// 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 = "MobilityCommandProto";

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



// The robot command message to specify a basic command that moves the robot.
message MobilityCommand {

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

        // Only one mobility command can be requested at a time.
        oneof command {
            // Command to move the robot along a trajectory.
            SE2TrajectoryCommand.Request se2_trajectory_request = 1;

            // Command to move the robot at a fixed velocity.
            SE2VelocityCommand.Request se2_velocity_request = 2;

            // Command to sit the robot down.
            SitCommand.Request sit_request = 3;

            // Command to stand up the robot.
            StandCommand.Request stand_request = 4;
            StanceCommand.Request stance_request = 5;
            StopCommand.Request stop_request = 6;
            FollowArmCommand.Request follow_arm_request = 7;

        }

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

    // The feedback for the mobility 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 trajectory command.
            SE2TrajectoryCommand.Feedback se2_trajectory_feedback = 1;

            // Feedback for the velocity command.
            SE2VelocityCommand.Feedback se2_velocity_feedback = 2;

            // Feedback for the sit command.
            SitCommand.Feedback sit_feedback = 3;

            // Feedback for the stand command.
            StandCommand.Feedback stand_feedback = 4;
            StanceCommand.Feedback stance_feedback = 5;
            StopCommand.Feedback stop_feedback = 6;
            FollowArmCommand.Feedback follow_arm_feedback = 7;

        }

        RobotCommandFeedbackStatus.Status status = 100;
    }
}