syntax = "proto3";
package laserweld.command;

option csharp_namespace = "Laserweld.Protos.Command";

// ===== Java / Android 必须的配置 =====
option java_multiple_files = true;
option java_package = "com.lxsoft.weld.grpc";
option java_outer_classname = "CommandProto";

import "common.proto";
import "project_manager.proto";
import "project.proto";
import "motion.proto";
import "teach.proto";

// ==================== 命令服务 ====================
// 统一命令通道：所有非高优先级命令
// 高优先级 Stop 使用 MotionService.Stop()
// 坐标同步使用 CoordinateService

service CommandService {
  // 双向流：发送命令，接收 Ack + Result
  rpc Execute(stream CommandRequest) returns (stream CommandResponse);
}

// ==================== 请求 ====================

message CommandRequest {
  string id = 1;  // 命令唯一ID

  oneof command {
    // ========== 项目管理 ==========
    laserweld.project_manager.CreateProject create_project = 10;
    laserweld.project_manager.RenameProject rename_project = 11;
    laserweld.project_manager.OpenProject open_project = 12;
    laserweld.project_manager.CloseProject close_project = 13;
    laserweld.project_manager.DeleteProject delete_project = 14;
    laserweld.project_manager.ExportProject export_project = 15;
    laserweld.project_manager.ImportProject import_project = 16;
    laserweld.project_manager.QueryProjects query_projects = 17;
    laserweld.project_manager.DownloadProject download_project = 18;

    // ========== 项目详情 ==========
    laserweld.project.GetProjectDetail get_project_detail = 30;
    laserweld.project.GetGeneralProc get_general_proc = 31;
    laserweld.project.SetGeneralProc set_general_proc = 32;
    laserweld.project.GetEmptyProc get_empty_proc = 33;
    laserweld.project.SetEmptyProc set_empty_proc = 34;
    laserweld.project.GetInputPortNames get_input_port_names = 35;
    laserweld.project.GetOutputPortNames get_output_port_names = 36;

    // ========== 轨迹操作 ==========
    laserweld.project.AddTrack add_track = 50;
    laserweld.project.AddSubTrack add_sub_track = 51;
    laserweld.project.DeleteTrack delete_track = 52;
    laserweld.project.DeleteTracks delete_tracks = 53;
    laserweld.project.ModifyTrack modify_track = 54;
    laserweld.project.InsertTrack insert_track = 55;
    laserweld.project.ModifyProc modify_proc = 56;

    // ========== 示教控制 ==========
    laserweld.teach.StartProcess start_process = 70;
    laserweld.teach.KeepProcess keep_process = 71;
    laserweld.teach.StopProcess stop_process = 72;
    laserweld.teach.MoveToTrack move_to_track = 73;
    laserweld.teach.ForwardTrack forward_track = 74;
    laserweld.teach.BackwardTrack backward_track = 75;

    // ========== 运动控制（非紧急）==========
    laserweld.motion.GetPhysicModel get_physic_model = 90;
    laserweld.motion.GetCoordinateEnable get_coordinate_enable = 91;
    laserweld.motion.GetCurrentCoord get_current_coord = 92;
    laserweld.motion.ResetCoord reset_coord = 93;
    laserweld.motion.GetBackHomeInfo get_back_home_info = 94;
    laserweld.motion.BackHome back_home = 95;
    laserweld.motion.BackZero back_zero = 96;
    laserweld.motion.SetRTCP set_rtcp = 97;
    laserweld.motion.AlignCoord align_coord = 98;
    laserweld.motion.MoveTo move_to = 99;
    laserweld.motion.MoveAxis move_axis = 100;
    laserweld.motion.MoveAxisContinuous move_axis_continuous = 101;
    laserweld.motion.StopAxisContinuous stop_axis_continuous = 102;
  }
}

// ==================== 响应 ====================

message CommandResponse {
  string command_id = 1;  // 对应的命令ID

  oneof response {
    laserweld.common.Ack ack = 2;
    CommandResult result = 3;
  }
}

// 端口名称列表（用于 GetInputPortNames/GetOutputPortNames 返回）
message PortNames {
  repeated string names = 1;
}

// 命令结果
message CommandResult {
  // 基础结果字段（对应 Result）
  bool success = 1;
  string message = 2;
  int32 error_code = 3;
  int64 completed_at = 4;

  // 返回数据（对应 Result<T> 的 Value）
  oneof data {
    // 项目管理
    laserweld.project_manager.Project project = 10;                 // Create/Open 返回
    laserweld.project_manager.ProjectList projects = 11;            // Query 返回
    bytes raw_data = 12;                                            // Export 返回

    // 项目详情
    laserweld.common.ProjectDetail project_detail = 20;             // GetProjectDetail 返回
    laserweld.common.GeneralProc general_proc = 21;                 // Get/SetGeneralProc 返回
    laserweld.common.EmptyProc empty_proc = 22;                     // Get/SetEmptyProc 返回
    PortNames port_names = 23;                                      // GetInputPortNames/GetOutputPortNames 返回

    // 轨迹操作
    laserweld.common.TrackItem track_item = 30;                     // Add/Modify/Insert 返回

    // 运动控制
    string physic_model = 40;                                       // GetPhysicModel 返回
    laserweld.motion.CoordinateEnableData coordinate_enable = 41;   // GetCoordinateEnable 返回
    laserweld.common.Vector6d current_coord = 42;                   // GetCurrentCoord 返回
    string back_home_info = 44;                                     // GetBackHomeInfo 返回

    // 示教控制
    uint32 track_id = 43;                                           // MoveToTrack/ForwardTrack/BackwardTrack 返回
  }
}