# Interfaces

The `rosetta_interfaces` package: three actions and three services. The nodes
also use `std_srvs/srv/Trigger` and `std_srvs/srv/SetBool`.

## Actions

### RecordEpisode

Server: `episode_recorder_node`, `/record_episode`.

| Goal | Type | Meaning |
|---|---|---|
| `prompt` | string | Task label stored in the bag. Empty uses `default_prompt`. |
| `max_duration_s` | float64 | Zero uses `default_max_duration_s`. |

| Result | Type | Meaning |
|---|---|---|
| `termination_reason` | string | `stopped`, `timeout`, `cancelled`, `node_deactivated`, `error` |
| `message` | string | |
| `bag_path` | string | |
| `messages_written` | int32 | |

Feedback: `elapsed_s` float64, `messages_written` int32.

### RunPolicy

Server: `policy_runner_node`, `/run_policy`.

| Goal | Type | Meaning |
|---|---|---|
| `prompt` | string | Task string passed to the policy. |
| `max_duration_s` | float64 | Zero uses `default_max_duration_s`. |

| Result | Type | Meaning |
|---|---|---|
| `termination_reason` | string | `completed`, `timeout`, `cancelled`, `node_deactivated`, `error` |
| `message` | string | |

Feedback: `published_actions` uint32, `queue_depth` uint32.

### ManageEpisode

Server: `hil_manager_node`, `/manage_episode`.

| Goal | Type | Meaning |
|---|---|---|
| `prompt` | string | |
| `max_duration_s` | float64 | |
| `success_reward_threshold` | float64 | Zero disables. |

| Result | Type | Meaning |
|---|---|---|
| `termination_reason` | string | `stopped`, `timeout`, `reward_threshold`, `cancelled`, `node_deactivated`, `error` |
| `outcome` | string | `success`, `failure`, `unlabeled` |
| `message` | string | |
| `bag_path` | string | |
| `final_reward` | float64 | |
| `messages_written` | int32 | |

Feedback: `elapsed_s` float64, `current_reward` float64, `control_source`
string (`policy` or `teleop`), `outcome` string, `messages_written` int32.

## Services

| Service | Request | Response |
|---|---|---|
| `StartRecording` | `prompt` string | `accepted` bool, `message` string |
| `StartPolicy` | `prompt` string | `accepted` bool, `message` string |
| `StartHILEpisode` | `prompt` string, `max_duration_s` float64, `success_reward_threshold` float64 | `accepted` bool, `message` string |

A start service returns as soon as the work is accepted. Work started this
way has no goal. Stop it with the matching cancel service, or let
`default_max_duration_s` end it. Neither `StartRecording` nor `StartPolicy`
has a duration field. Both use `default_max_duration_s`.