JaiaBot  1.12.0+7+gdc1e5561
JaiaBot micro-AUV software
config.proto
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1 // Copyright 2021:
2 // JaiaRobotics LLC
3 // File authors:
4 // Toby Schneider <toby@gobysoft.org>
5 //
6 //
7 // This file is part of the JaiaBot Project Binaries
8 // ("The Jaia Binaries").
9 //
10 // The Jaia Binaries are free software: you can redistribute them and/or modify
11 // them under the terms of the GNU General Public License as published by
12 // the Free Software Foundation, either version 2 of the License, or
13 // (at your option) any later version.
14 //
15 // The Jaia Binaries are distributed in the hope that they will be useful,
16 // but WITHOUT ANY WARRANTY; without even the implied warranty of
17 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 // GNU General Public License for more details.
19 //
20 // You should have received a copy of the GNU General Public License
21 // along with the Jaia Binaries. If not, see <http://www.gnu.org/licenses/>.
22 
23 syntax = "proto2";
24 
25 import "goby/middleware/protobuf/app_config.proto";
26 import "goby/zeromq/protobuf/interprocess_config.proto";
27 import "goby/middleware/protobuf/transporter_config.proto";
28 import "jaiabot/messages/xbee_extensions.proto";
29 import "goby/middleware/protobuf/udp_config.proto";
30 import "goby/middleware/protobuf/pty_config.proto";
31 import "goby/middleware/protobuf/serial_config.proto";
32 import "goby/middleware/protobuf/tcp_config.proto";
33 
34 package jaiabot.config;
35 
36 message HubManager
37 {
38  // required parameters for ApplicationBase3 class
39  optional goby.middleware.protobuf.AppConfig app = 1;
40  // required parameters for connecting to 'gobyd'
41  optional goby.zeromq.protobuf.InterProcessPortalConfig interprocess = 2;
42 
43  // use to pre-seed expected bots
44  optional xbee.protobuf.Config xbee = 10;
45 
46  required goby.middleware.protobuf.TransporterConfig status_sub_cfg = 11;
47  required goby.middleware.protobuf.TransporterConfig task_packet_sub_cfg =
48  12;
49  required goby.middleware.protobuf.TransporterConfig
50  engineering_status_sub_cfg = 13;
51 
52  optional int32 hub_id = 14 [default = 0];
53  optional int32 fleet_id = 15 [default = 0];
54  optional int32 health_report_timeout_seconds = 16 [default = 20];
55 
56  message VirtualFleetData
57  {
58  // used by VirtualHub to shut down system after idle (no commands received)
59  // to avoid running up EC2 costs unexpectedly
60  required int32 shutdown_after_last_command_seconds = 1 [default = 3600];
61  // delay shutting down hub after this time since last BotStatus message
62  required int32 hub_shutdown_delay_seconds = 2 [default = 300];
63  }
64  optional VirtualFleetData vfleet = 20;
65 
66  // data offload
67  required string data_offload_script = 30;
68  optional string log_staging_dir = 31 [default = "/var/log/jaiabot/staging"];
69  optional string log_offload_dir = 32
70  [default = "/var/log/jaiabot/bot_offload"];
71  optional int32 bot_start_ip = 33 [default = 100];
72  optional string class_b_network = 34 [default = "10.23"];
73  optional bool use_localhost_for_data_offload = 35 [default = false];
74 
75 
76  required string hub_gpsd_device = 40; // gpsd device for hub itself
77 
78  message ContactGPS
79  {
80  required string gpsd_device = 1;
81  required int32 contact = 2;
82  optional bool use_cog = 3 [default = false];
83  }
84  repeated ContactGPS contact_gps =
85  41; // GPSD device feeds for contacts to
86  // send to vehicles (e.g., to trail, to avoid, etc.)
87 
88  message BotToGPS
89  {
90  optional int32 bot_id = 1;
91  oneof transport
92  {
93  goby.middleware.protobuf.UDPPointToPointConfig udp = 2;
94  goby.middleware.protobuf.PTYConfig pty = 3;
95  goby.middleware.protobuf.SerialConfig serial = 4;
96  goby.middleware.protobuf.TCPClientConfig tcp_client = 5;
97  goby.middleware.protobuf.TCPServerConfig tcp_server = 6;
98  }
99  }
100  repeated BotToGPS bot_to_gps = 42; // feed BotStatus as pseudo-GPS message
101  // over various transport options
102 
103  optional int32 contact_blackout_seconds = 43
104  [default = 2]; // don't send a contact update more often than this
105 
106 }