command_message.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 CommandMessage
{
    option (dccl.msg) = {
        id: 125
        max_bytes: 32
        codec_version: 4
        unit_system: "si"
    };
 
    required int32 destination = 1
        [(dccl.field) = { max: 31 min: 0 in_head: true }];
    optional string description = 2 [(dccl.field).omit = true];
    enum SonarPower
    {
        NOMINAL = 10;
        LOW = 5;
        OFF = 0;
    }
    optional SonarPower sonar_power = 10;
    required double speed = 11 [(dccl.field) = {
        units { base_dimensions: "LT^-1" }
        max: 2.0
        min: -0.5
        precision: 1
    }];
    repeated int32 waypoint_depth = 12 [(dccl.field) = {
        units { base_dimensions: "L" }
        max: 40
        min: 0
        max_repeat: 4
    }];
}