// 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 = "SpotCheckServiceProto";

import "bosdyn/api/spot/spot_check.proto";

// RPCs for monitoring robot health and recalibration various sensors. These procedures should be
// run periodically in order to keep the system running in the best possible condition.
service SpotCheckService {
    // Send a command to the SpotCheck service. The spotcheck service is responsible to both
    // recalibrating actuation sensors and checking camera health.
    rpc SpotCheckCommand(SpotCheckCommandRequest) returns (SpotCheckCommandResponse) {}

    // Check the status of the spot check procedure. After procedure completes, this reports back
    // results for specific joints and cameras.
    rpc SpotCheckFeedback(SpotCheckFeedbackRequest) returns (SpotCheckFeedbackResponse) {}

    // Send a camera calibration command to the robot. Used to start or abort a calibration routine.
    rpc CameraCalibrationCommand(CameraCalibrationCommandRequest)
        returns (CameraCalibrationCommandResponse) {}

    // Check the status of the camera calibration procedure.
    rpc CameraCalibrationFeedback(CameraCalibrationFeedbackRequest)
        returns (CameraCalibrationFeedbackResponse) {}
}