DCCL v4
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auv_status.proto
1// Copyright 2015-2023:
2// GobySoft, LLC (2013-)
3// Community contributors (see AUTHORS file)
4// File authors:
5// Toby Schneider <toby@gobysoft.org>
6// Chris Murphy <cmurphy@aphysci.com>
7//
8//
9// This file is part of the Dynamic Compact Control Language Library
10// ("DCCL").
11//
12// DCCL is free software: you can redistribute it and/or modify
13// it under the terms of the GNU Lesser General Public License as published by
14// the Free Software Foundation, either version 2.1 of the License, or
15// (at your option) any later version.
16//
17// DCCL is distributed in the hope that it will be useful,
18// but WITHOUT ANY WARRANTY; without even the implied warranty of
19// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20// GNU Lesser General Public License for more details.
21//
22// You should have received a copy of the GNU Lesser General Public License
23// along with DCCL. If not, see <http://www.gnu.org/licenses/>.
24syntax = "proto2";
25import "dccl/option_extensions.proto";
26
27message AUVStatus
28{
29 option (dccl.msg) = {
30 id: 122
31 max_bytes: 32
32 codec_version: 4
33 };
34
35 // Header
36 required double timestamp = 1
37 [(dccl.field) = { codec: "_time" in_head: true }];
38 required int32 source = 2 [(dccl.field) = { min: 0 max: 31 in_head: true }];
39 required int32 destination = 3
40 [(dccl.field) = { min: 0 max: 31 in_head: true }];
41
42 // Body
43 required double x = 4 [(dccl.field) = {
44 units { system: "si" base_dimensions: "L" }
45 min: -10000
46 max: 10000
47 precision: 1
48 }];
49 required double y = 5 [(dccl.field) = {
50 units { system: "si" base_dimensions: "L" }
51 min: -10000
52 max: 10000
53 precision: 1
54 }];
55
56 required double speed = 6 [(dccl.field) = {
57 units { system: "si" base_dimensions: "LT^-1" }
58 min: 0
59 max: 20.0,
60 precision: 1
61 }];
62 required double heading = 7 [(dccl.field) = {
63 units { system: "angle::degree" derived_dimensions: "plane_angle" }
64 min: 0
65 max: 360.0,
66 precision: 1
67 }];
68
69 optional double depth = 8 [(dccl.field) = {
70 units { system: "si" base_dimensions: "L" }
71 min: 0
72 max: 6500
73 precision: 0
74 }];
75 optional double altitude = 9 [(dccl.field) = {
76 units { system: "si" base_dimensions: "L" }
77 min: 0
78 max: 500
79 precision: 1
80 }];
81 optional double pitch = 10 [(dccl.field) = {
82 units { system: "angle::radian" derived_dimensions: "plane_angle" }
83 min: -1.57
84 max: 1.57
85 precision: 2
86 }];
87 optional double roll = 11 [(dccl.field) = {
88 units { system: "angle::radian" derived_dimensions: "plane_angle" }
89 min: -1.57
90 max: 1.57
91 precision: 2
92 }];
93 optional MissionState mission_state = 12;
94 enum MissionState
95 {
96 IDLE = 0;
97 SEARCH = 1;
98 CLASSIFY = 2;
99 WAYPOINT = 3;
100 }
101
102 optional DepthMode depth_mode = 13;
103 enum DepthMode
104 {
105 DEPTH_SINGLE = 0;
106 DEPTH_YOYO = 1;
107 DEPTH_BOTTOM_FOLLOWING = 2;
108 }
109}