auv_status.proto

// Copyright 2015-2023:
//   GobySoft, LLC (2013-)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//   Chris Murphy <cmurphy@aphysci.com>
//
//
// This file is part of the Dynamic Compact Control Language Library
// ("DCCL").
//
// DCCL is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// DCCL is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with DCCL.  If not, see <http://www.gnu.org/licenses/>.
syntax = "proto2";
import "dccl/option_extensions.proto";
 
message AUVStatus
{
    option (dccl.msg) = {
        id: 122
        max_bytes: 32
        codec_version: 4
    };
 
    // Header
    required double timestamp = 1
        [(dccl.field) = { codec: "_time" in_head: true }];
    required int32 source = 2 [(dccl.field) = { min: 0 max: 31 in_head: true }];
    required int32 destination = 3
        [(dccl.field) = { min: 0 max: 31 in_head: true }];
 
    // Body
    required double x = 4 [(dccl.field) = {
        units { system: "si" base_dimensions: "L" }
        min: -10000
        max: 10000
        precision: 1
    }];
    required double y = 5 [(dccl.field) = {
        units { system: "si" base_dimensions: "L" }
        min: -10000
        max: 10000
        precision: 1
    }];
 
    required double speed = 6 [(dccl.field) = {
        units { system: "si" base_dimensions: "LT^-1" }
        min: 0
        max: 20.0,
        precision: 1
    }];
    required double heading = 7 [(dccl.field) = {
        units { system: "angle::degree" derived_dimensions: "plane_angle" }
        min: 0
        max: 360.0,
        precision: 1
    }];
 
    optional double depth = 8 [(dccl.field) = {
        units { system: "si" base_dimensions: "L" }
        min: 0
        max: 6500
        precision: 0
    }];
    optional double altitude = 9 [(dccl.field) = {
        units { system: "si" base_dimensions: "L" }
        min: 0
        max: 500
        precision: 1
    }];
    optional double pitch = 10 [(dccl.field) = {
        units { system: "angle::radian" derived_dimensions: "plane_angle" }
        min: -1.57
        max: 1.57
        precision: 2
    }];
    optional double roll = 11 [(dccl.field) = {
        units { system: "angle::radian" derived_dimensions: "plane_angle" }
        min: -1.57
        max: 1.57
        precision: 2
    }];
    
    // Angular velocity must use a general system (e.g. "si") that supports both
    // plane_angle and time base dimensions. Using a specialized angle system
    // (e.g. "angle::degree") would produce a dimensionless result and is
    // rejected by the protoc-gen-dccl plugin.
    optional double angular_velocity = 14 [(dccl.field) = {
        units { system: "si" derived_dimensions: "angular_velocity" }
        min: -3.14159
        max: 3.14159
        precision: 4
    }];
 
    required double heading_rate = 15 [(dccl.field) = {
        units {
            custom {
                unit: "dccl::units::degrees_per_second_unit"
                header: "dccl/units/degrees.h"
            }
        }
        min: -100
        max: 100.0,
        precision: 0
    }];
 
    optional MissionState mission_state = 12;
    enum MissionState
    {
        IDLE = 0;
        SEARCH = 1;
        CLASSIFY = 2;
        WAYPOINT = 3;
    }
 
    optional DepthMode depth_mode = 13;
    enum DepthMode
    {
        DEPTH_SINGLE = 0;
        DEPTH_YOYO = 1;
        DEPTH_BOTTOM_FOLLOWING = 2;
    }
}