syntax="proto3";

import "google/protobuf/empty.proto";
import "google/protobuf/timestamp.proto";
import "clone_client/proto/data_types.proto";

package clone.state_store;

service StateStoreReceiverGRPC {
  rpc SubscribeTelemetry (google.protobuf.Empty) returns (stream TelemetryDataResponse);
  rpc GetTelemetry (google.protobuf.Empty) returns (TelemetryDataResponse);
  rpc GetSystemInfo (google.protobuf.Empty) returns (SystemInfoResponse);
  rpc Ping (google.protobuf.Empty) returns (google.protobuf.Empty);
  rpc GetErrors(google.protobuf.Empty) returns (clone.data_types.ErrorList);
}

message IMUData {
  enum SignalState {
    UNKNOWN = 0;          /**< Unknown / uninitialized */
    VALID = 1;            /**< Healthy and trusted      */
    SUSPECT = 2;          /**< Usable but near limits   */
    RECONFIG_FAILED = 3;   /**< Last re-config attempt failed; using previous settings */
    INVALID = 4;          /**< Fails gating or plausibility checks */
    NOT_AVAILABLE = 5;     /**< No fresh data or sensor inactive */
    UNDER_CALIBRATION = 6; /**< Under user calibration */
    INIT = 7;             /**< Initialization value / default */
  }
  enum CalibrationStatusValue {
    UNKNOWN_OR_NOT_CALIBRATED = 0;
    POOR = 1;
    OK = 2;
    GOOD = 3;
    ONGOING = 4;
  }
  message CalibrationStatusPacked {
    CalibrationStatusValue mag_calib_status = 1;
    CalibrationStatusValue acc_calib_status = 2;
    CalibrationStatusValue gyr_calib_status = 3;
    uint32 gyr_time_since_last_bias_calib_ms = 4;
  }
  uint32 node_id=1;
  float w=2;
  float x=3;
  float y=4;
  float z=5;
  // 6, 7, 8
  SignalState signal_state = 9;
  CalibrationStatusPacked calibration_status = 10;
}

message MagneticSensor {
    message MagneticPixel {
        int32 x=1;
        int32 y=2;
        int32 z=3;
    }
    repeated MagneticPixel pixels = 1;
    int32 temperature = 5;
}

message GaussRiderRaw {
    uint32 node_id=1;
    MagneticSensor sensor=2;
}

message SensorData {
  repeated float pressures=1;
  repeated IMUData imu=2;
  // repeated MagneticHubRaw magnetic_data=3; // Unprocessed magnetic hub's data - currently also here
  repeated GaussRiderRaw gauss_rider_data=4; // Unprocessed gauss rider's data
  map<uint32, Bfield> bfields=5;
}

message Quaternion {
  double w = 1;
  double x = 2;
  double y = 3;
  double z = 4;
}

message PoseEstimationData {
  map<string, Quaternion> pose_estimation = 1;
}

message Mat3 {
  Vec3 col0 = 1;
  Vec3 col1 = 2;
  Vec3 col2 = 3;
}

message AxisToHingeBindings {
  map<string, string> axis_to_hinge_bindings = 1;
}

message JointFrames {
  message Frame {
    Mat3 r_wj = 1;
    Vec3 origin_w = 2;
  }
  map<string, Frame> frames = 1;
}

message SensorGeometry {
  Mat3 frame_wS = 1;
  Vec3 origin_w = 2;
}

message MagnetGeometry {
  Vec3 origin_w = 1;
  Vec3 base_z_in_sensor = 2;
}

message DipoleSeed {
  Vec3 position = 1;
  Vec3 direction = 2;
}

message SensorMapping {
  string clone_sensor_id = 1;
  Vec3 magnet_local_axis = 2;
  bool sensor_magnet_inversion = 3;
  Mat3 R_corr = 4;
}

message JointModelInfo {
  message JointModel {
    JointFrames joint_frames = 1;
    SensorGeometry sensor = 2;
    MagnetGeometry magnet = 3;
    DipoleSeed dipole = 4;
    SensorMapping mapping = 5;
    repeated AxisToHingeBindings axis_to_hinge_bindings = 6;
  }

  map<string, JointModel> joints = 1;
}

message TelemetryData {
  SensorData sensor_data=1;
  google.protobuf.Timestamp time_since_start=3;
  PoseEstimationData pose_estimation=4;
}

message Bfield {
  repeated double bfield=1; // Bfield vector, pxs: 0, 1, 2, 3, axes: x, y, z, in teslas
}

message TelemetryDataResponse {
  TelemetryData data = 1;
  clone.data_types.ServerResponse response_data=2;
}

enum TelemetryConfig {
  PRESSURE = 0;
  IMU = 1;
  ALL = 2;
}

message PressureSensorCalibration {
  int32 min = 1;
  int32 max = 2;
}

message CalibrationData {
  repeated PressureSensorCalibration pressure_sensors=1;
}

message Vec3 {
  double x = 1;
  double y = 2;
  double z = 3;
}

message Joint {
  message Axis {
    // 1;
    optional Vec3 axis = 2;
  }
  map<string, Axis> axes = 1;
}

// Joint with information on what nodes are used to estimate it
message JointExt {
  Joint joint = 1;
  repeated uint32 node_ids = 2;
}

message PoseEstimationInfo {
  message MagInterpInfo {
    message MagMapPosition {
      repeated double angles_rad = 1; // 2vec of angles
      repeated double bfields_teslas = 2; // 12vec of bfields
    }
    message MagMapJointEntry {
      optional string axis0name = 1;
      optional string axis1name = 2;
      uint32 gauss_rider_id = 3; // nodeid of corresponding gauss rider
      repeated MagMapPosition angle_bfield_points = 4;
    }
    map<string, MagMapJointEntry> magmap = 1;
  }
  // 1;
  map<string, JointExt> joints=2;
  optional MagInterpInfo maginterp = 3;
}

message SystemInfo {
  message MuscleInfo {
    uint32 index = 1;
    uint32 node_id = 2;
    uint32 channel_id = 3;
  }

  map<string, MuscleInfo> muscles=2;
  // 3;
  CalibrationData calibration_data=4;
  TelemetryConfig telemetry_config=5;
  optional PoseEstimationInfo pose_estimation=6;
  optional JointModelInfo joint_model_info=7;
}

message SystemInfoResponse {
  SystemInfo info=1;
  clone.data_types.ServerResponse response=2;
}