sim_requests.proto

// MIT License

// Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

syntax = 'proto3';

package racecar_simulator_standalone;

message MapRequest {
    // request message for updating map
    repeated double map = 1;
    double origin_x = 2;
    double origin_y = 3;
    double map_resolution = 4;
    double free_threshold = 5;
    int32 map_height = 6;
    int32 map_width = 7;
}

message MapResponse {
    // response message for updating map
    // 0 is success, 1 is failure
    int32 result = 1;
}

message PoseRequest {
    // request message for setting pose
    double pose_x = 1;
    double pose_y = 2;
    double pose_theta = 3;
}

message PoseResponse {
    // response message for setting pose
    repeated double scan = 1;
    double angle_min = 2;
    double angle_max = 3;
}

message CarObservation {
    // full state observation for EACH car
    // bare minimum at the moment

    // scan stuff
    repeated double scan = 1;

    // odom stuff
    // position
    double pose_x = 2;
    double pose_y = 3;
    // orientation
    double theta = 4;
    // velocities
    double linear_vel_x = 5;
    double linear_vel_y = 6;
    double ang_vel_z = 7;

    // collision
    bool collision = 8;
    double collision_angle = 9;
}

message SimObservation {
    // observations for all agents in sim
    repeated CarObservation observations = 1;
    int32 ego_idx = 2;
}

message StepRequest {
    // request for stepping the sim
    // should have all cars' requested actions
    int32 ego_idx = 1;
    repeated double requested_vel = 2;
    repeated double requested_ang = 3;
}

message StepResponse {
    // response message for stepping if failure
    // 1 is failure
    // should not receive this with result other than failure
    int32 result = 1;
}

message SimResetRequest {
    // request for reinitialize sim
    int32 num_cars = 1;
    int32 ego_idx = 2;
}

message SimResetResponse {
    // response for reinitialize sim
    // 0 success, 1 failure
    int32 result = 1;
}

message SimResetByPoseRequest {
    // request for reinitializing sim at given pose
    int32 num_cars = 1;
    int32 ego_idx = 2;
    repeated double car_x = 3;
    repeated double car_y = 4;
    repeated double car_theta = 5;
}

message UpdateParamRequest {
    // request for param update
    double mu = 1;
    double h_cg = 2;
    double l_r = 3;
    double cs_f = 4;
    double cs_r = 5;
    double I_z = 6;
    double mass = 7;
}

message UpdateParamResponse {
    // response for update param
    // 0 success, 1 failure
    int32 result = 1;
}

message AddObstacleRequest {
    // request for adding obstacle (from click in rviz)
    double index = 1;
    double obstacle_size = 2;
    double flag = 3;
}

message SimRequest {
    // wrapper for all request sent to sim server
    // types of requests: 0 - step the sim
    //                    1 - set the map for sim
    //                    2 - reset sim
    //                    3 - update params
    //                    4 - reset sim by pose
    //                    7 - add obstacle (from click in rviz)
    int32 type = 1;
    oneof request {
        StepRequest step_request = 2;
        MapRequest map_request = 3;
        SimResetRequest reset_request = 4;
        SimResetByPoseRequest reset_bypose_request = 5;
        UpdateParamRequest update_request = 6;
        AddObstacleRequest add_obstacle_request = 7;
    }
}

message SimResponse {
    // wrapper for all response from the sim server
    // types of responses: 0 - step response (full obs)
    //                     1 - step failed response (no map)
    //                     2 - map response
    //                     3 - reset sim response
    //                     4 - update sim response
    int32 type = 1;
    oneof response {
        SimObservation sim_obs = 2;
        StepResponse step_result = 3;
        MapResponse map_result = 4;
        SimResetResponse reset_resp = 5;
        UpdateParamResponse update_resp = 6;
    }
}