syntax = "proto3";

package mavsdk.rpc.action;

import "mavsdk_options.proto";

option java_package = "io.mavsdk.action";
option java_outer_classname = "ActionProto";

// Enable simple actions such as arming, taking off, and landing.
service ActionService {
    /*
     * Send command to arm the drone.
     *
     * Arming a drone normally causes motors to spin at idle.
     * Before arming take all safety precautions and stand clear of the drone!
     */
    rpc Arm(ArmRequest) returns(ArmResponse) {}
    /*
     * Send command to force-arm the drone without any checks.
     *
     * Attention: this is not to be used for normal flying but only bench tests!
     *
     * Arming a drone normally causes motors to spin at idle.
     * Before arming take all safety precautions and stand clear of the drone!
     */
    rpc ArmForce(ArmForceRequest) returns(ArmForceResponse) {}
    /*
     * Send command to disarm the drone.
     *
     * This will disarm a drone that considers itself landed. If flying, the drone should
     * reject the disarm command. Disarming means that all motors will stop.
     */
    rpc Disarm(DisarmRequest) returns(DisarmResponse) {}
    /*
     * Send command to take off and hover.
     *
     * This switches the drone into position control mode and commands
     * it to take off and hover at the takeoff altitude.
     *
     * Note that the vehicle must be armed before it can take off.
     */
    rpc Takeoff(TakeoffRequest) returns(TakeoffResponse) {}
    /*
     * Send command to land at the current position.
     *
     * This switches the drone to 'Land' flight mode.
     */
    rpc Land(LandRequest) returns(LandResponse) {}
    /*
     * Send command to reboot the drone components.
     *
     * This will reboot the autopilot, companion computer, camera and gimbal.
     */
    rpc Reboot(RebootRequest) returns(RebootResponse) {}
    /*
     * Send command to shut down the drone components.
     *
     * This will shut down the autopilot, onboard computer, camera and gimbal.
     * This command should only be used when the autopilot is disarmed and autopilots commonly
     * reject it if they are not already ready to shut down.
     */
    rpc Shutdown(ShutdownRequest) returns(ShutdownResponse) {}
    /*
     * Send command to terminate the drone.
     *
     * This will run the terminate routine as configured on the drone (e.g. disarm and open the parachute).
     */
    rpc Terminate(TerminateRequest) returns(TerminateResponse) {}
    /*
     * Send command to kill the drone.
     *
     * This will disarm a drone irrespective of whether it is landed or flying.
     * Note that the drone will fall out of the sky if this command is used while flying.
     */
    rpc Kill(KillRequest) returns(KillResponse) {}
    /*
     * Send command to return to the launch (takeoff) position and land.
     *
     * This switches the drone into [Return mode](https://docs.px4.io/main/en/flight_modes_mc/return.html) which
     * generally means it will rise up to a certain altitude to clear any obstacles before heading
     * back to the launch (takeoff) position and land there.
     */
    rpc ReturnToLaunch(ReturnToLaunchRequest) returns(ReturnToLaunchResponse) {}
    /*
     * Send command to move the vehicle to a specific global position.
     *
     * The latitude and longitude are given in degrees (WGS84 frame) and the altitude
     * in meters AMSL (above mean sea level).
     *
     * The yaw angle is in degrees (frame is NED, 0 is North, positive is clockwise).
     */
    rpc GotoLocation(GotoLocationRequest) returns(GotoLocationResponse) {}
    /*
     * Send command to the drone to fly to a location for fixed-wing aircraft.
     *
     * This sends a MAV_CMD_DO_REPOSITION command with a loiter radius.
     *
     * The latitude and longitude are given in degrees (WGS84 frame) and the altitude
     * in meters AMSL (above mean sea level).
     *
     * The loiter radius defines the radius of the loiter circle in meters, and its sign
     * controls the direction: positive is clockwise, negative is counter-clockwise.
     * A value of 0 is ignored by the autopilot.
     */
    rpc GotoLocationFixedwing(GotoLocationFixedwingRequest) returns(GotoLocationFixedwingResponse) {}
    /*
     * Send command do orbit to the drone.
     *
     * This will run the orbit routine with the given parameters.
     */
    rpc DoOrbit(DoOrbitRequest) returns(DoOrbitResponse) {}
    /*
     * Send command to hold position (a.k.a. "Loiter").
     *
     * Sends a command to drone to change to Hold flight mode, causing the
     * vehicle to stop and maintain its current GPS position and altitude.
     *
     * Note: this command is specific to the PX4 Autopilot flight stack as
     * it implies a change to a PX4-specific mode.
     */
    rpc Hold(HoldRequest) returns(HoldResponse) {}
    /*
     * Send command to set the value of an actuator.
     *
     * Note that the index of the actuator starts at 1 and that the value goes from -1 to 1.
     */
    rpc SetActuator(SetActuatorRequest) returns(SetActuatorResponse) {}
    /*
     * Send command to set the value of a relay.
     *
     * The index of the relay starts at 0.
     * For the relay value, 1=on, 0=off, others possible depending on system hardware
     */
    rpc SetRelay(SetRelayRequest) returns(SetRelayResponse) {}
    /*
     * Send command to transition the drone to fixedwing.
     *
     * The associated action will only be executed for VTOL vehicles (on other vehicle types the
     * command will fail). The command will succeed if called when the vehicle
     * is already in fixedwing mode.
     */
    rpc TransitionToFixedwing(TransitionToFixedwingRequest) returns(TransitionToFixedwingResponse) {}
    /*
     * Send command to transition the drone to multicopter.
     *
     * The associated action will only be executed for VTOL vehicles (on other vehicle types the
     * command will fail). The command will succeed if called when the vehicle
     * is already in multicopter mode.
     */
    rpc TransitionToMulticopter(TransitionToMulticopterRequest) returns(TransitionToMulticopterResponse) {}
    /*
     * Get the takeoff altitude (in meters above ground).
     */
    rpc GetTakeoffAltitude(GetTakeoffAltitudeRequest) returns(GetTakeoffAltitudeResponse) {}
    /*
     * Set takeoff altitude (in meters above ground).
     */
    rpc SetTakeoffAltitude(SetTakeoffAltitudeRequest) returns(SetTakeoffAltitudeResponse) {}
    /*
     * Get the return to launch minimum return altitude (in meters).
     */
    rpc GetReturnToLaunchAltitude(GetReturnToLaunchAltitudeRequest) returns(GetReturnToLaunchAltitudeResponse) {}
    /*
     * Set the return to launch minimum return altitude (in meters).
     */
    rpc SetReturnToLaunchAltitude(SetReturnToLaunchAltitudeRequest) returns(SetReturnToLaunchAltitudeResponse) {}
    /*
     * Set current speed.
     *
     * This will set the speed during a mission, reposition, and similar.
     * It is ephemeral, so not stored on the drone and does not survive a reboot.
     */
     rpc SetCurrentSpeed(SetCurrentSpeedRequest) returns(SetCurrentSpeedResponse) {}
     /*
     * Set GPS Global Origin.
     *
     * Sets the GPS coordinates of the vehicle local origin (0,0,0) position.
     */
     rpc SetGpsGlobalOrigin(SetGpsGlobalOriginRequest) returns(SetGpsGlobalOriginResponse) { option (mavsdk.options.async_type) = SYNC; }
     /*
     * Set home.
     *
     * Sets the home position.
     */
     rpc SetHome(SetHomeRequest) returns(SetHomeResponse) { option (mavsdk.options.async_type) = SYNC; }
}

message ArmRequest {}
message ArmResponse {
    ActionResult action_result = 1;
}

message ArmForceRequest {}
message ArmForceResponse {
    ActionResult action_result = 1;
}

message DisarmRequest {}
message DisarmResponse {
    ActionResult action_result = 1;
}

message TakeoffRequest {}
message TakeoffResponse {
    ActionResult action_result = 1;
}

message LandRequest {}
message LandResponse {
    ActionResult action_result = 1;
}

message RebootRequest {}
message RebootResponse {
    ActionResult action_result = 1;
}

message ShutdownRequest {}
message ShutdownResponse {
    ActionResult action_result = 1;
}

message TerminateRequest {}
message TerminateResponse {
    ActionResult action_result = 1;
}

message KillRequest {}
message KillResponse {
    ActionResult action_result = 1;
}

message ReturnToLaunchRequest {}
message ReturnToLaunchResponse {
    ActionResult action_result = 1;
}

message GotoLocationRequest {
    double latitude_deg = 1; // Latitude (in degrees)
    double longitude_deg = 2; // Longitude (in degrees)
    float absolute_altitude_m = 3; // Altitude AMSL (in meters)
    float yaw_deg = 4; // Yaw angle (in degrees, frame is NED, 0 is North, positive is clockwise)
}
message GotoLocationResponse {
    ActionResult action_result = 1;
}

message GotoLocationFixedwingRequest {
    double latitude_deg = 1; // Latitude (in degrees)
    double longitude_deg = 2; // Longitude (in degrees)
    float absolute_altitude_m = 3; // Altitude AMSL (in meters)
    float loiter_radius_m = 4; // Loiter radius (in meters). Positive: clockwise, negative: counter-clockwise, 0: ignored.
}
message GotoLocationFixedwingResponse {
    ActionResult action_result = 1;
}

// Yaw behaviour during orbit flight.
enum OrbitYawBehavior {
    ORBIT_YAW_BEHAVIOR_HOLD_FRONT_TO_CIRCLE_CENTER = 0; // Vehicle front points to the center (default)
    ORBIT_YAW_BEHAVIOR_HOLD_INITIAL_HEADING = 1; // Vehicle front holds heading when message received
    ORBIT_YAW_BEHAVIOR_UNCONTROLLED = 2; // Yaw uncontrolled
    ORBIT_YAW_BEHAVIOR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3; // Vehicle front follows flight path (tangential to circle)
    ORBIT_YAW_BEHAVIOR_RC_CONTROLLED = 4; // Yaw controlled by RC input
}

message DoOrbitRequest {
    float radius_m = 1; // Radius of circle (in meters)
    float velocity_ms = 2; // Tangential velocity (in m/s)
    OrbitYawBehavior yaw_behavior = 3; // Yaw behavior of vehicle (ORBIT_YAW_BEHAVIOUR)
    double latitude_deg = 5 [(mavsdk.options.default_value)="NaN"]; // Center point latitude in degrees. NAN: use current latitude for center
    double longitude_deg = 6 [(mavsdk.options.default_value)="NaN"]; // Center point longitude in degrees. NAN: use current longitude for center
    double absolute_altitude_m = 7 [(mavsdk.options.default_value)="NaN"]; // Center point altitude in meters. NAN: use current altitude for center
}
message DoOrbitResponse {
    ActionResult action_result = 1;
}

message HoldRequest {}
message HoldResponse {
    ActionResult action_result = 1;
}

message SetActuatorRequest {
    int32 index = 1; // Index of actuator (starting with 1)
    float value = 2; // Value to set the actuator to (normalized from [-1..1])
}
message SetActuatorResponse {
    ActionResult action_result = 1;
}

// Commanded values for relays
enum RelayCommand {
    RELAY_COMMAND_ON = 0; // Turn the relay off
    RELAY_COMMAND_OFF = 1; // Turn the relay on.
}
message SetRelayRequest {
    int32 index = 1; // Index of relay (starting with 0)
    RelayCommand setting = 2; // Value to set the relay to
}
message SetRelayResponse {
    ActionResult action_result = 1;
}

message TransitionToFixedwingRequest {}
message TransitionToFixedwingResponse {
    ActionResult action_result = 1;
}

message TransitionToMulticopterRequest {}
message TransitionToMulticopterResponse {
    ActionResult action_result = 1;
}

message GetTakeoffAltitudeRequest {}
message GetTakeoffAltitudeResponse {
    ActionResult action_result = 1;
    float altitude = 2; // Takeoff altitude relative to ground/takeoff location (in meters)
}

message SetTakeoffAltitudeRequest {
    float altitude = 1; // Takeoff altitude relative to ground/takeoff location (in meters)
}
message SetTakeoffAltitudeResponse {
    ActionResult action_result = 1;
}

message GetReturnToLaunchAltitudeRequest {}
message GetReturnToLaunchAltitudeResponse {
    ActionResult action_result = 1;
    float relative_altitude_m = 2; // Return altitude relative to takeoff location (in meters)
}

message SetReturnToLaunchAltitudeRequest {
    float relative_altitude_m = 1; // Return altitude relative to takeoff location (in meters)
}
message SetReturnToLaunchAltitudeResponse {
    ActionResult action_result = 1;
}

message SetCurrentSpeedRequest {
    float speed_m_s = 1; // Speed in meters/second
}
message SetCurrentSpeedResponse {
    ActionResult action_result = 1;
}

message SetGpsGlobalOriginRequest {
    double latitude_deg = 1; // Latitude (in degrees)
    double longitude_deg = 2; // Longitude (in degrees)
    float absolute_altitude_m = 3; // Altitude AMSL (in meters)
}
message SetGpsGlobalOriginResponse {
    ActionResult action_result = 1;
}

message SetHomeRequest {
    bool use_current_location = 1; // Use current location
    double latitude_deg = 2; // Latitude (in degrees)
    double longitude_deg = 3; // Longitude (in degrees)
    float absolute_altitude_m = 4; // Altitude AMSL (in meters)
}
message SetHomeResponse {
    ActionResult action_result = 1;
}

// Result type.
message ActionResult {
    // Possible results returned for action requests.
    enum Result {
        RESULT_UNKNOWN = 0; // Unknown result
        RESULT_SUCCESS = 1; // Request was successful
        RESULT_NO_SYSTEM = 2; // No system is connected
        RESULT_CONNECTION_ERROR = 3; // Connection error
        RESULT_BUSY = 4; // Vehicle is busy
        RESULT_COMMAND_DENIED = 5; // Command refused by vehicle
        RESULT_COMMAND_DENIED_LANDED_STATE_UNKNOWN = 6; // Command refused because landed state is unknown
        RESULT_COMMAND_DENIED_NOT_LANDED = 7; // Command refused because vehicle not landed
        RESULT_TIMEOUT = 8; // Request timed out
        RESULT_VTOL_TRANSITION_SUPPORT_UNKNOWN = 9; // Hybrid/VTOL transition support is unknown
        RESULT_NO_VTOL_TRANSITION_SUPPORT = 10; // Vehicle does not support hybrid/VTOL transitions
        RESULT_PARAMETER_ERROR = 11; // Error getting or setting parameter
        RESULT_UNSUPPORTED = 12; // Action not supported
        RESULT_FAILED = 13; // Action failed
        RESULT_INVALID_ARGUMENT = 14; // Invalid argument
    }

    Result result = 1; // Result enum value
    string result_str = 2; // Human-readable English string describing the result
}