_to_charge = 3;
  float required_charge_time = 4;
}

message OnboardingSkipOnboarding {
}

message OnboardingRestart {
}

message OnboardingMarkCompleteAndExit {
}

message OnboardingInputRequest {
  oneof oneof_message_type {
    OnboardingCompleteRequest      onboarding_complete_request        = 1;
    OnboardingWakeUpRequest        onboarding_wake_up_request         = 2;
    OnboardingSkipOnboarding       onboarding_skip_onboarding         = 7;
    OnboardingRestart              onboarding_restart                 = 8;
    OnboardingWakeUpStartedRequest onboarding_wake_up_started_request = 9;
    // 1p0 backward compatibility messages ^^^
    OnboardingSetPhaseRequest      onboarding_set_phase_request      = 10;
    OnboardingPhaseProgressRequest onboarding_phase_progress_request = 11;
    OnboardingChargeInfoRequest    onboarding_charge_info_request    = 12;
    OnboardingMarkCompleteAndExit  onboarding_mark_complete_and_exit = 13;
  }
}

message OnboardingInputResponse {
  ResponseStatus status = 1;
  oneof oneof_message_type {
    OnboardingCompleteResponse      onboarding_complete_response        = 2;
    OnboardingWakeUpResponse        onboarding_wake_up_response         = 3;
    OnboardingWakeUpStartedResponse onboarding_wake_up_started_response = 6;
    // 1p0 backward compatibility messages ^^^
    OnboardingSetPhaseResponse      onboarding_set_phase_response      = 7;
    OnboardingPhaseProgressResponse onboarding_phase_progress_response = 8;
    OnboardingChargeInfoResponse    onboarding_charge_info_response     = 9;
  }
}

// 1p0 backward compatibility messages - - - - -
message OnboardingCompleteRequest {
}

message OnboardingCompleteResponse {
  bool completed = 1;
}

message OnboardingWakeUpStartedRequest {
}

message OnboardingWakeUpStartedResponse {
  bool already_started = 1;
}

message OnboardingWakeUpRequest {
}

message OnboardingWakeUpResponse {
  bool waking_up = 1;
  Onboarding1p0ChargingInfo charging_info = 2;
}

message Onboarding1p0ChargingInfo {
  bool on_charger = 1;
  bool needs_to_charge = 2;
  float suggested_charger_time = 3;
}

message OnboardingWakeUpFinished {
}
// 1p0 backward compatibility messages - - - - -

message FeatureFlagRequest {
  string feature_name = 1;
}

message FeatureFlagResponse {
  ResponseStatus status = 1;
  bool valid_feature = 2;
  bool feature_enabled = 3;
}

message FeatureFlagListRequest {
  repeated string request_list = 1;
}

message FeatureFlagListResponse {
  ResponseStatus status = 1;
  repeated string list = 2;
}

// NOTE: must match attentionTransferTypes.clad
enum AttentionTransferReason {
  Invalid = 0;

  NoCloudConnection = 1;
  NoWifi = 2;
  UnmatchedIntent = 3;
}

message AttentionTransfer {
  AttentionTransferReason reason = 1;
  float seconds_ago = 2;
}

message LatestAttentionTransferRequest {
}

message LatestAttentionTransfer {
  oneof oneof_message_type {
    AttentionTransfer attention_transfer = 1;
  }
}

message LatestAttentionTransferResponse {
  ResponseStatus status = 1;
  LatestAttentionTransfer latest_attention_transfer = 2;
}

message UpdateAndRestartRequest{}

message UpdateAndRestartResponse{
  ResponseStatus status = 1;
}


message CheckUpdateStatusRequest{}

message CheckUpdateStatusResponse{
  option(streamed) = true;

  ResponseStatus status = 1;
  enum UpdateStatus {
    NO_UPDATE = 0;
    READY_TO_REBOOT_INTO_NEW_OS_VERSION = 1;
    IN_PROGRESS_DOWNLOAD = 2;
    FAILURE_INTERRUPTED_DOWNLOAD = 3;
    IN_PROGRESS_STARTING = 4;
    IN_PROGRESS_OTHER = 5;
    FAILURE_OTHER = 6;
  }
  UpdateStatus update_status = 2;
  int64 expected = 3;
  int64 progress = 4;
  string update_version = 5;
  string update_phase = 6;
  string error = 7;
  int64 exit_code = 8;
}

message UploadDebugLogsRequest{}

message UploadDebugLogsResponse{
  ResponseStatus status = 1;
  string url = 2;
}

message CheckCloudRequest{}

message CheckCloudResponse{
  ResponseStatus status = 1;
  enum ConnectionCode {
    UNKNOWN = 0;
    AVAILABLE = 1;
    BAD_CONNECTIVITY = 2;
    FAILED_TLS = 3;
    FAILED_AUTH = 4;
    INSUFFICIENT_BANDWIDTH = 5;
  }
  ConnectionCode code = 2;
  string status_message = 3;
  int32 num_packets = 4;
  int32 expected_packets = 5;
}

message _FakeAlexaUsage {
  AlexaAuthState ignored = 1;
}