syntax = "proto3";

package ugv.messages;

import public "config.proto";

option optimize_for = LITE_RUNTIME;

enum UGV_State {
  STATE_IDLE = 0;
  STATE_AQUIRING = 1;
  STATE_DRIVING = 2;
  STATE_FINISHED = 3;
  STATE_TEST = 4;
  STATE_FLIPPING = 5;
  STATE_TURNING = 6;
  STATE_DRIVE_HEADING = 7;
}

message TargetLocation {
  float latitude = 1;
  float longitude = 2;
}

message Location {
  uint32 fix_quality = 1;
  float latitude = 2;
  float longitude = 3;
  float altitude = 4;
}

message UGV_Status {
  UGV_State state = 1;
  Location location = 2;
  float yaw_angle = 3;
  float pitch_angle = 4;
  float roll_angle = 5;
  bool is_still = 6;
}

message UGV_Message {
  oneof ugv_message {
    UGV_Status status = 1;
    uint32 command_ack = 2;
  }
}

enum GroundCommandType {
  CMD_DISABLE = 0;
  CMD_DRIVE_TO_TARGET = 1;
  CMD_TEST = 2;
  CMD_DRIVE_HEADING = 3;
  CMD_SET_TARGET = 4;
  CMD_SET_CONFIG = 5;
  CMD_GET_STATUS = 6;
  CMD_PING = 7;
}

message DriveHeadingData {
  float heading = 1;
  float power = 2;
}

message GroundCommand {
  uint32 id = 1;
  GroundCommandType type = 2;
  oneof data {
    DriveHeadingData drive_heading = 3;
    TargetLocation target_location = 4;
    config.Config config = 5;
  }
}

message GroundMessage {
  oneof ground_message {
    GroundCommand command = 1;
  }
}