geofence.proto

syntax = "proto3";

package mavsdk.rpc.geofence;

import "mavsdk_options.proto";

option java_package = "io.mavsdk.geofence";
option java_outer_classname = "GeofenceProto";

// Enable setting a geofence.
service GeofenceService {
    /*
     * Upload geofences.
     *
     * Polygon and Circular geofences are uploaded to a drone. Once uploaded, the geofence will remain
     * on the drone even if a connection is lost.
     */
    rpc UploadGeofence(UploadGeofenceRequest) returns(UploadGeofenceResponse) {}
    /*
     * Clear all geofences saved on the vehicle.
     */
    rpc ClearGeofence(ClearGeofenceRequest) returns(ClearGeofenceResponse) {}
}

// Point type.
message Point {
    double latitude_deg = 1; // Latitude in degrees (range: -90 to +90)
    double longitude_deg = 2; // Longitude in degrees (range: -180 to +180)
}

// Geofence types.
enum FenceType {
    FENCE_TYPE_INCLUSION = 0; // Type representing an inclusion fence
    FENCE_TYPE_EXCLUSION = 1; // Type representing an exclusion fence
}

// Polygon type.
message Polygon {
    repeated Point points = 1; // Points defining the polygon
    FenceType fence_type = 2; // Fence type
}

// Circular type.
message Circle {
    Point point = 1; // Point defining the center
    float radius = 2 [(mavsdk.options.default_value)="NaN"]; // Radius of the circular fence
    FenceType fence_type = 3; // Fence type
}

// Geofence data type.
message GeofenceData {
    repeated Polygon polygons = 1; // Polygon(s) representing the geofence(s)
    repeated Circle circles = 2; // Circle(s) representing the geofence(s)
}

message UploadGeofenceRequest {
    GeofenceData geofence_data = 1; // Circle(s) and/or Polygon(s) representing the geofence(s)
}

message UploadGeofenceResponse {
    GeofenceResult geofence_result = 1;
}

message ClearGeofenceRequest {}
message ClearGeofenceResponse {
    GeofenceResult geofence_result = 1;
}

// Result type.
message GeofenceResult {
    // Possible results returned for geofence requests.
    enum Result {
        RESULT_UNKNOWN = 0; // Unknown result
        RESULT_SUCCESS = 1; // Request succeeded
        RESULT_ERROR = 2; // Error
        RESULT_TOO_MANY_GEOFENCE_ITEMS = 3; // Too many objects in the geofence
        RESULT_BUSY = 4; // Vehicle is busy
        RESULT_TIMEOUT = 5; // Request timed out
        RESULT_INVALID_ARGUMENT = 6; // Invalid argument
        RESULT_NO_SYSTEM = 7; // No system connected
    }

    Result result = 1; // Result enum value
    string result_str = 2; // Human-readable English string describing the result
}