AgentTask.proto

syntax = "proto2";

package llsf_msgs;

import "Team.proto";
import "ProductColor.proto";

option java_package = "org.robocup_logistics.llsf_msgs";
option java_outer_classname = "AgentTasksProtos";

message AgentTask {
  enum CompType {
    COMP_ID = 8000; // COMPONENT 8000 is Simulation
    MSG_TYPE = 502;
  }

  // 0: None
  // 1XX: Parsing Error
  // 2XX: Execution Error
  // 22X: Internal Error
  // 3XX: Calculation Error
  enum ErrorCode {
    NO_ERROR = 0;
    UNKNOWN = 1;
    WRONG_TEAM = 101;
    WRONG_ROBOT = 102;
    INVALID_TARGET = 103;
    TASK_NOT_SUPPORTED = 104;
    NOT_AT_POSITION = 105;
    UNABLE_TO_MOVE_TO_TARGET = 201;
    NO_WORKPIECE_FOUND = 202;
    MPS_NOT_FOUND = 203;
    WORKPIECE_SENSOR_DISAGREEMENT = 204;
    ABORTED_DUE_TO_UNEXPECTED_COLLISION = 205;
    GRASPING_FAILED = 206;
    WORKPIECE_ALREADY_IN_GRIPPER = 207;
    NO_WORKPIECE_IN_GRIPPER = 208;
    MACHINE_POINT_OCCUPIED = 209;
    INTERNAL_ERROR = 220;
    NO_PATH_FOUND = 300;
  }

  // general infos
  required Team team_color = 1; // Color of the team
  required uint32 task_id = 2;  // identifier for the tasks
  required uint32 robot_id = 3;

  // Tasks
  optional Move move = 4;
  optional Retrieve retrieve = 5;
  optional Deliver deliver = 6;
  optional BufferStation buffer = 7;
  optional ExploreWaypoint explore_machine = 8;

  // additional info for the refbox
  optional WorkpieceDescription workpiece_description = 9;
  optional uint32 order_id = 10;

  // flags and result of the current task
  optional bool cancel_task = 11; // cancels current task
  optional bool pause_task =
      12; // if true current task is paused, if false again task is continued
  optional bool successful = 13; // was the task finished successful?
  optional bool canceled =
      14; // the task was successfully canceled from the agent
  optional uint32 error_code = 15; // only set if failure, error codes defined in ErrorCode enum
}

// Move robot to stated waypoint
message Move {
  required string waypoint =
      1; // can be a zone or a machine (default is input side of a machine)
  optional string machine_point =
      2; // can be used to specify the point of the machine (input, output)
}

// Get a workpiece at the given station and hold the product in the gripper
message Retrieve {
  required string machine_id = 1; // name of the machine
  required string machine_point =
      2; // valid machine-points: input, output, shelf
}

// Deliver the holding product to the given station
message Deliver {
  required string machine_id = 1;    // name of the machine
  required string machine_point = 2; // valid machine-points: input, slide
}

// Get product from shelf and place it immediately afterwards on the conveyor
message BufferStation {
  required string machine_id =
      1; // machine-id because need to know if CS1 or CS2
  required uint32 shelf_number =
      2; // only for old-gripper, valid shelf-numbers: 1, 2, 3
}

// Move to the given machine (if position already detected), else move to given
// waypoint (=zone on the playing field)
message ExploreWaypoint {
  required string machine_id = 1;    // name of the machine
  required string machine_point = 2; // valid machine-points: input, output
  required string waypoint = 3;
}

message WorkpieceDescription {
  enum CompType {
    COMP_ID = 8000;
    MSG_TYPE = 510;
  }
  required BaseColor base_color =
      3; // description fo the current workpiece the robot has gripped
  repeated RingColor ring_colors =
      4; // description fo the current workpiece the robot has gripped
  optional CapColor cap_color =
      5; // description fo the current workpiece the robot has gripped
}