// 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.spot;

option java_outer_classname = "SpotCheckProto";

import "bosdyn/api/header.proto";
import "bosdyn/api/lease.proto";
import "google/protobuf/timestamp.proto";

// Request for the SpotCheckCommand service.
message SpotCheckCommandRequest {
     // Common request header.
    RequestHeader header = 1;

    // The Lease to show ownership of the robot. Lease required to issue any SpotCheck command.
    Lease lease = 2;

    enum Command {
        COMMAND_UNKNOWN = 0;        // Unused enum.
        COMMAND_START = 1;          // Start spot check joint calibration and camera checks.
        COMMAND_ABORT = 2;          // Abort spot check joint calibration and camera check.
        COMMAND_REVERT_CAL = 3;     // Revert joint calibration back to the previous values.
    }
    // The describing what the spot check service should do.
    Command command = 3;
}

// Response for the SpotCheckCommand service.
message SpotCheckCommandResponse {
    // Common response header.
    ResponseHeader header = 1;

    // Details about how the lease was used.
    LeaseUseResult lease_use_result = 2;

    enum Status {
        STATUS_UNKNOWN = 0;     // Unknown
        STATUS_OK = 1;          // Request was accepted.
        STATUS_ERROR = 2;       // An error ocurred.
    }

    // Command status
    Status status = 3;

    // Human-readable description if an error occurred.
    string message = 4;
}

// Request for the SpotCheckFeedback service.
message SpotCheckFeedbackRequest {
     // Common request header.
    RequestHeader header = 1;
}

// Response for the SpotCheckFeedback service.
message SpotCheckFeedbackResponse {
    // Common response header.
    ResponseHeader header = 1;

    enum State {

        STATE_UNKNOWN = 0;               // Unused enum.
        STATE_USER_ABORTED = 1;          // SpotCheck is aborted by the user.
        STATE_STARTING = 2;              // SpotCheck is initializing.
        STATE_LOADCELL_CAL = 3;          // Load cell calibration underway.
        STATE_ENDSTOP_CAL = 4;           // Endstop calibration underway.
        STATE_CAMERA_CHECK = 5;          // Camera check underway.
        STATE_BODY_POSING = 6;           // Body pose routine underway.
        STATE_FINISHED = 7;              // Spot check successfully finished.
        STATE_REVERTING_CAL = 8;         // Reverting calibration to previous values.
        STATE_ERROR = 9;                 // Error occurred while running spotcheck. Inspect error for more info.
        STATE_WAITING_FOR_COMMAND = 10;  // Waiting for user command.
        STATE_HIP_RANGE_OF_MOTION_CHECK = 11; // Hip range of motion check underway.
        STATE_GRIPPER_CAL = 12;          // Gripper calibration underway.
        STATE_SIT_DOWN_AFTER_RUN = 13;   // Sitting down after run.
    }
    // The state of the spot check routine.
    State state = 2;

    // The last command executed by Spotcheck. When SpotCheck is in state WAITING_FOR_COMMAND,
    // the last command has completed.
    SpotCheckCommandRequest.Command last_command = 12;

    // If SpotCheck experienced an error, specific error details reported here.
    // This reflects an error in the routine.
    enum Error {
        ERROR_UNKNOWN = 0;                  // Unused enum.
        ERROR_NONE = 1;                     // No error has occurred.
        ERROR_UNEXPECTED_POWER_CHANGE = 2;  // Unexpected motor power state transition.
        ERROR_INIT_IMU_CHECK = 3;           // Robot body is not flat on the ground.
        ERROR_INIT_NOT_SITTING = 4;         // Robot body is not close to a sitting pose
        ERROR_LOADCELL_TIMEOUT = 5;         // Timeout during loadcell calibration.
        ERROR_POWER_ON_FAILURE = 6;         // Error enabling motor power.
        ERROR_ENDSTOP_TIMEOUT = 7;          // Timeout during endstop calibration.
        ERROR_FAILED_STAND = 8;             // Robot failed to stand.
        ERROR_CAMERA_TIMEOUT = 9;           // Timeout during camera check.
        ERROR_GROUND_CHECK = 10;            // Flat ground check failed.
        ERROR_POWER_OFF_FAILURE = 11;       // Robot failed to power off.
        ERROR_REVERT_FAILURE = 12;          // Robot failed to revert calibration.
        ERROR_FGKC_FAILURE = 13;            // Robot failed to do flat ground kinematic calibration.
        ERROR_GRIPPER_CAL_TIMEOUT = 14;     // Timeout during gripper calibration.
    }
    // The specifics of the error for the SpotCheck service.
    Error error = 6;

    // Results from camera check.
    // The key string is the location of the camera (e.g. frontright, frontleft, left, ...)
    map<string, DepthPlaneSpotCheckResult> camera_results = 3;

    // Results from load cell calibration.
    // The key string is the location of the joint (e.g. fl.hxa, fl.hya, fl.kna, ...)
    map<string, LoadCellSpotCheckResult> load_cell_results = 4;

    // Results from output position sensor calibration.
    // The key string is the location of the joint (e.g. fl.hx, fl.hy, fl.kn, ...)
    map<string, JointKinematicCheckResult> kinematic_cal_results = 5;

    // Result from the payload check
    PayloadCheckResult payload_result = 8;

    // Deprecated. Results of foot height validation.
    // The key string is the name of the leg (e.g. fl, fr, hl, ...)
    map<string, FootHeightCheckResult> foot_height_results = 10 [deprecated = true];

    // Deprecated. Results of leg pair validation.
    // The key string is the name of the leg pair (e.g. fl-fr, fl-hl, ...)
    map<string, LegPairCheckResult> leg_pair_results = 11 [deprecated = true];

    // Results of the hip range of motion check
    // The key string is the name of the leg (e.g. fl, fr, hl, ...)
    map<string, HipRangeOfMotionResult> hip_range_of_motion_results = 13;

    // The approximate progress of the spot check routine, range [0-1].
    float progress = 7;

    // Timestamp for the most up-to-date calibration
    google.protobuf.Timestamp last_cal_timestamp = 9;
}

// Results from camera check.
message DepthPlaneSpotCheckResult {
    // Errors reflect an issue with camera hardware.
    enum Status {
        STATUS_UNKNOWN = 0;     // Unused enum.
        STATUS_OK = 1;          // No detected calibration error.
        STATUS_WARNING = 2;     // Possible calibration error detected.
        STATUS_ERROR = 3;       // Error with robot calibration.
    }
    // Return status for the request.
    Status status = 1;

    // Higher is worse. Above 100 means the camera is severely out of calibration.
    float severity_score = 2;
}

// Results of payload check.
message PayloadCheckResult {
    // Errors reflect an issue with payload configuration.
    enum Error {
        // Unused enum.
        ERROR_UNKNOWN = 0;
        // No error found in the payloads.
        ERROR_NONE = 1;
        // There is a mass discrepancy between the registered payload and what is estimated.
        ERROR_MASS_DISCREPANCY = 2;
    }
    // A flag to indicate if configuration has an error.
    Error error = 1;

    // Indicates how much extra payload (in kg) we think the robot has
    // Positive indicates robot has more payload than it is configured.
    // Negative indicates robot has less payload than it is configured.
    float extra_payload = 2;
}


// Results from load cell check.
message LoadCellSpotCheckResult {
    // Errors reflect an issue with robot hardware.
    enum Error {
        ERROR_UNKNOWN = 0;              // Unused enum.
        ERROR_NONE = 1;                 // No hardware error detected.
        ERROR_ZERO_OUT_OF_RANGE = 2;    // Load cell calibration failure.
    }
    // A flag to indicate if results has an error.
    Error error = 2;

    // The current loadcell zero as fraction of full range [0-1]
    float zero = 3;
    // The previous loadcell zero as fraction of full range [0-1]
    float old_zero = 4;
}

// Kinematic calibration results
message JointKinematicCheckResult {
    // Errors reflect an issue with robot hardware.
    enum Error {
        ERROR_UNKNOWN = 0;       // Unused enum.
        ERROR_NONE = 1;          // No hardware error detected.
        ERROR_CLUTCH_SLIP = 2;   // Error detected in clutch performance.
        ERROR_INVALID_RANGE_OF_MOTION = 3;  // Error if a joint has an incorrect range of motion.
    }
    // A flag to indicate if results has an error.
    Error error = 2;

    // The current offset [rad]
    float offset = 3;
    // The previous offset [rad]
    float old_offset = 4;

    // Joint calibration health score. range [0-1]
    // 0 indicates an unhealthy kinematic joint calibration
    // 1 indicates a perfect kinematic joint calibration
    // Typically, values greater than 0.8 should be expected.
    float health_score = 5;

}

// Results from foot height checks.
message FootHeightCheckResult {
    // Errors reflect an issue with robot calibration.
    enum Status {
        STATUS_UNKNOWN = 0;     // Unused enum.
        STATUS_OK = 1;          // No detected calibration error.
        STATUS_WARNING = 2;     // Possible calibration error detected.
        STATUS_ERROR = 3;       // Error with robot calibration.
    }
    // Return status for the request.
    Status status = 2;

    // The difference between foot height and mean feet height (m).
    float foot_height_error_from_mean = 3;
}

// Results from leg pair checks..
message LegPairCheckResult {
    enum Status {
        STATUS_UNKNOWN = 0;     // Unused enum.
        STATUS_OK = 1;          // No detected calibration error.
        STATUS_WARNING = 2;     // Possible calibration error detected.
        STATUS_ERROR = 3;       // Error with robot calibration.
    }
    // Return status for the request.
    Status status = 2;

    // The change in estimated distance between two feet from tall to short stand (m)
    float leg_pair_distance_change = 3;
}

message HipRangeOfMotionResult {
    // Errors reflect an issue with hip range of motion
    enum Error {
        ERROR_UNKNOWN = 0;
        ERROR_NONE = 1;
        ERROR_OBSTRUCTED = 2;
    }
    Error error = 1;

    // The measured angles (radians) of the HX and HY joints where the obstruction was detected
    repeated float hx = 2;
    repeated float hy = 3;
}

// Request for the CameraCalibrationCommand service.
message CameraCalibrationCommandRequest {
    // Common request header.
    RequestHeader header = 1;

    // The Lease to show ownership of the robot. Lease is required for all cal commands.
    Lease lease = 2;

    enum Command {
        COMMAND_UNKNOWN = 0;    // Unused enum.
        COMMAND_START = 1;      // Start calibration routine.
        COMMAND_CANCEL = 2;     // Cancel calibration routine.
    }
    // Command to start/stop the calibration.
    Command command = 3;
}

// Response for the CameraCalibrationCommand service.
message CameraCalibrationCommandResponse {
    // Common response header.
    ResponseHeader header = 1;

    // Details about how the lease was used.
    LeaseUseResult lease_use_result = 2;
}

// Request for the CameraCalibrationFeedback service.
message CameraCalibrationFeedbackRequest {
     // Common request header.
    RequestHeader header = 1;
}

// Response for the CameraCalibrationFeedback service.
message CameraCalibrationFeedbackResponse {
    // Common response header.
    ResponseHeader header = 1;

    enum Status {
        // Unused enum.
        STATUS_UNKNOWN = 0;
        // The robot is actively running calibration routine.
        STATUS_PROCESSING = 1;
        // The robot successfully ran calibration routine and
        // is ready to use again.
        STATUS_SUCCESS = 2;
        // API client canceled calibration.
        STATUS_USER_CANCELED = 3;
        // The robot is not powered on.
        STATUS_POWER_ERROR = 4;
        // Ownership error during calibration.
        STATUS_LEASE_ERROR = 5;
        // Robot encountered an error while trying to move
        // around the calibration target. Robot possibly
        // encountered a fault. Check robot state for more
        // details
        STATUS_ROBOT_COMMAND_ERROR = 7;
        // Calibration procedure produced an invalid result.
        // This may occur in poor lighting conditions or if
        // calibration target moved during calibration
        // procedure.
        STATUS_CALIBRATION_ERROR = 8;
        // Something extraordinary happened. Try power cycling robot or contact BD.
        STATUS_INTERNAL_ERROR = 9;
         // Camera focus issue detected. This is a hardware issue.
        STATUS_CAMERA_FOCUS_ERROR = 14;
        // Target partially, but not fully, in view when starting calibration.
        STATUS_TARGET_NOT_CENTERED = 6;
        // Target not visible when starting calibration.
        STATUS_TARGET_NOT_IN_VIEW = 11;
        // Target not aligned with gravity when starting calibration.
        STATUS_TARGET_NOT_GRAVITY_ALIGNED = 12;
        // Target upside down when starting calibration.
        STATUS_TARGET_UPSIDE_DOWN = 13;
        // Calibration routine has never been run. No feedback to give.
        STATUS_NEVER_RUN = 10;
        // One of the cameras is not detected on the USB bus.
        STATUS_CAMERA_NOT_DETECTED = 15;
        // Failed to write intrinsic calibration.
        STATUS_INTRINSIC_WRITE_FAILED = 16;
        // Failed to write extrinsic calibration.
        STATUS_EXTRINSIC_WRITE_FAILED = 17;
    }
    // Status of camera calibration procedure.
    Status status = 2;

    // The approximate progress of the calibration routine, range [0-1].
    // Status takes precedence over progress value.
    float progress = 3;
}