DCCL v4
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command_message.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 CommandMessage
28{
29 option (dccl.msg) = {
30 id: 125
31 max_bytes: 32
32 codec_version: 4
33 unit_system: "si"
34 };
35
36 required int32 destination = 1
37 [(dccl.field) = { max: 31 min: 0 in_head: true }];
38 optional string description = 2 [(dccl.field).omit = true];
39 enum SonarPower
40 {
41 NOMINAL = 10;
42 LOW = 5;
43 OFF = 0;
44 }
45 optional SonarPower sonar_power = 10;
46 required double speed = 11 [(dccl.field) = {
47 units { base_dimensions: "LT^-1" }
48 max: 2.0
49 min: -0.5
50 precision: 1
51 }];
52 repeated int32 waypoint_depth = 12 [(dccl.field) = {
53 units { base_dimensions: "L" }
54 max: 40
55 min: 0
56 max_repeat: 4
57 }];
58}