syntax = "proto3";

package mavsdk.rpc.mission;

import "mavsdk_options.proto";

option java_package = "io.mavsdk.mission";
option java_outer_classname = "MissionProto";

// Enable waypoint missions.
service MissionService {
    /*
     * Upload a list of mission items to the system.
     *
     * The mission items are uploaded to a drone. Once uploaded the mission can be started and
     * executed even if the connection is lost.
     */
    rpc UploadMission(UploadMissionRequest) returns(UploadMissionResponse) {}
    /*
     * Upload a list of mission items to the system and report upload progress.
     *
     * The mission items are uploaded to a drone. Once uploaded the mission can be started and
     * executed even if the connection is lost.
     */
    rpc SubscribeUploadMissionWithProgress(SubscribeUploadMissionWithProgressRequest) returns(stream UploadMissionWithProgressResponse) {
        option (mavsdk.options.async_type) = ASYNC;
        option (mavsdk.options.is_finite) = true;
    }
    /*
     * Cancel an ongoing mission upload.
     */
    rpc CancelMissionUpload(CancelMissionUploadRequest) returns(CancelMissionUploadResponse) { option (mavsdk.options.async_type) = SYNC; }
    /*
     * Download a list of mission items from the system (asynchronous).
     *
     * Will fail if any of the downloaded mission items are not supported
     * by the MAVSDK API.
     */
    rpc DownloadMission(DownloadMissionRequest) returns(DownloadMissionResponse) {}
    /*
     * Download a list of mission items from the system (asynchronous) and report progress.
     *
     * Will fail if any of the downloaded mission items are not supported
     * by the MAVSDK API.
     */
    rpc SubscribeDownloadMissionWithProgress(SubscribeDownloadMissionWithProgressRequest) returns(stream DownloadMissionWithProgressResponse) {
        option (mavsdk.options.async_type) = ASYNC;
        option (mavsdk.options.is_finite) = true;
    }
/*
 * Cancel an ongoing mission download.
 */
    rpc CancelMissionDownload(CancelMissionDownloadRequest) returns(CancelMissionDownloadResponse) { option (mavsdk.options.async_type) = SYNC; }
    /*
     * Start the mission.
     *
     * A mission must be uploaded to the vehicle before this can be called.
     */
    rpc StartMission(StartMissionRequest) returns(StartMissionResponse) {}
    /*
     * Pause the mission.
     *
     * Pausing the mission puts the vehicle into
     * [HOLD mode](https://docs.px4.io/main/en/flight_modes_mc/hold.html).
     * A multicopter should just hover at the spot while a fixedwing vehicle should loiter
     * around the location where it paused.
     */
    rpc PauseMission(PauseMissionRequest) returns(PauseMissionResponse) {}
    /*
     * Clear the mission saved on the vehicle.
     */
    rpc ClearMission(ClearMissionRequest) returns(ClearMissionResponse) {}
    /*
     * Sets the mission item index to go to.
     *
     * By setting the current index to 0, the mission is restarted from the beginning. If it is set
     * to a specific index of a mission item, the mission will be set to this item.
     *
     * Note that this is not necessarily true for general missions using MAVLink if loop counters
     * are used.
     */
    rpc SetCurrentMissionItem(SetCurrentMissionItemRequest) returns(SetCurrentMissionItemResponse) {}
    /*
     * Check if the mission has been finished.
     */
    rpc IsMissionFinished(IsMissionFinishedRequest) returns(IsMissionFinishedResponse) { option (mavsdk.options.async_type) = SYNC; }
    /*
     * Subscribe to mission progress updates.
     */
    rpc SubscribeMissionProgress(SubscribeMissionProgressRequest) returns(stream MissionProgressResponse) {}
    /*
     * Get whether to trigger Return-to-Launch (RTL) after mission is complete.
     *
     * Before getting this option, it needs to be set, or a mission
     * needs to be downloaded.
     */
    rpc GetReturnToLaunchAfterMission(GetReturnToLaunchAfterMissionRequest) returns(GetReturnToLaunchAfterMissionResponse) { option (mavsdk.options.async_type) = SYNC; }
    /*
     * Set whether to trigger Return-to-Launch (RTL) after the mission is complete.
     *
     * This will only take effect for the next mission upload, meaning that
     * the mission may have to be uploaded again.
     */
    rpc SetReturnToLaunchAfterMission(SetReturnToLaunchAfterMissionRequest) returns(SetReturnToLaunchAfterMissionResponse) { option (mavsdk.options.async_type) = SYNC; }
}

message UploadMissionRequest {
    MissionPlan mission_plan = 1; // The mission plan
}
message UploadMissionResponse {
    MissionResult mission_result = 1;
}

message SubscribeUploadMissionWithProgressRequest {
    MissionPlan mission_plan = 1; // The mission plan
}
message UploadMissionWithProgressResponse {
    MissionResult mission_result = 1;
    ProgressData progress_data = 2; // The progress data
}

message CancelMissionUploadRequest {}
message CancelMissionUploadResponse {
    MissionResult mission_result = 1;
}

message DownloadMissionRequest {}
message DownloadMissionResponse {
    MissionResult mission_result = 1;
    MissionPlan mission_plan = 2; // The mission plan
}

message SubscribeDownloadMissionWithProgressRequest {}
message DownloadMissionWithProgressResponse {
    MissionResult mission_result = 1;
    ProgressDataOrMission progress_data = 2; // The progress data, or the mission plan (when the download is finished)
}

message CancelMissionDownloadRequest {}
message CancelMissionDownloadResponse {
    MissionResult mission_result = 1;
}

message StartMissionRequest {}
message StartMissionResponse {
    MissionResult mission_result = 1;
}

message PauseMissionRequest {}
message PauseMissionResponse {
    MissionResult mission_result = 1;
}

message ClearMissionRequest {}
message ClearMissionResponse {
    MissionResult mission_result = 1;
}

message SetCurrentMissionItemRequest {
    int32 index = 1; // Index of the mission item to be set as the next one (0-based)
}
message SetCurrentMissionItemResponse {
    MissionResult mission_result = 1;
}

message IsMissionFinishedRequest {}
message IsMissionFinishedResponse {
    MissionResult mission_result = 1;
    bool is_finished = 2; // True if the mission is finished and the last mission item has been reached
}

message SubscribeMissionProgressRequest {}
message MissionProgressResponse {
    MissionProgress mission_progress = 1; // Mission progress
}

message GetReturnToLaunchAfterMissionRequest {}
message GetReturnToLaunchAfterMissionResponse {
    MissionResult mission_result = 1;
    bool enable = 2; // If true, trigger an RTL at the end of the mission
}

message SetReturnToLaunchAfterMissionRequest {
    bool enable = 1; // If true, trigger an RTL at the end of the mission
}
message SetReturnToLaunchAfterMissionResponse {
    MissionResult mission_result = 1;
}

/*
 * Type representing a mission item.
 *
 * A MissionItem can contain a position and/or actions.
 * Mission items are building blocks to assemble a mission,
 * which can be sent to (or received from) a system.
 * They cannot be used independently.
 */
message MissionItem {
    double latitude_deg = 1 [(mavsdk.options.default_value)="NaN", (mavsdk.options.epsilon)=0.0000001]; // Latitude in degrees (range: -90 to +90)
    double longitude_deg = 2 [(mavsdk.options.default_value)="NaN", (mavsdk.options.epsilon)=0.0000001]; // Longitude in degrees (range: -180 to +180)
    float relative_altitude_m = 3 [(mavsdk.options.default_value)="NaN"]; // Altitude relative to takeoff altitude in metres
    float speed_m_s = 4 [(mavsdk.options.default_value)="NaN"]; // Speed to use after this mission item (in metres/second)
    bool is_fly_through = 5 [(mavsdk.options.default_value)="false"]; // True will make the drone fly through without stopping, while false will make the drone stop on the waypoint
    float gimbal_pitch_deg = 6 [(mavsdk.options.default_value)="NaN", (mavsdk.options.epsilon)=0.0001]; // Gimbal pitch (in degrees)
    float gimbal_yaw_deg = 7 [(mavsdk.options.default_value)="NaN", (mavsdk.options.epsilon)=0.0001]; // Gimbal yaw (in degrees)
    CameraAction camera_action = 8; // Camera action to trigger at this mission item
    float loiter_time_s = 9 [(mavsdk.options.default_value)="NaN"]; // Loiter time (in seconds)
    double camera_photo_interval_s = 10 [(mavsdk.options.default_value)="1.0"]; // Camera photo interval to use after this mission item (in seconds)
    float acceptance_radius_m = 11 [(mavsdk.options.default_value)="NaN"]; // Radius for completing a mission item (in metres)
    float yaw_deg = 12 [(mavsdk.options.default_value)="NaN"]; // Absolute yaw angle (in degrees)
    float camera_photo_distance_m = 13 [(mavsdk.options.default_value)="NAN"]; // Camera photo distance to use after this mission item (in meters)
    VehicleAction vehicle_action = 14; // Vehicle action to trigger at this mission item.

    // Possible camera actions at a mission item.
    enum CameraAction {
        CAMERA_ACTION_NONE = 0; // No action
        CAMERA_ACTION_TAKE_PHOTO = 1; // Take a single photo
        CAMERA_ACTION_START_PHOTO_INTERVAL = 2; // Start capturing photos at regular intervals
        CAMERA_ACTION_STOP_PHOTO_INTERVAL = 3; // Stop capturing photos at regular intervals
        CAMERA_ACTION_START_VIDEO = 4; // Start capturing video
        CAMERA_ACTION_STOP_VIDEO = 5; // Stop capturing video
        CAMERA_ACTION_START_PHOTO_DISTANCE = 6; // Start capturing photos at regular distance
        CAMERA_ACTION_STOP_PHOTO_DISTANCE = 7; // Stop capturing photos at regular distance
    }

    // Possible vehicle actions at a mission item
    enum VehicleAction {
        VEHICLE_ACTION_NONE = 0; // No action
        VEHICLE_ACTION_TAKEOFF = 1; // Vehicle will takeoff and go to defined waypoint
        VEHICLE_ACTION_LAND = 2; // When a waypoint is reached vehicle will land at current position
        VEHICLE_ACTION_TRANSITION_TO_FW = 3; // When a waypoint is reached vehicle will transition to fixed-wing mode
        VEHICLE_ACTION_TRANSITION_TO_MC = 4; // When a waypoint is reached vehicle will transition to multi-copter mode
    }
}

// Mission plan type
message MissionPlan {
    repeated MissionItem mission_items = 1; // The mission items
}

// Mission progress type.
message MissionProgress {
    int32 current = 1; // Current mission item index (0-based), if equal to total, the mission is finished
    int32 total = 2; // Total number of mission items
}

// Result type.
message MissionResult {
    // Possible results returned for action requests.
    enum Result {
        RESULT_UNKNOWN = 0; // Unknown result
        RESULT_SUCCESS = 1; // Request succeeded
        RESULT_ERROR = 2; // Error
        RESULT_TOO_MANY_MISSION_ITEMS = 3; // Too many mission items in the mission
        RESULT_BUSY = 4; // Vehicle is busy
        RESULT_TIMEOUT = 5; // Request timed out
        RESULT_INVALID_ARGUMENT = 6; // Invalid argument
        RESULT_UNSUPPORTED = 7; // Mission downloaded from the system is not supported
        RESULT_NO_MISSION_AVAILABLE = 8; // No mission available on the system
        RESULT_UNSUPPORTED_MISSION_CMD = 11; // Unsupported mission command
        RESULT_TRANSFER_CANCELLED = 12; // Mission transfer (upload or download) has been cancelled
        RESULT_NO_SYSTEM = 13; // No system connected
        RESULT_NEXT = 14; // Intermediate message showing progress
        RESULT_DENIED = 15; // Request denied
        RESULT_PROTOCOL_ERROR = 16; // There was a protocol error
        RESULT_INT_MESSAGES_NOT_SUPPORTED = 17; // The system does not support the MISSION_INT protocol
    }

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

// Progress data coming from mission upload.
message ProgressData {
    float progress = 1 [(mavsdk.options.default_value)="NaN"]; // Progress (0..1.0)
}

// Progress data coming from mission download, or the mission itself (if the transfer succeeds).
message ProgressDataOrMission {
    bool has_progress = 1 [(mavsdk.options.default_value)="false"]; // Whether this ProgressData contains a 'progress' status or not
    float progress = 2 [(mavsdk.options.default_value)="NaN"]; // Progress (0..1.0)

    bool has_mission = 3; // Whether this ProgressData contains a 'mission_plan' or not
    MissionPlan mission_plan = 4; // Mission plan
}