frontseat_config.proto

import "goby/moos/protobuf/goby_moos_app.proto";
import "goby/common/protobuf/option_extensions.proto";

message iFrontSeatConfig
{
    optional GobyMOOSAppConfig common = 1;

    optional bool require_helm = 10 [
        default = true,
        (goby.field).description =
            "Require the IvP Helm even for listening mission where the "
            "frontseat "
            "is in control."
    ];

    optional double helm_running_timeout = 11 [
        default = 10,
        (goby.field).description =
            "If `require_helm`, how long (in seconds) to wait for the IvP Helm "
            "to "
            "start before moving to the Helm Error state."
    ];

    optional double frontseat_connected_timeout = 12 [
        default = 10,
        (goby.field).description =
            "How long (in seconds) to wait for the Frontseat to be connected "
            "before moving to the Frontseat Error state."
    ];

    optional uint32 status_period = 13 [
        default = 5,
        (goby.field).description =
            "Seconds between publishing the status of iFrontseat. The special "
            "value 0 disables posting of the status message."
    ];

    optional uint32 modem_id = 14 [
        (goby.field).moos_global = "modem_id",
        (goby.field).description = "Acoustic modem identification number"
    ];

    message MOOSVariables
    {
        optional string prefix = 1 [
            default = "IFS_",
            (goby.field).description =
                "Prefix all MOOS variable names with this string"
        ];

        optional string raw_out = 10 [default = "RAW_OUT"];
        optional string raw_in = 11 [default = "RAW_IN"];

        optional string command_request = 12 [default = "COMMAND_REQUEST"];
        optional string command_response = 13 [default = "COMMAND_RESPONSE"];

        optional string data_from_frontseat = 14 [default = "DATA_IN"];
        optional string data_to_frontseat = 15 [default = "DATA_OUT"];

        optional string status = 16 [default = "STATUS"];

        optional string node_status = 17 [default = "NODE_STATUS"];
    }
    optional MOOSVariables moos_var = 20;

    optional bool exit_on_error = 21 [
        default = false,
        (goby.field).description =
            "If true, exit the application if it enters one of the error "
            "states."
    ];

    message LegacyOperations
    {
        optional bool subscribe_desired = 1 [
            default = true,
            (goby.field).description =
                "Convert the IvP Helm DESIRED_HEADING, DESIRED_SPEED, "
                "DESIRED_DEPTH "
                "variables into a CommandRequest::desired_course message."
        ];

        optional bool subscribe_ctd = 2 [
            default = false,
            (goby.field).description =
                "Convert the individual CTD_CONDUCTIVITY, CTD_TEMPERATURE, "
                "CTD_PRESSURE, CTD_SALINITY variables into a "
                "FrontSeatInterfaceData::ctd_sample message."
        ];

        optional bool subscribe_acomms_raw = 3 [
            default = false,
            (goby.field).description =
                "Convert the individual ACOMMS_RAW_INCOMING, "
                "ACOMMS_RAW_OUTGOING "
                "variables into a FrontSeatInterfaceData message with "
                "extensions "
                "BluefinExtraData::micro_modem_raw_out and "
                "BluefinExtraData::micro_mdoem_raw_in set."
        ];

        optional bool pub_sub_bf_commands = 4 [
            default = false,
            (goby.field).description =
                "Convert all of the following MOOS variables into "
                "corresponding "
                "enumerations of the BluefinExtraCommands extension of the "
                "CommandRequest message: BUOYANCY_CONTROL to "
                "BluefinExtraCommands::BUOYANCY_ADJUST, TRIM_CONTROL to "
                "BluefinExtraCommands::TRIM_ADJUST, FRONTSEAT_BHVOFF to "
                "BluefinExtraCommands::CANCEL_CURRENT_BEHAVIOR, "
                "FRONTSEAT_SILENT to "
                "BluefinExtraCommands::SILENT_MODE, BACKSEAT_ABORT to "
                "BluefinExtraCommands::ABORT_MISSION. Also, use the MOOS "
                "variable "
                "PENDING_SURFACE to trigger the "
                "BluefinExtraCommands::GPS_REQUEST."
        ];

        optional bool publish_nav = 12 [
            default = true,
            (goby.field).description =
                "Publish NAV_X, NAV_Y, NAV_LAT, NAV_LONG, NAV_Z, NAV_DEPTH, "
                "NAV_YAW, "
                "NAV_HEADING, NAV_SPEED, NAV_PITCH, NAV_ROLL and NAV_ALTITUDE "
                "from "
                "the NodeStatus message within FrontSeatInterfaceData"
        ];

        optional bool publish_fs_bs_ready = 11 [
            default = false,
            (goby.field).description =
                "Publish the MOOS variable FRONTSEAT_READY=1 when the "
                "frontseat "
                "state is FRONTSEAT_ACCEPTING_COMMANDS, and FRONTSEAT_READY=0 "
                "otherwise. Publish BACKSEAT_READY=1 when the helm state is "
                "HELM_DRIVE, and BACKSEAT_READY=0 otherwise."
        ];
    }

    optional LegacyOperations legacy_cfg = 30 [
        (goby.field).description =
            "Numerous options to automatically convert legacy variables (e.g., "
            "from iHuxley) into the iFrontSeat messages. Generally new "
            "projects "
            "will not use any of these options and thus this configuration "
            "block can be omitted."
    ];

    // Bluefin: 1000
    // ABC: 1001
    // Nemo: 1002
    // Iver3: 1003
    extensions 1000 to max;
}