// 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.graph_nav;

option java_outer_classname = "GraphNavServiceProto";

import "bosdyn/api/graph_nav/graph_nav.proto";

// The GraphNav service service is a place-based localization and locomotion service. The service can
// be used to get/set the localization, upload and download the current graph nav maps, and send navigation
// requests to move around the map.
service GraphNavService {
    // Trigger a manual localization. Typically done to provide the initial localization.
    rpc SetLocalization (SetLocalizationRequest) returns (SetLocalizationResponse) {}

    // Tell GraphNav to navigate/traverse a given route.
    rpc NavigateRoute (NavigateRouteRequest) returns (NavigateRouteResponse) {}

    // Tell GraphNav to navigate to a waypoint along a route it chooses.
    rpc NavigateTo (NavigateToRequest) returns (NavigateToResponse) {}

    // Tell GraphNav to navigate to a goal with respect to the current anchoring.
    rpc NavigateToAnchor (NavigateToAnchorRequest) returns (NavigateToAnchorResponse) {}

    // Get feedback on active navigation command.
    rpc NavigationFeedback (NavigationFeedbackRequest) returns (NavigationFeedbackResponse) {}

    // Get the localization status and data.
    rpc GetLocalizationState (GetLocalizationStateRequest) returns (GetLocalizationStateResponse) {}

    // Clears the local graph structure. Also erases any snapshots currently in RAM.
    rpc ClearGraph(ClearGraphRequest) returns (ClearGraphResponse) {}

    // Download the graph structure.
    rpc DownloadGraph(DownloadGraphRequest) returns (DownloadGraphResponse) {}

    // Upload the full list of waypoint IDs, graph topology and other small info.
    rpc UploadGraph (UploadGraphRequest) returns (UploadGraphResponse) {}

    // Uploads large waypoint snapshot as a stream for a particular waypoint.
    rpc UploadWaypointSnapshot (stream UploadWaypointSnapshotRequest) returns (UploadWaypointSnapshotResponse) {}

    // Uploads large edge snapshot as a stream for a particular edge.
    rpc UploadEdgeSnapshot (stream UploadEdgeSnapshotRequest) returns (UploadEdgeSnapshotResponse) {}

    // Download waypoint data from the server. If the snapshot exists in disk cache, it will be loaded.
    rpc DownloadWaypointSnapshot (DownloadWaypointSnapshotRequest) returns (stream DownloadWaypointSnapshotResponse) {}

    // Download edge data from the server. If the snapshot exists in disk cache, it will be loaded.
    rpc DownloadEdgeSnapshot (DownloadEdgeSnapshotRequest) returns (stream DownloadEdgeSnapshotResponse) {}


}