// 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 = "PayloadEstimationProto";

import "bosdyn/api/payload.proto";

// Command the robot to stand and execute a routine to estimate the mass properties of an
// unregistered payload attached to the robot.
message PayloadEstimationCommand {
    message Request {
        // PayloadEstimation command request takes no additional arguments. The estimation routine
        // takes about ~1min to run. Subsequent PayloadEstimationCommand requests issued while the 
        // routine is in progress are ignored until the routine is completed.
    }

    message Feedback {
        // The PayloadEstimationCommand provides several pieces of feedback:
        //   - If the routine is finished running (and its current progress).
        //   - If the routine encountered any errors while running.
        //   - The resulting payload estimated by the routine.

        enum Status {
            STATUS_UNKNOWN = 0;
            // Completed estimation routine successfully; estimated_payload is populated.
            STATUS_COMPLETED = 1;
            // Completed estimation routine successfully, but estimated mass is small enough to
            // not significantly impact mobility; estimated_payload is empty.
            STATUS_SMALL_MASS = 2;
            // Estimation routine is currently running; estimated_payload is empty.
            STATUS_IN_PROGRESS = 3;
            // Error occurred during the routine; estaimted_payload is empty.
            STATUS_ERROR = 4;
        }
        // Status of the estimation routine.
        Status status = 1;

        // The approximate progress of the routine, range [0-1].
        float progress = 2;

        enum Error {
            ERROR_UNKNOWN = 0;
            // No error has occurred.
            ERROR_NONE = 1;
            // Robot failed to stand/change stance.
            ERROR_FAILED_STAND = 2;
            // Failed to calculate results.
            ERROR_NO_RESULTS = 3;
        }
        // Error status of the estimation routine.
        Error error = 3;

        // The resulting payload estimated by the estimation routine.
        Payload estimated_payload = 4;
    }
}