# ServiceAckResult.msg
# ACK code definition for command-like service responses.
# 這邊只是定義常數的檔案
#
# Design:
# - 0~10   : MAVLink MAV_RESULT compatible range (autopilot/firmware ACK) 大多不會用到 直接吃飛控回傳值
# - 50~89  : System-level ACK codes (local bridge/orchestrator status)
# - 90~99  : Unknown/reserved fallback
#
# Rule:
# - If FC ACK is received, return MAV_RESULT_* code.
# - If FC ACK is not reachable / local pipeline failed, return SYS_* code.

# ---- MAVLink MAV_RESULT (standard) ---- 詳細請自行去網路找 mavlink MAV_RESULT 
uint8 MAV_RESULT_ACCEPTED=0             # 封包正常接受並執行
uint8 MAV_RESULT_TEMPORARILY_REJECTED=1 # 封包正常接受 但是飛控很忙 不執行 需要等待後重試
uint8 MAV_RESULT_DENIED=2               # 封包不正常 參數可能給錯了
uint8 MAV_RESULT_UNSUPPORTED=3          # 封包不正常 根本認不出是啥
uint8 MAV_RESULT_FAILED=4               # 封包正常接受 但是載具的狀態異常 不執行
uint8 MAV_RESULT_IN_PROGRESS=5
uint8 MAV_RESULT_CANCELLED=6
uint8 MAV_RESULT_COMMAND_LONG_ONLY=7
uint8 MAV_RESULT_COMMAND_INT_ONLY=8
uint8 MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME=9
uint8 MAV_RESULT_NOT_IN_CONTROL=10

# ---- System-level result codes (custom) ----
# 50 : 有接到預期的封包 但是訊息建議再確認
# 51 : some messages will not have obviously ack, so monitering feature message. however, we do NOT get the feature message. ex. 85/86 pair 
# 
# 52 : mavlink communication timeout 可能是通訊丟包了
# 53 : there already has a command being execution for this sysid, try later
# 54 : this sysid is not found

uint8 FCSYS_GET_EXPECTED_FEEDBACK=50
uint8 FCSYS_NO_EXPECTED_FEEDBACK=51
uint8 FCSYS_MAVLINK_TIMEOUT=52
uint8 FCSYS_BUSY=53
uint8 FCSYS_DEVICE_NOT_FOUND=54


# ---- Fallback ----
uint8 FCSYS_UNKNOWN=90