syntax = "proto3";

package robotSkillApi;

import "common/common.proto";

option go_package = "cloudminds.com/harix/harix-skill-robot/proto/robot-skill-api";

message MapRequest {
  common.CommonReqInfo common_req_info = 1;
  string query_type = 2;
  string map_id = 3;
  string map_name = 4;
}

message Location {
  common.CommonReqInfo common_req_info = 1;
  string location_id = 2;
  robotSkillApi.Point point = 3;
}

message GetPatrolRequest {
  common.CommonReqInfo common_req_info = 1;
  string query_type = 2;
  string map_id = 3;
  string map_name = 4;
  string route_id = 5;
  string route_name = 6;
}

message NavigateBaseResponse {
  common.CommonRspInfo common_rsp_info = 1;
  string result = 2;
}

message PatrolRequest {
  common.CommonReqInfo common_req_info = 1;
  string map_id = 2;
  string map_name = 3;
  string route_id = 4;
  string route_name = 5;
  string mode = 6;
  string start_time = 7;
  string end_time = 8;
  int32 patrol_times = 9;
  repeated robotSkillApi.Point points = 10;
  repeated string locations = 11;
}

message EnableCalibrationPointsRequest {
  common.CommonReqInfo common_req_info = 1;
  bool enable_calibration_points = 2;
}

message Point {
  string mapId = 1;
  string mapName = 2;
  double x = 3;
  double y = 4;
  double yaw = 5;
  double theta = 6;
  double pitch = 7;
}

message MoveToRequest {
  common.CommonReqInfo common_req_info = 1;
  int32 mode = 2;
  double angle = 3;
  int32 speed = 4;
  robotSkillApi.Point point = 5;
  string location_id = 6;
}

message MoveByPathRequest {
  common.CommonReqInfo common_req_info = 1;
  int32 mode = 2;
  int32 speed = 3;
  int32 patrol_times = 4;
  repeated robotSkillApi.Point points = 5;
  repeated string locations = 6;
}

message SetRobotLocationRequest {
  common.CommonReqInfo common_req_info = 1;
  robotSkillApi.Point point = 2;
}

message QueryRobotLocationRequest {
  common.CommonReqInfo common_req_info = 1;
}

message Position {
  float x = 1;
  float y = 2;
  float theta = 3;
}

message ChargingSiteRequest {
  common.CommonReqInfo common_req_info = 1;
  string charging_site_name = 2;
  robotSkillApi.Position position = 3;
}

message ProgramRequest {
  common.CommonReqInfo common_req_info = 1;
  robotSkillApi.ProgramData program_data = 2;
}

message ProgramData {
  string programType = 1;
  string mapId = 2;
  string mapName = 3;
  string programId = 4;
  string programName = 5;
  string startTime = 6;
  string endTime = 7;
  int32 interval = 8;
  repeated robotSkillApi.Point points = 9;
  repeated string locations = 10;
}

service RobotNavigateService {
  rpc GetRobotMapList (robotSkillApi.MapRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc GetMapLocation (robotSkillApi.MapRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc GetPatrolRoute (robotSkillApi.GetPatrolRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc DeleteRobotMap (robotSkillApi.MapRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc setActiveMap (robotSkillApi.MapRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc NotifyMapUpdated (robotSkillApi.MapRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc StartPatrol (robotSkillApi.PatrolRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc PausePatrol (robotSkillApi.PatrolRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc ResumePatrol (robotSkillApi.PatrolRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc StopPatrol (robotSkillApi.PatrolRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc EnableCalibrationPoints (robotSkillApi.EnableCalibrationPointsRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc MoveTo (robotSkillApi.MoveToRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc MoveByPath (robotSkillApi.MoveByPathRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc SetRobotLocation (robotSkillApi.SetRobotLocationRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc QueryRobotLocation (robotSkillApi.QueryRobotLocationRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc SetDefaultChargingSite (robotSkillApi.ChargingSiteRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc AttachChargingPile (robotSkillApi.ChargingSiteRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc DetachChargingPile (robotSkillApi.ChargingSiteRequest) returns (robotSkillApi.NavigateBaseResponse) {}
  rpc RunProgram (robotSkillApi.ProgramRequest) returns (robotSkillApi.NavigateBaseResponse) {}
}