// 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 = "NetworkComputeBridgeProto";

import "bosdyn/api/alerts.proto";
import "bosdyn/api/header.proto";
import "bosdyn/api/image.proto";
import "bosdyn/api/world_object.proto";
import "google/protobuf/any.proto";

message ListAvailableModelsRequest {
    RequestHeader header = 1; // Common request header

    // Configuration about which server to use.
    NetworkComputeServerConfiguration server_config = 2;
}

message ListAvailableModelsResponse {
    ResponseHeader header = 1;  // Common response header.

    // Provide list of available models
    repeated string available_models = 2;

    // Optional information about available classes for each model
    repeated ModelLabels labels = 6;

    // Command status
    ListAvailableModelsStatus status = 5;
}

message ModelLabels {
    // Model name.
    string model_name = 1;

    // List of class labels returned by this model.
    repeated string available_labels = 2;
}

message NetworkComputeRequest {
    RequestHeader header = 1;  // Common request header.

    // Input data.
    NetworkComputeInputData input_data = 2;

    // Configuration about which server to use.
    NetworkComputeServerConfiguration server_config = 3;
}

message ImageSourceAndService {
    // Image source.
    string image_source = 1;

    // Image service.  If blank, it is assumed to be the robot's default image service.
    string image_service = 2;
}

message NetworkComputeInputData {

    oneof input {
        // Image source to collect an image from.
        ImageSourceAndService image_source_and_service = 7;

        // Image to process, if you are not using an image source.
        Image image = 2;

    }
    // Other data that isn't an image.  NetworkComputeBridge service will pass it through
    // to the remote server so you can do computation on arbitrary data.
    google.protobuf.Any other_data = 3;

    // Name of the model to be run on the input data.
    string model_name = 4;

    // Minimum confidence [0.0 - 1.0] an object must have to be returned. Detections below this
    // confidence threshold will be suppressed in the response.
    float min_confidence = 5;

    enum RotateImage {
        // Unspecified rotation method. Do not use.
        ROTATE_IMAGE_UNKNOWN = 0;

        // No rotation applied.
        ROTATE_IMAGE_NO_ROTATION = 3;

        // Rotate the images so the horizon is not rolled with respect to gravity.
        ROTATE_IMAGE_ALIGN_HORIZONTAL = 1;

        // Rotate the images so that the horizon in the image is aligned with the inclination of
        // the body. For example, when applied to the left body camera this option rotates the image
        // so that the world does not appear upside down when the robot is standing upright, but if the
        // body is pitched up, the image will appear rotated.
        ROTATE_IMAGE_ALIGN_WITH_BODY = 2;
    }

    // Options for rotating the image before processing. When unset, no rotation is applied.
    // Rotation is supported for data from image services that provide a FrameTreeSnapshot
    // defining the sensor's frame with respect to Spot's body and vision frames.
    // Field is ignored for non-image input.
    RotateImage rotate_image = 6;
    reserved 1;
}

message NetworkComputeServerConfiguration {

    // Service name in the robot's Directory for the worker that will process the request.
    string service_name = 3;

    reserved 1;
    reserved 2;
}

message NetworkComputeResponse {
    ResponseHeader header = 1;  // Common response header.

    // Detection information. May include bounding boxes, image coordinates, 3D pose information, etc.
    repeated WorldObject object_in_image = 2;

    // The image we computed the data on. If the input image itself was provided in the request,
    // this field is not populated.  This field is not set for non-image input.
    ImageResponse image_response = 3;

    // If the image was rotated for processing, this field will contain the amount it was rotated by
    // (counter-clockwise, in radians).
    //
    // Note that the image returned is *not* rotated, regardless of if it was rotated
    // for processing.  This ensures that all other calibration and metadata remains valid.
    double image_rotation_angle = 6;

    // Non image-type data that can optionally be returned by a remote server.
    google.protobuf.Any other_data = 4;

    // Command status
    NetworkComputeStatus status = 5;

    // Optional field to indicate an alert detected by this model.
    AlertData alert_data = 7;
}

enum NetworkComputeStatus {
    // Status is not specified.
    NETWORK_COMPUTE_STATUS_UNKNOWN = 0;

    // Succeeded.
    NETWORK_COMPUTE_STATUS_SUCCESS = 1;

    // External service not found in the robot's directory.
    NETWORK_COMPUTE_STATUS_EXTERNAL_SERVICE_NOT_FOUND = 2;

    // The call to the external server did not succeed.
    NETWORK_COMPUTE_STATUS_EXTERNAL_SERVER_ERROR = 3;

    // The robot failed to rotate the image as requested.
    NETWORK_COMPUTE_STATUS_ROTATION_ERROR = 4;
}

enum ListAvailableModelsStatus {
    // Status is not specified.
    LIST_AVAILABLE_MODELS_STATUS_UNKNOWN = 0;

    // Succeeded.
    LIST_AVAILABLE_MODELS_STATUS_SUCCESS = 1;

    // External service not found in the robot's directory.
    LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVICE_NOT_FOUND = 2;

    // The call to the external server did not succeed.
    LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVER_ERROR = 3;
}