syntax = "proto3";

package Fusion.proto;

enum StreamStatus {
    STREAM_STATUS_NORMAL = 0;
    STREAM_STATUS_RESET = 1;
}

message Vector2 {
    double x = 2;
    double y = 3;
}

message Vector {
    double x = 2;
    double y = 3;
    double z = 4;
}

message GpsPoint {
    double longitude = 2;
    double latitude = 3;
    double height = 4;
}

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

message ImuData {
    int64 timecode = 1;
    int64 recorded_time = 2;
    Vector gyroscope = 3;
    Vector accelerometer = 4;
    double period = 5;
    int32 frame_count = 6;
    int32 sensor_time = 7;
    double latency = 8;
    int64 start_tick = 9;
    bool fake_timecode = 10;
    string sensor_name = 11;
    Quaternion quaternion = 12;
    Vector euler = 13;
    int64 timestamp = 14;
    string sender_id = 15;
    Vector linear_velocity = 16;
    Vector magnetometer = 17;
    bool magnetometer_valid = 18;
}

message GnssData {
    int64 timecode = 1;
    int64 recorded_time = 2;
    double latitude = 3;
    double longitude = 4;
    double period = 5;
    int32 frame_count = 6;
    int32 sensor_time = 7;
    double latency = 8;
    int64 start_tick = 9;
    bool fake_timecode = 10;
    string sensor_name = 11;
    Quaternion orientation = 12;
    double height = 13;
    double vertical_accuracy = 14;
    double horizontal_accuracy = 15;
    int32 quality = 16;
    int32 n_sat = 17;
    double hdop = 18;
    double tmg = 19;
    double heading = 20;
    double altitude = 21;
    double undulation = 22;
    int64 timestamp = 23;
    string sender_id = 24;
    double diff_age = 25;
    Vector velocity = 26;
    bool velocity_valid = 27;
    double pitch_deg = 28;
    bool pitch_deg_valid = 29;
    int32 heading_quality = 30;
    bool heading_quality_valid = 31;
}

message OpticalData {
    int64 timecode = 1;
    int64 recorded_time = 2;
    Vector position = 3;
    Quaternion orientation = 4;
    Vector angular_velocity = 5;
    double quality = 6;
    double frame_rate = 7;
    int32 frame_number = 8;
    double latency = 9;
    bool fake_timecode = 10;
    string object_name = 11;
    int64 timestamp = 12;
    string sender_id = 13;
}

message FusedPose {
    int64 timestamp = 1;
    Vector position = 2;
    Quaternion orientation = 3;
    Vector angular_velocity = 4;
    int64 timecode = 5;
    string sender_id = 6;
    Vector velocity = 7;
    Vector acceleration = 8;
    int64 frame_number = 9;
    int64 transmission_time = 10;
    double latency = 11;
    string object_name = 12;
    reserved 13, 14;
}

message RTCMData {
    bytes chunk = 1;
    int32 length = 2;
    int64 timestamp = 3;
    string sender_id = 4;
}

message CANData {
    int64 timecode = 1;
    int64 recorded_time = 2;
    bool is_extended = 3;
    uint32 id = 4;
    bytes data = 5;
    int32 length = 6;
    int64 timestamp = 7;
    string sender_id = 8;
}

message VehicleState {
    int64 timecode = 1;
    int64 recorded_time = 2;
    double wheel_base = 3;
    double track_width = 4;
    double steering_angle_l = 5;
    double steering_angle_r = 6;
    double wheel_fr = 7;
    double wheel_fl = 8;
    double wheel_rr = 9;
    double wheel_rl = 10;
    int64 timestamp = 11;
    string sender_id = 12;
}

message FusedVehiclePose {
    int64 timestamp = 1;
    Vector2 position = 2;
    Vector2 global_position = 3;
    double yaw = 4;
    string utm_zone = 5;
    int64 timecode = 6;
    Vector acceleration = 7;
}

message FusedVehiclePoseV2 {
    int64 timestamp = 1;
    Vector2 position = 2;
    Vector2 global_position = 3;
    double yaw = 4;
    string utm_zone = 5;
    int64 timecode = 6;
    Vector2 acceleration = 7;
    string sender_id = 8;
    Vector2 velocity = 9;
    double angular_velocity = 10;
    int64 transmission_time = 11;
    int64 internal_frame_count = 12;
}

message GlobalFusedPose {
    int64 timestamp = 1;
    GpsPoint position = 2;
    Quaternion orientation = 3;
    string sender_id = 4;
    int64 timecode = 5;
    int64 transmission_time = 6;
}

message VehicleSpeed {
    int64 timecode = 1;
    int64 recorded_time = 2;
    double linear = 3;
    double angular = 4;
    bool valid_angular = 5;
    int64 timestamp = 6;
    string sender_id = 7;
}

message VelocityMeterData {
    int64 timestamp = 1;
    string sender_id = 2;
    int32 counter = 3;
    double velocity = 4;
    double distance = 5;
    double material = 6;
    double doppler_level = 7;
    int32 output_status = 8;
}

message FusionStateInt {
    int64 recorded_time = 1;
    Vector position = 2;
    Vector velocity = 3;
    double gravity = 4;
    Quaternion imu_orientation = 5;
    Vector omega_bias = 6;
    Vector accel_bias = 7;
    Vector imu_position = 8;
    int64 timecode = 9;
    int64 timestamp = 10;
    string sender_id = 11;
}

message FusionDiagnostics {
    int64 timestamp = 1;
    string sender_id = 2;
    Vector sigma_position = 3;
    Vector sigma_velocity = 4;
    double sigma_gravity = 5;
    Vector sigma_orientation = 6;
    Vector sigma_gyro_bias = 7;
    Vector sigma_accel_bias = 8;
    Vector sigma_antenna_offset = 9;
    Vector gnss_position_innovation = 10;
    double gnss_orientation_innovation = 11;
    bool has_gnss_update = 12;
    bool has_orientation_update = 13;
    bool rtk_fix_active = 14;
    bool filter_initialized = 15;
    bool waiting_for_convergence = 16;
}

message OdometryData {
    string sender_id = 1;
    int64 timestamp = 2;
    double latency = 3;
    Vector position = 4;
    Quaternion orientation = 5;
    Vector linear_velocity = 6;
    Vector angular_velocity = 7;
    bool pose_valid = 8;
    bool twist_valid = 9;
}

message StreamData {
    int32 sequence_number = 1;
    StreamStatus status = 17;
    ImuData imu_data = 2;
    OpticalData optical_data = 3;
    FusedPose fused_pose = 4;
    GnssData gnss_data = 5;
    RTCMData rtcm_data = 6;
    CANData can_data = 7;
    VehicleState vehicle_state = 8;
    FusedVehiclePose fused_vehicle_pose = 9;
    GlobalFusedPose global_fused_pose = 10;
    VehicleSpeed vehicle_speed = 11;
    FusionStateInt fusion_state_int = 12;
    FusedVehiclePoseV2 fused_vehicle_pose_v2 = 13;
    VelocityMeterData velocity_meter_data = 14;
    reserved 15;
    FusionDiagnostics fusion_diagnostics = 16;
    OdometryData odometry_data = 18;
}