syntax="proto3";

package clone.controller;

import "google/protobuf/empty.proto";

import "clone_client/proto/data_types.proto";
import "clone_client/proto/hardware_driver.proto";

service ControllerGRPC {
  rpc SetImpulses(SetImpulsesMessage) returns (clone.data_types.ServerResponse);
  rpc SetPulses(SetPulsesMessage) returns (clone.data_types.ServerResponse);
  rpc SetPressures(SetPressuresMessage) returns (clone.data_types.ServerResponse);
  rpc LooseMuscles(google.protobuf.Empty) returns (clone.data_types.ServerResponse);
  rpc LockMuscles(google.protobuf.Empty) returns (clone.data_types.ServerResponse);

  rpc StreamSetPressures(stream SetPressuresMessage) returns (clone.data_types.ServerResponse);

  rpc SendPinchValveControl (clone.hardware_driver.SendPinchValveControlMessage) returns (clone.data_types.ServerResponse);
  rpc SendManyPinchValveControl (clone.hardware_driver.SendManyPinchValveControlMessage) returns (clone.data_types.ServerResponse);
  rpc StreamManyPinchValveControl (stream clone.hardware_driver.SendManyPinchValveControlMessage) returns (clone.data_types.ServerResponse);
  rpc SendPinchValveCommand (clone.hardware_driver.SendPinchValveCommandMessage) returns (clone.data_types.ServerResponse);
  rpc SendManyPinchValveCommand (clone.hardware_driver.SendManyPinchValveCommandMessage) returns (clone.data_types.ServerResponse);

  rpc SendHydraControl (clone.hardware_driver.SendHydraControlMessage) returns (clone.data_types.ServerResponse);
  rpc SendManyHydraControl (clone.hardware_driver.SendManyHydraControlMessage) returns (clone.data_types.ServerResponse);
  rpc StreamManyHydraControl (stream clone.hardware_driver.SendManyHydraControlMessage) returns (clone.data_types.ServerResponse);

  rpc GetWaterPumpInfo(google.protobuf.Empty) returns (WaterPumpInfoResponse);
  rpc StartWaterPump(google.protobuf.Empty) returns (clone.data_types.ServerResponse);
  rpc StopWaterPump(google.protobuf.Empty) returns (clone.data_types.ServerResponse);
  rpc SetWaterPumpPressure(WaterPumpPressure) returns (clone.data_types.ServerResponse);
  
  rpc GetConfig(google.protobuf.Empty) returns (ControllerRuntimeConfig);

  rpc GetNodes(google.protobuf.Empty) returns (clone.hardware_driver.NodeMap);

  rpc Ping (google.protobuf.Empty) returns (google.protobuf.Empty);
  rpc GetErrors(google.protobuf.Empty) returns (clone.data_types.ErrorList);
}

// Controling muslces by directly setting an absolute value of a pressure
message SetPressuresMessage{
  repeated float pressures=1;
}

// Controlling musles by setting a timed impulse to open / close the valve
message Impulse {
  oneof data {
    float value = 1;
    bool ignore = 2;
  }
}

message SetImpulsesMessage {
  repeated Impulse impulses = 1;
}

// Controlling muscles by sending a pulse to open / close the valve using timed oscilations.
enum PulseType {
  IN = 0;
  OUT = 1;
}

message PulseValue {
  PulseType ctrl_type = 1;
  float pulse_len_ms = 2;
  float delay_len_ms = 3;
  float duration_ms = 4;
}

message Pulse {
  oneof data {
    PulseValue value = 1;
    bool ignore = 2;
  }
}

message SetPulsesMessage {
  repeated Pulse pulses = 2;
}

message ControllerRuntimeConfig {
  uint32 max_impulse_duration_ms = 1;
  bool use_pump = 2;
  bool allow_missing_nodes = 3;
}


// Water pump control
message WaterPumpPressure{
  float pressure=1;
}

message WaterPumpInfo {
  float desired_pressure=1;
  float pressure=2;
  bool is_running=3;
  bool is_active=4;
  float temperature=5;
}

message WaterPumpInfoResponse {
  WaterPumpInfo info=1;
  clone.data_types.ServerResponse response=2;
}