// Copyright (c) 2022 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api.auto_return;
option java_outer_classname = "AutoReturnProto";

import "google/protobuf/any.proto";
import "google/protobuf/duration.proto";

import "bosdyn/api/header.proto";
import "bosdyn/api/lease.proto";

// Parameters to AutoReturn actions.
message Params {
    // Robot-specific mobility parameters to use.
    // For example, see bosdyn.api.spot.MobilityParams.
    google.protobuf.Any mobility_params = 1;

    // Allow AutoReturn to move the robot this far in the XY plane from the location where
    // AutoReturn started. Travel along the Z axis (which is gravity-aligned) does not count.
    // Must be > 0.
    float max_displacement = 2; // meters

    // Optionally specify the maximum amount of time AutoReturn can take.
    // If this duration is exceeded, AutoReturn will stop trying to move the robot.
    // Omit to try indefinitely. Robot may become stuck and never take other comms loss actions!
    google.protobuf.Duration max_duration = 3;
}

// Configure the AutoReturn system.
message ConfigureRequest {
    // Common request header.
    RequestHeader header = 1;

    // Leases that AutoReturn may use to accomplish its goals when AutoReturn automatically
    // triggers. If left empty, AutoReturn will not automatically trigger.
    repeated Lease leases = 2;

    // Parameters to use when AutoReturn automatically triggers.
    Params params = 3;
    
    // Forget any buffered locations the robot may be remembering. Defaults to false.
    // Set to true if the robot has just crossed an area it should not traverse in AutoReturn.
    bool clear_buffer = 4;

}

// Response to a configuration request.
message ConfigureResponse {
    // Common response header.
    ResponseHeader header = 1;

    enum Status {
        STATUS_UNKNOWN = 0;
        STATUS_OK = 1;
        STATUS_INVALID_PARAMS = 2;
    }
    // Return status for the request.
    Status status = 2;

    // If status is STATUS_INVALID_PARAMS, this contains the settings that were invalid.
    Params invalid_params = 3;
}

// Ask for the current configuration.
message GetConfigurationRequest {
    // Common request header.
    RequestHeader header = 1;
}

// Response to a "get configuration" request.
message GetConfigurationResponse {
    // Common response header.
    ResponseHeader header = 1;

    // A simple yes/no, will AutoReturn automatically trigger.
    bool enabled = 2;

    // The most recent successful ConfigureRequest.
    // Will be empty if service has not successfully been configured.
    ConfigureRequest request = 3;
}

// Start AutoReturn behavior now.
message StartRequest {
    // Common request header.
    RequestHeader header = 1;
}

message StartResponse {
    // Common response header.
    ResponseHeader header = 1;
}