linuxcnc-grpc 1.0.0-beta.4

syntax = "proto3";

package linuxcnc;

option go_package = "github.com/dougcalobrisi/linuxcnc-grpc/packages/go;pb";

// ============================================================================
// ENUMS
// ============================================================================

// Interpreter state
enum InterpState {
  INTERP_STATE_UNSPECIFIED = 0;
  INTERP_IDLE = 1;
  INTERP_READING = 2;
  INTERP_PAUSED = 3;
  INTERP_WAITING = 4;
}

// Task mode
enum TaskMode {
  TASK_MODE_UNSPECIFIED = 0;
  MODE_MANUAL = 1;
  MODE_AUTO = 2;
  MODE_MDI = 3;
}

// Task state
enum TaskState {
  TASK_STATE_UNSPECIFIED = 0;
  STATE_ESTOP = 1;
  STATE_ESTOP_RESET = 2;
  STATE_ON = 3;
  STATE_OFF = 4;
}

// Execution state
enum ExecState {
  EXEC_STATE_UNSPECIFIED = 0;
  EXEC_ERROR = 1;
  EXEC_DONE = 2;
  EXEC_WAITING_FOR_MOTION = 3;
  EXEC_WAITING_FOR_MOTION_QUEUE = 4;
  EXEC_WAITING_FOR_IO = 5;
  EXEC_WAITING_FOR_MOTION_AND_IO = 6;
  EXEC_WAITING_FOR_DELAY = 7;
  EXEC_WAITING_FOR_SYSTEM_CMD = 8;
  EXEC_WAITING_FOR_SPINDLE_ORIENTED = 9;
}

// RCS status
enum RcsStatus {
  RCS_STATUS_UNSPECIFIED = 0;
  RCS_DONE = 1;
  RCS_EXEC = 2;
  RCS_ERROR = 3;
}

// Trajectory mode
enum TrajMode {
  TRAJ_MODE_UNSPECIFIED = 0;
  TRAJ_MODE_FREE = 1;
  TRAJ_MODE_COORD = 2;
  TRAJ_MODE_TELEOP = 3;
}

// Motion type
enum MotionType {
  MOTION_TYPE_NONE = 0;
  MOTION_TYPE_TRAVERSE = 1;
  MOTION_TYPE_FEED = 2;
  MOTION_TYPE_ARC = 3;
  MOTION_TYPE_TOOLCHANGE = 4;
  MOTION_TYPE_PROBING = 5;
  MOTION_TYPE_INDEXROTARY = 6;
}

// Kinematics type
enum KinematicsType {
  KINEMATICS_UNSPECIFIED = 0;
  KINEMATICS_IDENTITY = 1;
  KINEMATICS_FORWARD_ONLY = 2;
  KINEMATICS_INVERSE_ONLY = 3;
  KINEMATICS_BOTH = 4;
}

// Joint type
enum JointType {
  JOINT_TYPE_UNSPECIFIED = 0;
  JOINT_LINEAR = 1;
  JOINT_ANGULAR = 2;
}

// Spindle direction
enum SpindleDirection {
  SPINDLE_STOPPED = 0;
  SPINDLE_FORWARD = 1;
  SPINDLE_REVERSE = 2;
}

// Spindle command
enum SpindleCommand {
  SPINDLE_CMD_OFF = 0;
  SPINDLE_CMD_FORWARD = 1;
  SPINDLE_CMD_REVERSE = 2;
  SPINDLE_CMD_INCREASE = 3;
  SPINDLE_CMD_DECREASE = 4;
  SPINDLE_CMD_CONSTANT = 5;
}

// Coolant state
enum CoolantState {
  COOLANT_OFF = 0;
  COOLANT_ON = 1;
}

// Brake state
enum BrakeState {
  BRAKE_RELEASE = 0;
  BRAKE_ENGAGE = 1;
}

// Jog type
enum JogType {
  JOG_STOP = 0;
  JOG_CONTINUOUS = 1;
  JOG_INCREMENT = 2;
}

// Auto command type
enum AutoCommandType {
  AUTO_RUN = 0;
  AUTO_PAUSE = 1;
  AUTO_RESUME = 2;
  AUTO_STEP = 3;
  AUTO_REVERSE = 4;
  AUTO_FORWARD = 5;
}

// ============================================================================
// POSITION AND OFFSET TYPES
// ============================================================================

// 9-axis position (X, Y, Z, A, B, C, U, V, W)
message Position {
  double x = 1;
  double y = 2;
  double z = 3;
  double a = 4;
  double b = 5;
  double c = 6;
  double u = 7;
  double v = 8;
  double w = 9;
}

// ============================================================================
// STATUS MESSAGES
// ============================================================================

// Task status information
message TaskStatus {
  int32 echo_serial_number = 1;
  RcsStatus state = 2;
  TaskMode task_mode = 3;
  TaskState task_state = 4;
  ExecState exec_state = 5;
  InterpState interp_state = 6;
  int32 call_level = 7;
  int32 read_line = 8;
  int32 motion_line = 9;
  int32 current_line = 10;
  string file = 11;
  string command = 12;
  int32 program_units = 13;  // 1=inch, 2=mm, 3=cm
  int32 interpreter_errcode = 14;
  bool optional_stop = 15;
  bool block_delete = 16;
  int32 task_paused = 17;
  bool input_timeout = 18;
  double rotation_xy = 19;
  string ini_filename = 20;
  double delay_left = 21;
  int32 queued_mdi_commands = 22;
}

// Trajectory status information
message TrajectoryStatus {
  double linear_units = 1;
  double angular_units = 2;
  double cycle_time = 3;
  int32 joints = 4;
  int32 spindles = 5;
  int32 axis_mask = 6;
  TrajMode motion_mode = 7;
  bool enabled = 8;
  bool inpos = 9;
  int32 queue = 10;
  int32 active_queue = 11;
  bool queue_full = 12;
  int32 motion_id = 13;
  bool paused = 14;
  double feedrate = 15;      // Feed override scale (0.0-1.0+)
  double rapidrate = 16;     // Rapid override scale (0.0-1.0)
  double velocity = 17;
  double acceleration = 18;
  double max_velocity = 19;
  double max_acceleration = 20;
  bool probe_tripped = 21;
  bool probing = 22;
  int32 probe_val = 23;
  KinematicsType kinematics_type = 24;
  MotionType motion_type = 25;
  double distance_to_go = 26;
  double current_vel = 27;
  bool feed_override_enabled = 28;
  bool adaptive_feed_enabled = 29;
  bool feed_hold_enabled = 30;
  int32 num_extrajoints = 31;
}

// Position status
message PositionStatus {
  Position position = 1;            // Commanded position
  Position actual_position = 2;     // Actual/feedback position
  Position probed_position = 3;     // Position where probe tripped
  Position dtg = 4;                 // Distance to go
  Position g5x_offset = 5;          // Current work offset (G54-G59.3)
  Position g92_offset = 6;          // G92 offset
  Position tool_offset = 7;         // Current tool offset
  int32 g5x_index = 8;              // Work coordinate system (1=G54, 2=G55, ...)
}

// Joint status
message JointStatus {
  int32 joint_number = 1;
  JointType joint_type = 2;
  double units = 3;
  double backlash = 4;
  double min_position_limit = 5;
  double max_position_limit = 6;
  double max_ferror = 7;
  double min_ferror = 8;
  double ferror_current = 9;
  double ferror_highmark = 10;
  double output = 11;              // Commanded position
  double input = 12;               // Feedback position
  double velocity = 13;
  bool inpos = 14;
  bool homing = 15;
  bool homed = 16;
  bool fault = 17;
  bool enabled = 18;
  bool min_soft_limit = 19;
  bool max_soft_limit = 20;
  bool min_hard_limit = 21;
  bool max_hard_limit = 22;
  bool override_limits = 23;
}

// Axis status
message AxisStatus {
  int32 axis_number = 1;           // 0=X, 1=Y, 2=Z, 3=A, 4=B, 5=C, 6=U, 7=V, 8=W
  double velocity = 2;
  double min_position_limit = 3;
  double max_position_limit = 4;
}

// Spindle status
message SpindleStatus {
  int32 spindle_number = 1;
  bool brake = 2;
  int32 direction = 3;             // 0=stopped, 1=forward, 2=reverse
  bool enabled = 4;
  bool override_enabled = 5;
  double speed = 6;                // Commanded speed (RPM)
  double override = 7;             // Override scale
  bool homed = 8;
  int32 orient_state = 9;
  int32 orient_fault = 10;
}

// Tool entry in tool table
message ToolEntry {
  int32 id = 1;                    // Tool number
  double x_offset = 2;
  double y_offset = 3;
  double z_offset = 4;
  double a_offset = 5;
  double b_offset = 6;
  double c_offset = 7;
  double u_offset = 8;
  double v_offset = 9;
  double w_offset = 10;
  double diameter = 11;
  double front_angle = 12;
  double back_angle = 13;
  int32 orientation = 14;
  string comment = 15;
}

// Tool status
message ToolStatus {
  int32 pocket_prepped = 1;        // Pocket index prepped for change (-1 if none)
  int32 tool_in_spindle = 2;       // Tool number in spindle (0 if none)
  int32 tool_from_pocket = 3;      // Pocket of current tool (0 if none)
  repeated ToolEntry tool_table = 4;
}

// I/O status
message IOStatus {
  bool estop = 1;
  CoolantState mist = 2;
  CoolantState flood = 3;
  repeated double analog_inputs = 4;   // 64 analog inputs
  repeated double analog_outputs = 5;  // 64 analog outputs
  repeated bool digital_inputs = 6;    // 64 digital inputs
  repeated bool digital_outputs = 7;   // 64 digital outputs
}

// G-code and M-code status
message GCodeStatus {
  repeated int32 active_gcodes = 1;     // Active G-codes (multiplied by 10)
  repeated int32 active_mcodes = 2;     // Active M-codes
  double sequence_number = 3;
  double feed_rate = 4;
  double spindle_speed = 5;
  double g64_p_tolerance = 6;
  double g64_q_tolerance = 7;
}

// Limit status for a joint (bitmask: 1=min_hard, 2=max_hard, 4=min_soft, 8=max_soft)
message LimitStatus {
  repeated int32 limit_flags = 1;       // One per joint
  repeated bool homed = 2;              // Homed status per joint
  repeated int32 misc_error = 3;        // Misc error codes
}

// Error/message from error channel
message ErrorMessage {
  enum ErrorType {
    ERROR_TYPE_UNSPECIFIED = 0;
    OPERATOR_ERROR = 1;
    OPERATOR_TEXT = 2;
    OPERATOR_DISPLAY = 3;
    NML_ERROR = 4;
    NML_TEXT = 5;
    NML_DISPLAY = 6;
  }
  ErrorType type = 1;
  string message = 2;
  int64 timestamp = 3;                  // Unix timestamp in nanoseconds
}

// ============================================================================
// MAIN STATUS MESSAGE - Returned on poll()
// ============================================================================

message LinuxCNCStatus {
  // Metadata
  int64 timestamp = 1;                  // Unix timestamp in nanoseconds
  string version = 2;                   // LinuxCNC version
  int32 debug = 3;                      // Debug flags

  // Status sections
  TaskStatus task = 10;
  TrajectoryStatus trajectory = 11;
  PositionStatus position = 12;
  repeated JointStatus joints = 13;     // Up to 16 joints
  repeated AxisStatus axes = 14;        // Up to 9 axes (XYZABCUVW)
  repeated SpindleStatus spindles = 15; // Up to 8 spindles
  ToolStatus tool = 16;
  IOStatus io = 17;
  GCodeStatus gcode = 18;
  LimitStatus limits = 19;

  // Errors (if any)
  repeated ErrorMessage errors = 20;
}

// ============================================================================
// COMMAND MESSAGES
// ============================================================================

// Set machine state (estop, on, off)
message StateCommand {
  TaskState state = 1;
}

// Set task mode (manual, auto, mdi)
message ModeCommand {
  TaskMode mode = 1;
}

// Execute MDI command
message MdiCommand {
  string command = 1;
}

// Jog command
message JogCommand {
  JogType type = 1;
  bool is_joint = 2;                    // True for joint, false for axis
  int32 index = 3;                      // Joint or axis number
  double velocity = 4;                  // Jog velocity
  double increment = 5;                 // For JOG_INCREMENT only
}

// Home command
message HomeCommand {
  int32 joint = 1;                      // Joint number, or -1 for all
}

// Unhome command
message UnhomeCommand {
  int32 joint = 1;
}

// Spindle command
message SpindleControlCommand {
  SpindleCommand command = 1;
  double speed = 2;                     // For FORWARD/REVERSE
  int32 spindle = 3;                    // Spindle number (default 0)
  bool wait_for_at_speed = 4;           // Wait for spindle to reach speed
}

// Spindle override command
message SpindleOverrideCommand {
  double scale = 1;                     // Override scale
  int32 spindle = 2;                    // Spindle number
}

// Brake command
message BrakeCommand {
  BrakeState state = 1;
  int32 spindle = 2;
}

// Feed rate override command
message FeedrateCommand {
  double scale = 1;                     // Feed rate scale (0.0-2.0+)
}

// Rapid rate override command
message RapidrateCommand {
  double scale = 1;                     // Rapid rate scale (0.0-1.0)
}

// Maximum velocity command
message MaxVelCommand {
  double velocity = 1;
}

// Coolant command
message CoolantCommand {
  bool mist = 1;
  bool flood = 2;
}

// Tool offset command
message ToolOffsetCommand {
  int32 tool_number = 1;
  double z_offset = 2;
  double x_offset = 3;
  double diameter = 4;
  double front_angle = 5;
  double back_angle = 6;
  int32 orientation = 7;
}

// Program control commands
message ProgramCommand {
  oneof command {
    string open = 1;                    // Open program file
    int32 run_from_line = 2;            // Run from line number
    bool pause = 3;                     // Pause program
    bool resume = 4;                    // Resume program
    bool step = 5;                      // Single step
    bool abort = 6;                     // Abort program
  }
}

// Auto mode command
message AutoCommand {
  AutoCommandType command = 1;
  int32 line = 2;                       // For AUTO_RUN, starting line
}

// Set digital output
message DigitalOutputCommand {
  int32 index = 1;
  bool value = 2;
}

// Set analog output
message AnalogOutputCommand {
  int32 index = 1;
  double value = 2;
}

// Set joint limits
message SetLimitCommand {
  int32 joint = 1;
  double min_limit = 2;
  double max_limit = 3;
}

// Override configuration
message OverrideConfigCommand {
  bool feed_override_enable = 1;
  bool spindle_override_enable = 2;
  int32 spindle = 3;                    // For spindle override
  bool feed_hold_enable = 4;
  bool adaptive_feed_enable = 5;
}

// Optional stop and block delete
message ProgramOptionsCommand {
  bool optional_stop = 1;
  bool block_delete = 2;
}

// Teleop enable
message TeleopCommand {
  bool enable = 1;
}

// Trajectory mode
message TrajModeCommand {
  TrajMode mode = 1;
}

// Override limits (for recovery from limit switches)
message OverrideLimitsCommand {
  // No parameters - affects all joints
}

// Reset interpreter
message ResetInterpreterCommand {
  // No parameters
}

// Load tool table
message LoadToolTableCommand {
  // No parameters - reloads from INI file
}

// Task plan sync
message TaskPlanSyncCommand {
  // No parameters
}

// Debug level
message DebugCommand {
  int32 level = 1;
}

// Operator messages
message OperatorMessageCommand {
  enum MessageType {
    ERROR = 0;
    TEXT = 1;
    DISPLAY = 2;
  }
  MessageType type = 1;
  string message = 2;
}

// ============================================================================
// UNIFIED COMMAND MESSAGE
// ============================================================================

message LinuxCNCCommand {
  int64 timestamp = 1;                  // Command timestamp
  int32 serial = 2;                     // Command serial number

  oneof command {
    StateCommand state = 10;
    ModeCommand mode = 11;
    MdiCommand mdi = 12;
    JogCommand jog = 13;
    HomeCommand home = 14;
    UnhomeCommand unhome = 15;
    SpindleControlCommand spindle = 16;
    SpindleOverrideCommand spindle_override = 17;
    BrakeCommand brake = 18;
    FeedrateCommand feedrate = 19;
    RapidrateCommand rapidrate = 20;
    MaxVelCommand maxvel = 21;
    CoolantCommand coolant = 22;
    ToolOffsetCommand tool_offset = 23;
    ProgramCommand program = 24;
    DigitalOutputCommand digital_output = 25;
    AnalogOutputCommand analog_output = 26;
    SetLimitCommand set_limit = 27;
    OverrideConfigCommand override_config = 28;
    ProgramOptionsCommand program_options = 29;
    TeleopCommand teleop = 30;
    TrajModeCommand traj_mode = 31;
    OverrideLimitsCommand override_limits = 32;
    ResetInterpreterCommand reset_interpreter = 33;
    LoadToolTableCommand load_tool_table = 34;
    TaskPlanSyncCommand task_plan_sync = 35;
    DebugCommand debug = 36;
    OperatorMessageCommand operator_message = 37;
  }
}

// ============================================================================
// COMMAND RESPONSE
// ============================================================================

message CommandResponse {
  int32 serial = 1;                     // Echo of command serial
  RcsStatus status = 2;                 // Command status
  string error_message = 3;             // Error message if status is RCS_ERROR
}

// ============================================================================
// SERVICE DEFINITIONS (for gRPC if needed)
// ============================================================================

service LinuxCNCService {
  // Get current status (poll equivalent)
  rpc GetStatus(GetStatusRequest) returns (LinuxCNCStatus);

  // Send a command
  rpc SendCommand(LinuxCNCCommand) returns (CommandResponse);

  // Wait for command completion
  rpc WaitComplete(WaitCompleteRequest) returns (CommandResponse);

  // Stream status updates
  rpc StreamStatus(StreamStatusRequest) returns (stream LinuxCNCStatus);

  // Stream errors
  rpc StreamErrors(StreamErrorsRequest) returns (stream ErrorMessage);

  // Upload a G-code file to the nc_files directory
  rpc UploadFile(UploadFileRequest) returns (UploadFileResponse);

  // List files in the nc_files directory
  rpc ListFiles(ListFilesRequest) returns (ListFilesResponse);

  // Delete a file from the nc_files directory
  rpc DeleteFile(DeleteFileRequest) returns (DeleteFileResponse);
}

message GetStatusRequest {
  // Empty - returns full status
}

message WaitCompleteRequest {
  int32 serial = 1;                     // Command serial to wait for
  double timeout = 2;                   // Timeout in seconds
}

message StreamStatusRequest {
  int32 interval_ms = 1;                // Update interval in milliseconds (default: 100)
}

message StreamErrorsRequest {
  // Empty - streams all errors
}

// ============================================================================
// FILE MANAGEMENT MESSAGES
// ============================================================================

// Upload a G-code file
message UploadFileRequest {
  string filename = 1;                  // Relative path within nc_files dir (e.g. "part1.ngc")
  string content = 2;                   // G-code text content
  bool fail_if_exists = 3;              // If true, fail when file already exists
}

message UploadFileResponse {
  string path = 1;                      // Absolute path where file was written
  bool overwritten = 2;                 // True if an existing file was replaced
}

// List files in the nc_files directory
message ListFilesRequest {
  string subdirectory = 1;              // Optional subdirectory (relative to nc_files)
}

message FileInfo {
  string name = 1;                      // Filename
  string path = 2;                      // Relative path from nc_files root
  int64 size_bytes = 3;                 // File size in bytes
  int64 modified_timestamp = 4;         // Last modified time (unix timestamp in nanoseconds)
  bool is_directory = 5;                // True if this entry is a directory
}

message ListFilesResponse {
  repeated FileInfo files = 1;          // Files in the directory
  string directory = 2;                 // Absolute path of listed directory
}

// Delete a file from the nc_files directory
message DeleteFileRequest {
  string filename = 1;                  // Relative path within nc_files dir
}

message DeleteFileResponse {
  string path = 1;                      // Absolute path of deleted file
}