Goby3 3.1.5a
2024.05.23
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frontseat.proto
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1syntax = "proto2";
2import "goby/middleware/protobuf/frontseat_data.proto";
3
4package goby.middleware.frontseat.protobuf;
5
6enum InterfaceState
7{
8 INTERFACE_STANDBY = 1;
9 INTERFACE_LISTEN = 2;
10 INTERFACE_COMMAND = 3;
11 INTERFACE_HELM_ERROR = 4;
12 INTERFACE_FS_ERROR = 5;
13}
14
15enum FrontSeatState
16{
17 FRONTSEAT_NOT_CONNECTED = 0;
18 FRONTSEAT_IDLE = 1;
19 FRONTSEAT_ACCEPTING_COMMANDS = 2;
20 FRONTSEAT_IN_CONTROL = 3;
21}
22
23enum HelmState
24{
25 HELM_NOT_RUNNING = 0;
26 HELM_DRIVE = 1;
27 HELM_PARK = 2;
28}
29
30message HelmStateReport
31{
32 required HelmState state = 1;
33}
34
35enum HelmError
36{
37 ERROR_HELM_NONE = 0;
38 ERROR_HELM_NOT_RUNNING = 1;
39 ERROR_HELM_PARKED = 2;
40}
41
42enum FrontSeatError
43{
44 ERROR_FRONTSEAT_NONE = 0;
45 ERROR_FRONTSEAT_NOT_CONNECTED = 1;
46 ERROR_FRONTSEAT_NOT_PROVIDING_DATA = 2;
47 ERROR_FRONTSEAT_IGNORING_COMMANDS = 3;
48}
49
50message InterfaceStatus
51{
52 optional InterfaceState state = 1;
53 optional FrontSeatState frontseat_state = 2;
54 optional HelmState helm_state = 3;
55 optional HelmError helm_error = 4;
56 optional FrontSeatError frontseat_error = 5;
57}
58
59message CommandRequest
60{
61 optional DesiredCourse desired_course = 1;
62 optional bool response_requested = 10 [default = false];
63 optional int32 request_id = 11;
64
65 optional int32 cancel_request_id =
66 20; // if possible, tell the driver to stop trying to process this
67 // command
68
69 extensions 1000 to max;
70 // 1000 - Bluefin
71 // 1001 - Iver
72}
73
74message CommandResponse
75{
76 optional bool request_successful = 10;
77 optional int32 request_id = 11;
78 optional int32 error_code = 20 [default = 0];
79 optional string error_string = 21;
80
81 extensions 1000 to max;
82}
83
84message InterfaceData
85{
86 optional NodeStatus node_status = 1;
87 optional CTDSample ctd_sample = 2;
88 optional bytes dccl_message = 3;
89
90 extensions 1000 to max;
91 // 1000 - Bluefin
92 // 1001 - Iver
93}
94
95message Raw
96{
97 optional bytes raw = 1;
98 enum RawType
99 {
100 RAW_ASCII = 1;
101 RAW_BINARY = 2;
102 }
103 optional RawType type = 2 [default = RAW_ASCII];
104 optional string description = 3;
105
106 extensions 1000 to max;
107}
108