Remove concept of 'name' / 'track_name' from Track

protos/farm_ng/control/control.proto

@@ -25,34 +25,30 @@ package farm_ng.control.proto;
 
 // A track is a sequence of waypoints that the robot should follow or already drove.
 message Track {
-  // The name of the track
-  string name = 1;
   // The waypoints along the track
-  repeated farm_ng.core.proto.Pose waypoints = 2;
+  repeated farm_ng.core.proto.Pose waypoints = 1;
 }
 
 // This is sent to the controller service by a client to request a track be followed.
 message TrackFollowRequest {
   // The track to follow
   Track track = 1;
-  // Whether to drive the robot along the track in reverse or not.
-  // This means negative velocity and is independent of driving the waypoints in reverse order.
-  // See: track_reversed in TrackFollowerStatus
-  bool reverse_driving = 2;
+  // Optional requests for the controller to follow the track in a specific way.
+  // If no modes are specified, default track following behavior is used.
+  // If modes are specified, but not possible, track following will fail.
+  repeated TrackFollowMode modes = 2;
 }
 
 // The complete state of the controller.
 message TrackFollowerState {
-  // The name of the track being followed
-  string track_name = 1;
   // Status of the controller
-  TrackFollowerStatus status = 2;
+  TrackFollowerStatus status = 1;
   // Progress along the track
-  TrackFollowerProgress progress = 3;
+  TrackFollowerProgress progress = 2;
   // Poses of the robot and relevant points along the track
-  TrackFollowerPoseTree poses = 4;
+  TrackFollowerPoseTree poses = 3;
   // The commanded velocity in the robot's egocentric frame
-  farm_ng.core.proto.Isometry3F64Tangent commands = 5;
+  farm_ng.core.proto.Isometry3F64Tangent commands = 4;
 }
 
 // Status metrics of the controller

py/examples/controller_square/main.py

@@ -200,7 +200,7 @@ def format_track(track_waypoints: list[Pose3F64]) -> Track:
     Args:
         track_waypoints (list[Pose3F64]): The track waypoints.
     """
-    return Track(name="my_custom_track", waypoints=[pose.to_proto() for pose in track_waypoints])
+    return Track(waypoints=[pose.to_proto() for pose in track_waypoints])
 
 
 async def main(service_config_path: Path, side_length: float, clockwise: bool) -> None:

py/examples/record_track/main.py

@@ -42,7 +42,7 @@ async def main(service_config_path: Path, track_name: str, output_dir: Path) ->
     await EventClient(config).request_reply("/clear_track", Empty())
 
     # Create a Track message to store the waypoints in
-    track: Track = Track(name=track_name)
+    track: Track = Track()
 
     # Subscribe to the filter track topic
     message: Pose

py/farm_ng/control/utils.py

@@ -33,7 +33,7 @@ def filter_track_to_track(filter_track: FilterTrack) -> Track:
     """
     if not isinstance(filter_track, FilterTrack):
         raise TypeError(f"Expected FilterTrack, got {type(filter_track)}")
-    return Track(name=filter_track.name, waypoints=[state.pose for state in filter_track.states])
+    return Track(waypoints=[state.pose for state in filter_track.states])
 
 
 def update_filter_track(track_path: Path) -> None: