syntax = "proto3";

option java_multiple_files = true;
option java_package = "io.grpc.pybullet_grpc";
option java_outer_classname = "PyBulletProto";
option objc_class_prefix = "PBG";


package pybullet_grpc;

service PyBulletAPI {
  // Sends a greeting
  rpc SubmitCommand (PyBulletCommand) returns (PyBulletStatus) {}
}


message vec3
{
	double x=1;
	double y=2;
	double z=3;
};

message quat4
{
	double x=1;
	double y=2;
	double z=3;
	double w=4;
};


message TerminateServerCommand
{
	string exitReason=1;
};

message StepSimulationCommand
{
};

message LoadUrdfCommand {
	string urdfFileName=1;
	vec3 initialPosition=2;
	quat4 initialOrientation=3;
	//for why oneof here, see the sad decision here:
	//https://github.com/protocolbuffers/protobuf/issues/1606
	oneof hasUseMultiBody	{		int32  useMultiBody=4;	}
	oneof hasUseFixedBase{	bool useFixedBase=5;	}
	int32 urdfFlags=6;
	oneof hasGlobalScaling {	double globalScaling=7;
	}
};

message LoadUrdfStatus {
	int32 objectUniqueId=1;
}




// The request message containing the command
message PyBulletCommand {
  int32 commandType=1;
  
  oneof commands {
    LoadUrdfCommand loadUrdfCommand = 3;
    TerminateServerCommand terminateServerCommand=4;
		StepSimulationCommand stepSimulationCommand= 5;
  }

  
}

// The response message containing the status
message PyBulletStatus {
  int32 statusType=1;
  
  oneof status
  {
  	LoadUrdfStatus urdfStatus = 2;
  }
}