// 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;

option java_outer_classname = "FullBodyCommandProto";

import "bosdyn/api/basic_command.proto";
import "bosdyn/api/payload_estimation.proto";
import "google/protobuf/any.proto";


// The robot command message to specify a basic command that requires full control of the entire
// robot to be completed.
message FullBodyCommand {

    // The full body request must be one of the basic command primitives.
    message Request {

        // Only one full body command can be requested at a time.
        oneof command {

            // Command to stop the robot.
            StopCommand.Request stop_request = 1;

            // Command to freeze all joints of the robot.
            FreezeCommand.Request freeze_request = 2;

            // Command to self-right the robot to a ready position.
            SelfRightCommand.Request selfright_request = 3;

            // Command to safely power off the robot.
            SafePowerOffCommand.Request safe_power_off_request = 4;

            // Command to put the robot in a position to easily change the battery.
            BatteryChangePoseCommand.Request battery_change_pose_request = 5;

            // Command to perform payload mass property estimation
            PayloadEstimationCommand.Request payload_estimation_request = 6;

            // Command to perform full body constrained manipulation moves
            ConstrainedManipulationCommand.Request constrained_manipulation_request = 7;
        }

        // Robot specific command parameters.
        google.protobuf.Any params = 100;
    }

    // The feedback for the fully body command that will provide information on the progress
    // of the robot command.
    message Feedback {

        // The feedback message associated with the requested command. Some commands may have
        // an empty feedback message if they do not provide any updates/progress.
        oneof feedback {

            // Feedback for the stop command request.
            StopCommand.Feedback stop_feedback = 1;

            // Feedback for the freeze command request.
            FreezeCommand.Feedback freeze_feedback = 2;

            // Feedback for the self-right command request.
            SelfRightCommand.Feedback selfright_feedback = 3;

            // Feedback for the safe power off command request.
            SafePowerOffCommand.Feedback safe_power_off_feedback = 4;

            // Feedback for the battery change pose command request.
            BatteryChangePoseCommand.Feedback battery_change_pose_feedback = 5;

            // Feedback for the payload estimation command request.
            PayloadEstimationCommand.Feedback payload_estimation_feedback = 6;

            // Feedback for the constrained manipulation command request
            ConstrainedManipulationCommand.Feedback constrained_manipulation_feedback = 7;

        }

        RobotCommandFeedbackStatus.Status status = 100;
    }
}