JaiaBot 1.10.0+14+g8dbf2589
JaiaBot micro-AUV software
 
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groups.h
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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 Libraries
8// ("The Jaia Libraries").
9//
10// The Jaia Libraries are free software: you can redistribute them and/or modify
11// them under the terms of the GNU Lesser General Public License as published by
12// the Free Software Foundation, either version 2.1 of the License, or
13// (at your option) any later version.
14//
15// The Jaia Libraries 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 Lesser General Public License for more details.
19//
20// You should have received a copy of the GNU Lesser General Public License
21// along with the Jaia Libraries. If not, see <http://www.gnu.org/licenses/>.
22
23#ifndef JAIABOT_CORE_SRC_LIB_GROUPS_H
24#define JAIABOT_CORE_SRC_LIB_GROUPS_H
25
26#include "goby/middleware/group.h"
27
28#include "jaiabot/version.h"
29
30namespace jaiabot
31{
32namespace groups
33{
34constexpr goby::middleware::Group example{"jaiabot::example"};
35
36// lora
37constexpr goby::middleware::Group lora_rx{"jaiabot::lora_rx"};
38constexpr goby::middleware::Group lora_tx{"jaiabot::lora_tx"};
39constexpr goby::middleware::Group lora_report{"jaiabot::lora_report"};
40
41// sensors
42constexpr goby::middleware::Group imu{"jaiabot::imu"};
43constexpr goby::middleware::Group pressure_temperature{"jaiabot::pressure_temperature"};
44constexpr goby::middleware::Group pressure_adjusted{"jaiabot::pressure_adjusted"};
45constexpr goby::middleware::Group salinity{"jaiabot::salinity"};
46constexpr goby::middleware::Group echo{"jaiabot::echo"};
47
48// low control
49constexpr goby::middleware::Group low_control{"jaiabot::low_control"};
50constexpr goby::middleware::Group control_ack{"jaiabot::control_ack"};
51
52// high control
53constexpr goby::middleware::Group desired_setpoints{"jaiabot::desired_setpoints"};
54
55// mission manager
56constexpr goby::middleware::Group mission_report{"jaiabot::mission_report"};
57constexpr goby::middleware::Group mission_ivp_behavior_update{
58 "jaiabot::mission_ivp_behavior_update"};
59constexpr goby::middleware::Group mission_ivp_behavior_report{
60 "jaiabot::mission_ivp_behavior_report"};
61constexpr goby::middleware::Group powerstate_command{"jaiabot::powerstate_command"};
62constexpr goby::middleware::Group mission_dive{"jaiabot::mission_dive"};
63
64// hub manager
65constexpr goby::middleware::Group hub_status{"jaiabot::hub_status"};
66
67// health
68constexpr goby::middleware::Group linux_hardware_status{"jaiabot::linux_hardware_status"};
69constexpr goby::middleware::Group time_status{"jaiabot::time_status"};
70constexpr goby::middleware::Group systemd_report{"jaiabot::systemd_report"};
71constexpr goby::middleware::Group systemd_report_ack{"jaiabot::systemd_report_ack"};
72
73// DCCL (intervehicle)
74// The group used is an API version integer that allows us to check for incompatible
75// versions of Jaiabot running on various hubs/bots
76constexpr goby::middleware::Group bot_status{"jaiabot::bot_status",
78constexpr goby::middleware::Group hub_command{"jaiabot::hub_command"};
79constexpr goby::middleware::Group task_packet{"jaiabot::task_packet",
81constexpr goby::middleware::Group engineering_command{"jaiabot::engineering_command"};
82
83constexpr goby::middleware::Group engineering_status{"jaiabot::engineering_status",
85
86// DCCL (interprocess)
87constexpr goby::middleware::Group hub_command_full{"jaiabot::hub_command_full"};
88
89// Arduino
90constexpr goby::middleware::Group arduino_from_pi{"jaiabot::arduino_from_pi"};
91constexpr goby::middleware::Group arduino_to_pi{"jaiabot::arduino_to_pi"};
92constexpr goby::middleware::Group arduino_debug{"jaiabot::arduino_debug"};
93
94// Metadata
95constexpr goby::middleware::Group metadata{"jaiabot::metadata"};
96
97// MOOS
98constexpr goby::middleware::Group moos{"jaiabot::moos"};
99constexpr goby::middleware::Group helm_ivp{"jaiabot::helm_ivp"};
100
101// Bot Comms
102constexpr goby::middleware::Group intervehicle_subscribe_request{
103 "jaiabot::intervehicle_subscribe_request"};
104
105// simulator
106constexpr goby::middleware::Group simulator_command{"jaiabot::simulator_command"};
107
108} // namespace groups
109} // namespace jaiabot
110
111#endif
constexpr goby::middleware::Group intervehicle_subscribe_request
Definition groups.h:102
constexpr goby::middleware::Group echo
Definition groups.h:46
constexpr goby::middleware::Group helm_ivp
Definition groups.h:99
constexpr goby::middleware::Group imu
Definition groups.h:42
constexpr goby::middleware::Group example
Definition groups.h:34
constexpr goby::middleware::Group mission_ivp_behavior_update
Definition groups.h:57
constexpr goby::middleware::Group hub_command_full
Definition groups.h:87
constexpr goby::middleware::Group hub_command
Definition groups.h:78
constexpr goby::middleware::Group pressure_temperature
Definition groups.h:43
constexpr goby::middleware::Group time_status
Definition groups.h:69
constexpr goby::middleware::Group task_packet
Definition groups.h:79
constexpr goby::middleware::Group linux_hardware_status
Definition groups.h:68
constexpr goby::middleware::Group lora_rx
Definition groups.h:37
constexpr goby::middleware::Group arduino_to_pi
Definition groups.h:91
constexpr goby::middleware::Group pressure_adjusted
Definition groups.h:44
constexpr goby::middleware::Group mission_report
Definition groups.h:56
constexpr goby::middleware::Group systemd_report_ack
Definition groups.h:71
constexpr goby::middleware::Group engineering_status
Definition groups.h:83
constexpr goby::middleware::Group systemd_report
Definition groups.h:70
constexpr goby::middleware::Group lora_report
Definition groups.h:39
constexpr goby::middleware::Group mission_ivp_behavior_report
Definition groups.h:59
constexpr goby::middleware::Group low_control
Definition groups.h:49
constexpr goby::middleware::Group mission_dive
Definition groups.h:62
constexpr goby::middleware::Group salinity
Definition groups.h:45
constexpr goby::middleware::Group powerstate_command
Definition groups.h:61
constexpr goby::middleware::Group desired_setpoints
Definition groups.h:53
constexpr goby::middleware::Group engineering_command
Definition groups.h:81
constexpr goby::middleware::Group arduino_debug
Definition groups.h:92
constexpr goby::middleware::Group lora_tx
Definition groups.h:38
constexpr goby::middleware::Group control_ack
Definition groups.h:50
constexpr goby::middleware::Group moos
Definition groups.h:98
constexpr goby::middleware::Group bot_status
Definition groups.h:76
constexpr goby::middleware::Group simulator_command
Definition groups.h:106
constexpr goby::middleware::Group metadata
Definition groups.h:95
constexpr goby::middleware::Group arduino_from_pi
Definition groups.h:90
constexpr goby::middleware::Group hub_status
Definition groups.h:65
constexpr std::uint32_t INTERVEHICLE_API_VERSION
Definition version.h:44