server_control_message.proto

syntax = "proto3";

// Vector3 represents a 3D vector with x, y, z components
message Vector3 {
    double x = 1;
    double y = 2;
    double z = 3;
}

// CameraControlCommand represents all camera-related controls
message CameraControlCommand {
    Vector3 joints_vel = 1;     // Velocities for camera mount joints (x, y, z axes)
    double focal_length = 2;    // The focal length value
}

// SettingsCommand represents general control parameters
message SettingsCommand {
    bool adaptive_rate = 1;    // Whether to use adaptive rate
}

// FrankaCommand represents a command for the Franka robot
message FrankaCommand {
    Vector3 effector_pos = 1;  // The effector position
    bool show_marker = 2;  // Whether to show the marker
}

// ServerControlMessage is the main message that can contain any of the command types
message ServerControlMessage {
    // Only one of these fields will be set
    oneof command {
        CameraControlCommand camera_control_command = 1;
        SettingsCommand settings_command = 2;
        FrankaCommand franka_command = 3;
    }
}