motion

type ExecutionID = uuid.UUID

type ListPlanStatusesReq struct {
	// If true then only active plans will be returned.
	OnlyActivePlans bool
	Extra           map[string]interface{}
}

type Localizer interface {
	CurrentPosition(context.Context) (*referenceframe.PoseInFrame, error)
}

type MotionConfiguration struct {
	ObstacleDetectors     []ObstacleDetectorName
	PositionPollingFreqHz float64
	ObstaclePollingFreqHz float64
	PlanDeviationMM       float64
	LinearMPerSec         float64
	AngularDegsPerSec     float64
}

type MoveOnGlobeReq struct {
	// ComponentName of the component to move
	ComponentName resource.Name
	// Goal destination the component should be moved to
	Destination *geo.Point
	// Heading the component should have a when it reaches the goal.
	// Range [0-360] Left Hand Rule (N: 0, E: 90, S: 180, W: 270)
	Heading float64
	// Name of the momement sensor which can be used to derive Position & Heading
	MovementSensorName resource.Name
	// Static obstacles that should be navigated around
	Obstacles []*spatialmath.GeoObstacle
	// Optional motion configuration
	MotionCfg *MotionConfiguration
	Extra     map[string]interface{}
}

type MoveOnMapReq struct {
	ComponentName resource.Name
	Destination   spatialmath.Pose
	SlamName      resource.Name
	MotionCfg     *MotionConfiguration
	Obstacles     []spatialmath.Geometry
	Extra         map[string]interface{}
}

type ObstacleDetectorName struct {
	VisionServiceName resource.Name
	CameraName        resource.Name
}

type PlanHistoryReq struct {
	// ComponentName the returned plans should be associated with.
	ComponentName resource.Name
	// When true, only the most recent plan will be returned which matches the ComponentName & ExecutionID if one was provided.
	LastPlanOnly bool
	// Optional, when not uuid.Nil it specifies the ExecutionID of the plans that should be returned.
	// Can be used to query plans from executions before the most recent one.
	ExecutionID ExecutionID
	Extra       map[string]interface{}
}

type PlanID = uuid.UUID

type PlanState uint8

type PlanStatus struct {
	State     PlanState
	Timestamp time.Time
	Reason    *string
}

type PlanStatusWithID struct {
	PlanID        PlanID
	ComponentName resource.Name
	ExecutionID   ExecutionID
	Status        PlanStatus
}

type PlanWithMetadata struct {
	// Unique ID of the plan
	ID PlanID
	// Name of the component the plan is planning for
	ComponentName resource.Name
	// Unique ID of the execution
	ExecutionID ExecutionID
	// The motionplan itself
	motionplan.Plan
	// The GPS point to anchor visualized plans at
	AnchorGeoPose *spatialmath.GeoPose
}

type PlanWithStatus struct {
	Plan          PlanWithMetadata
	StatusHistory []PlanStatus
}

type Service interface {
	resource.Resource
	Move(
		ctx context.Context,
		componentName resource.Name,
		destination *referenceframe.PoseInFrame,
		worldState *referenceframe.WorldState,
		constraints *pb.Constraints,
		extra map[string]interface{},
	) (bool, error)
	MoveOnMap(
		ctx context.Context,
		req MoveOnMapReq,
	) (ExecutionID, error)
	MoveOnGlobe(
		ctx context.Context,
		req MoveOnGlobeReq,
	) (ExecutionID, error)
	GetPose(
		ctx context.Context,
		componentName resource.Name,
		destinationFrame string,
		supplementalTransforms []*referenceframe.LinkInFrame,
		extra map[string]interface{},
	) (*referenceframe.PoseInFrame, error)
	StopPlan(
		ctx context.Context,
		req StopPlanReq,
	) error
	ListPlanStatuses(
		ctx context.Context,
		req ListPlanStatusesReq,
	) ([]PlanStatusWithID, error)
	PlanHistory(
		ctx context.Context,
		req PlanHistoryReq,
	) ([]PlanWithStatus, error)
}

type StopPlanReq struct {
	// ComponentName of the plan which should be stopped
	ComponentName resource.Name
	Extra         map[string]interface{}
}