protocol.proto

syntax = "proto3";
import "nanopb.proto";

enum RequestType {
  GET_STATE = 0;
  SET_TARGET = 1;
  SET_CONFIG = 2;
  GET_TARGET = 3;
  GET_CONFIG = 4;
  RESET = 5;
}

message Request {
  RequestType type = 1;
  oneof payload {
    Config config = 2;
    State state = 3;
    Target target = 4;
  }
}

enum ResponseStatus {
  OK = 0;          // +
  ERROR = 1;       // !
  PROCESSING = 2;  // ~
  DEBUG = 3;       // #
}

message Response {
  ResponseStatus status = 1;
  string message = 2 [(nanopb).max_size = 128];
  oneof payload {
    Config config = 3;
    State state = 4;
    Target target = 5;
  }
}

message Config {
  optional float max_x = 1;     // [m] Absolute max cart position
  optional float max_v = 2;     // [m/s] Absolute max cart velocity
  optional float max_a = 3;     // [m/s^2] Absolute max cart acceleration
  optional float hw_max_x = 4;  // [m] Absolute max hardware-allowed position
  optional float hw_max_v = 5;  // [m/s] Absolute max hardware-allowed velocity
  optional float hw_max_a = 6;  // [m/s^2] Absolute max hardware-allowed acceleration
  optional bool clamp_x = 7;    // Clamp X to allowed range instead of raising error
  optional bool clamp_v = 8;    // Clamp V to allowed range instead of raising error
  optional bool clamp_a = 9;    // Clamp A to allowed range instead of raising error
  optional bool debug_led = 10; // Debug LED pin to indicate start of session
}

message State {
  optional float curr_x = 1;    // [m] Current cart position
  optional float curr_v = 2;    // [m/s] Current cart velocity
  optional float curr_a = 3;    // [m/s^2] Current cart acceleration
  optional float pole_x = 4;    // [rad] Current pole angle
  optional float pole_v = 5;    // [rad/s] Current pole angular velocity
  optional int32 errcode = 6;   // Current error code
  optional float imu_a = 7;     // [m/s^2] Cart acceleration measured by IMU
  optional float motor_x = 8;   // [rad] Rotation of the motor shaft (secondary encoder)
  optional float motor_v = 9;   // [rad/s] Velocity of the motor shaft (secondary encoder)
}

message Target {
  optional float trgt_x = 1;    // [m] Target cart position
  optional float trgt_v = 2;    // [m/s] Target cart velocity
  optional float trgt_a = 3;    // [m/s^2] Target cart acceleration
}