// 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_cam;

option java_outer_classname = "LoggingProto";

import "bosdyn/api/spot_cam/camera.proto";
import "bosdyn/api/header.proto";
import "bosdyn/api/data_chunk.proto";
import "bosdyn/api/image.proto";
import "bosdyn/api/geometry.proto";
import "google/protobuf/timestamp.proto";

// A representation of a stored data acquisition.
message Logpoint {
    // Possible types of media that can be stored.
    enum RecordType {
        STILLIMAGE = 0;
    }
    // Possible stages of data acquisition.
    enum LogStatus {
        FAILED = 0;
        QUEUED = 1; //the logpoint has been queued to be downloaded from the renderer
        COMPLETE = 2; // the logpoint is written to the disk
        UNKNOWN = -1;
    }
    enum QueueStatus{
        QUEUED_UNKNOWN = 0;
        QUEUED_RENDER = 1; // The logpoint has been queued to be downloaded from the renderer
        QUEUED_DISK = 2;   // The logpoint is in general ram, and will be written to the disk when resources allow
    }
    // Unique identifier for a data acquisition event.
    string name = 1;
    // Type of data held in this log point.
    RecordType type = 2;
    // Current stage of acquisition.
    LogStatus status = 3;
    // Only filled out when status == QUEUED
    QueueStatus queue_status = 8;
    // An arbitrary string to be stored with the log data.
    string tag = 4;
    // Time of acquisition.
    google.protobuf.Timestamp timestamp=5;
    // Description of image format.
    message ImageParams {
        int32 width = 1;
        int32 height = 2;
        bosdyn.api.Image.PixelFormat format = 3;
    }
    // Image format of the stored data.
    ImageParams image_params=6;
    // Data describing the camera intrinsics and extrinsics for a window of the image.
    message Calibration {
        int32 xoffset=1;
        int32 yoffset=2;
        int32 width=3;
        int32 height=4;
        string base_frame_name = 7;
        // 'base_tfrom_sensor' defines the transform from the specific camera to the named base from.
        // This is deprecated in favor of 'base_tform_sensor' which follows the intended naming convention
        // and FrameTree directionality convention of the Spot system as defined in geometry.proto.
        SE3Pose base_tfrom_sensor = 5[deprecated=true];
        // The transform from the named base frame to this specific camera
        SE3Pose base_tform_sensor = 8;
        bosdyn.api.spot_cam.Camera.PinholeIntrinsics intrinsics=6;
    }
    // Camera data for all sub-images contained within the image data.
    repeated Calibration calibration=7;
}

// Delete a log point from the store.
message DeleteRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;
    // Log point to delete.  Only the name is used.
    Logpoint point = 2;
}

// Response to a deletion with any errors that occurred.
message DeleteResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;
}

// Request for status about the current stage of data acquisition.
message GetStatusRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;
    // Log point to query.  Only the name is used.
    Logpoint point = 2;
}

// Provide an update on the stage of data acquisition.
message GetStatusResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;

    // The logpoint returned here can be used to add a tag to the Logpoint later
    Logpoint point = 2;
}

// Retrieve the binary data associated with a log point.
message RetrieveRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;
    // Log point to retrieve.  Only the name is used.
    Logpoint point = 2;
}

// Provide the data stored at a log point.
// Store() dictates what processing happens in this response.
// c0 -> c4 will return the raw (rgb24) fisheye image of the camera at that index.
// Storing a panorama will process the data into a stitched image.
message RetrieveResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;
    // Log point retrieved.
    Logpoint logpoint = 2;
    // Data chunk bytes field should be concatenated together to recover the binary data.
    DataChunk data = 3;
}


// Retrieve the binary data associated with a log point, with no processing applied.
// Storing a panorama will retrieve tiled individual images.
// For IR, the temperature at each pixel is 0.1 * the int value in Kelvin.
message RetrieveRawDataRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;
    // Log point to retrieve.  Only the name is used.
    Logpoint point = 2;
}

message RetrieveRawDataResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;
    // Log point retrieved.
    Logpoint logpoint = 2;
    // Data chunk bytes field should be concatenated together to recover the binary data.
    DataChunk data = 3;
}

// Trigger a data acquisition.
message StoreRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;
    // Which camera to capture.
    Camera camera = 2;
    // Type of data capture to perform.
    Logpoint.RecordType type = 3;
    // Metadata to associate with the store.
    string tag = 4;
}

// Result of data acquisition trigger.
message StoreResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;

    // The log point returned here can be used to add a tag to the Logpoint later
    // It will very likely be in th 'QUEUED' state.
    Logpoint point = 2;
}

// Add tag metadata to an existing log point.
message TagRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;
    // Logpoint to add metadata to. Name and tag are used.
    Logpoint point = 2;
}

// Result of adding tag metadata to a log point.
message TagResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;
}

// Request the available cameras.
message ListCamerasRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;
}

// Provide the list of available cameras.
message ListCamerasResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;

    // List of all cameras which can be used in a StoreRequest.
    repeated Camera cameras = 2;
}

// List all available log points, whether they have completed or not.
message ListLogpointsRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;
}

// Provide all log points in the system.
message ListLogpointsResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;
    // List of all the individual log points concatenated into a list.
    // This stream may take a long time to complete if there are a lot of stored images.
    repeated Logpoint logpoints = 2;
}

// Set encryption for the disk.
message SetPassphraseRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;

    // A passphrase is a human-readable string used to generate
    // an encryption key. An empty passphrase disables encryption.

    // If the encryption key is set, everything new written to the drive gets encrypted. this includes

    // 1) the sql database
    // 2) logged data
    // 3) audio files uploaded with the Audio service
    // 4) probably other stuff that I haven't thought of

    // If it's called repeatedly (with different keys), old data will
    // still be on the disk, but unreadable, so new data will be
    // written with the new key. the only exception is this; when
    // encryption is off and a key is written, the sql database gets
    // encrypted with the new key; old log and audio data remains
    // unencrypted however.

    // After setting the passphrase, please reboot the system to
    // remount the encrypted filesystem layer.
    string passphrase = 2;
}

// Response from setting the disk encryption.
// After setting the passphrase, please reboot the system to
// remount the encrypted filesystem layer.
message SetPassphraseResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;
}

// Change debug logging settings on the SpotCam.
message DebugRequest {
    // Common request header.
    bosdyn.api.RequestHeader header = 1;
    // Set true to enable logging of temperature data;
    bool enable_temperature = 2;
    // Set true to enable logging of humidity data;
    bool enable_humidity = 3;
    // Set true to enable logging of BIT events;
    // BIT events are always recorded to volatile memory
    // and can be viewed (and cleared) with the Health service,
    // but this enables writing them to disk.
    bool enable_BIT = 4;
    // Set true to enable logging of Shock data;
    // this is on by default.
    bool enable_shock = 5;
    // Set to true to enable logging of system load stats
    // cpu, gpu, memory, and network utilization
    bool enable_system_stat = 6;
    // Nowow a BIT, set true to enable logging of led driver status.
    // bool enable_led_stat = 7;
}

// Response with any errors for debug setting changes.
message DebugResponse {
    // Common response header.
    bosdyn.api.ResponseHeader header = 1;
}