mission_service.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.mission;

option java_outer_classname = "MissionServiceProto";

import "bosdyn/api/data_chunk.proto";
import "bosdyn/api/mission/mission.proto";

// The MissionService can be used to specify high level autonomous behaviors for Spot using behavior
// trees.
service MissionService {
    // RPCs for loading missions to the robot. NOTE: LoadMission and LoadMissionAsChunks may fail
    // for large missions because the request and response may exceed the maximum message size. Use
    // LoadMissionAsChunks2 instead.
    rpc LoadMission(LoadMissionRequest) returns (LoadMissionResponse) {}

    // This RPC may be deprecated in the future, please use LoadMissionAsChunks2 instead.
    // Non-preferred method for loading large missions to the robot because only the request is a
    // streaming RPC. The data chunks are deserialized into a LoadMissionRequest. NOTE:
    // LoadMissionAsChunks may fail for large missions because the response may exceed the maximum
    // message size.
    rpc LoadMissionAsChunks(stream DataChunk) returns (LoadMissionResponse) {}

    // Preferred RPC for loading large missions to the robot because both the request and response
    // are streaming RPCs, allowing you to break the message up into multiple streamed messages. The
    // data chunks are deserialized into a LoadMissionRequest and LoadMissionResponse.
    rpc LoadMissionAsChunks2(stream DataChunk) returns (stream DataChunk) {}

    // Start executing a loaded mission.
    // Will not restart a mission that has run to completion. Use RestartMission to do that.
    rpc PlayMission(PlayMissionRequest) returns (PlayMissionResponse) {}

    // Pause mission execution.
    rpc PauseMission(PauseMissionRequest) returns (PauseMissionResponse) {}

    // Stop a running mission.
    // Must use RestartMission, not PlayMission, to begin from the beginning.
    rpc StopMission(StopMissionRequest) returns (StopMissionResponse) {}

    // Start executing a loaded mission from the beginning.
    // Does not need to be called after LoadMission.
    rpc RestartMission(RestartMissionRequest) returns (RestartMissionResponse) {}

    // Get the state of the mission.
    rpc GetState(GetStateRequest) returns (GetStateResponse) {}

    // RPCs for getting static information regarding the mission. Used to interpret mission state.
    // NOTE: GetInfo may fail for large missions because the response may exceed the maximum message
    // size. Use GetInfoAsChunks instead.
    rpc GetInfo(GetInfoRequest) returns (GetInfoResponse) {}

    // Preferred RPC for getting the status of large missions from the robot because the response is
    // a streaming streaming RPC, allowing you to break the message up into multiple streamed
    // messages. THe data chunks are deserialized into a GetInfoResponse.
    rpc GetInfoAsChunks(GetInfoRequest) returns (stream DataChunk) {}

    // Download the mission as it was uploaded to the service.
    rpc GetMission(GetMissionRequest) returns (GetMissionResponse) {}

    // Alternative method to download large missions that allows you to break
    // the mission up into multiple streamed requests. Each data chunk message should be
    // deserialized as a GetMissionResponse protobuf message.
    rpc GetMissionAsChunks(GetMissionRequest) returns (stream DataChunk) {}

    // Specify an answer to the question asked by the mission.
    rpc AnswerQuestion(AnswerQuestionRequest) returns (AnswerQuestionResponse) {}
}