autowalk.proto

// Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api.autowalk;

option java_outer_classname = "AutowalkProto";

import "bosdyn/api/header.proto";
import "bosdyn/api/lease.proto";
import "bosdyn/api/autowalk/walks.proto";
import "bosdyn/api/mission/mission.proto";
import "bosdyn/api/mission/nodes.proto";

message FailedElement {
    // The reasons why this element failed. May not be provided by all elements.
    repeated string errors = 1;

    // Compile time modification that resolved error(s).
    repeated string warnings = 2;
}

message NodeIdentifier {
    // Unique integer set by the mission service when loading a mission.
    int64 node_id = 1;

    // Unique string set by the autowalk service when compiling a walk.
    string user_data_id = 2;
}

message ElementIdentifiers {
    // Identifiable data for the root node of the element.
    // Deprecated as of 4.0. Please use navigation_id instead.
    NodeIdentifier root_id = 1 [deprecated = true];

    // Identifiable data for action node of the element.
    NodeIdentifier action_id = 2;

    // Identifiable data for the navigation node of the element.
    NodeIdentifier navigation_id = 3;
}

message CompileAutowalkRequest {
    // Common request header.
    RequestHeader header = 1;

    // Walk to compile.
    Walk walk = 2;

    // If this is set to true, mission compilation will fail if the Walk contains parameters that
    // are set incorrectly. This can be useful during development to help the developer find issues
    // with their client (e.g., suppose the client UI allows a user to set a parameter incorrectly).
    // If this is set to false, mission compilation is more likely to succeed for the same Walk
    // because any parameters that are both incorrect and modifiable are modified during mission
    // compilation.
    bool treat_warnings_as_errors = 5;
}

message CompileAutowalkResponse {
    // Common response header.
    ResponseHeader header = 1;

    // Possible results of compiling a walk to mission.
    enum Status {
        // Invalid status, do not use.
        STATUS_UNKNOWN = 0;
        // Compilation succeeded.
        STATUS_OK = 1;
        // Compilation failed. The walk was malformed.
        STATUS_COMPILE_ERROR = 2;
    }

    // Result of compiling the mission.
    Status status = 2;

    // Reserved for deprecated fields.
    reserved 3;

    // Root node of compiled walk.
    bosdyn.api.mission.Node root = 4;

    // There will be one ElementIdentifier for each Element in the input Walk.
    // The index of each ElementIdentifier corresponds to the index of the Element in the input
    // Walk. Skipped elements will have default values for id's.  (0 and empty string)
    repeated ElementIdentifiers element_identifiers = 5;

    // If certain elements failed compilation, they will be reported back in this field.
    // The map correlates the index of the Element in the input Walk to the FailedElement.
    map<int32, FailedElement> failed_elements = 6;

    // Final docking node.
    NodeIdentifier docking_node = 7;

    // Node that contains the main sequence of actions performed in the walk.
    // In continuous playback mode, the walk repeats when this node completes.
    NodeIdentifier loop_node = 8;
}

message LoadAutowalkRequest {
    // Common request header.
    RequestHeader header = 1;

    // Walk to compile
    Walk walk = 2;

    // Leases that will be needed to validate the mission.
    // Usually, no leases are necessary for validation, and this can be left empty.
    repeated bosdyn.api.Lease leases = 3;

    // If this is set to true, mission compilation will fail if the Walk contains parameters that
    // are set incorrectly. This can be useful during development to help the developer find issues
    // with their client (e.g., suppose the client UI allows a user to set a parameter incorrectly).
    // If this is set to false, mission compilation is more likely to succeed for the same Walk
    // because any parameters that are both incorrect and modifiable are modified during mission
    // compilation.
    bool treat_warnings_as_errors = 5;
}

message LoadAutowalkResponse {
    // Common response header.
    ResponseHeader header = 1;

    // Possible results of loading a mission.
    enum Status {
        // Invalid status, do not use.
        STATUS_UNKNOWN = 0;
        // The mission was loaded successfully.
        STATUS_OK = 1;
        // Compilation failed. The walk was malformed.
        STATUS_COMPILE_ERROR = 2;
        // Load-time validation failed. Some part of the mission was unable to initialize.
        STATUS_VALIDATE_ERROR = 3;
    }
    // Result of loading the mission.
    Status status = 2;

    // Results from any leases that may have been used.
    // As part of mission validation, some of the non-mission leases may have been used.
    repeated bosdyn.api.LeaseUseResult lease_use_results = 3;

    // Reserved for deprecated fields.
    reserved 4, 6;

    // If certain nodes failed compilation or validation, they will be reported back in this field.
    repeated bosdyn.api.mission.FailedNode failed_nodes = 5;

    // There will be one ElementIdentifier for each Element in the input Walk.
    // The index of each ElementIdentifier corresponds to the index of the Element in the input
    // Walk. Skipped elements will have default values for id's.  (0 and empty string)
    repeated ElementIdentifiers element_identifiers = 7;

    // If certain elements failed compilation, they will be reported back in this field.
    // The map correlates the index of the Element in the input Walk to the FailedElement.
    map<int32, FailedElement> failed_elements = 8;

    // Mission ID assigned by the mission service.
    int64 mission_id = 9;

    // Final docking node.
    NodeIdentifier docking_node = 10;

    // Node that contains the main sequence of actions performed in the walk.
    // In continuous playback mode, the walk repeats when this node completes.
    NodeIdentifier loop_node = 11;
}