goby_moos_app.proto

import "goby/common/protobuf/option_extensions.proto";
import "goby/common/protobuf/logger.proto";
import "goby/moos/protobuf/translator.proto";

message GobyMOOSAppConfig
{
    // Global moos variables (Specified outside "ProcessConfig" blocks)
    optional bool log = 100 [
        default = true,
        (goby.field).moos_global = "log",
        (goby.field).description =
            "Should we write a text log of the terminal output?"
    ];
    optional string log_path = 101 [
        default = "./",
        (goby.field).moos_global = "log_path",
        (goby.field).description =
            "Directory path to write the text log of the terminal output (if "
            "log=true)"
    ];

    optional goby.common.protobuf.GLogConfig.Verbosity log_verbosity = 105 [
        default = DEBUG2,
        (goby.field).description = "Verbosity of the log file"
    ];

    optional string community = 102 [
        (goby.field).moos_global = "Community",
        (goby.field).description = "The vehicle's name",
        (goby.field).example = "AUV23"
    ];
    optional double lat_origin = 103 [
        (goby.field).moos_global = "LatOrigin",
        (goby.field).description =
            "Latitude in decimal degrees of the local cartesian datum",
        (goby.field).example = "42.5"
    ];
    optional double lon_origin = 104 [
        (goby.field).moos_global = "LongOrigin",
        (goby.field).description =
            "Longitude in decimal degrees of the local cartesian datum",
        (goby.field).example = "10.9"
    ];

    optional uint32 time_warp_multiplier = 106 [
        default = 1,
        (goby.field).moos_global = "MOOSTimeWarp",
        (goby.field).description =
            "Factor by which to make the clock run faster."
    ];

    optional string server_host = 107 [
        (goby.field).moos_global = "ServerHost",
        (goby.field).description = "MOOSDB Server Host name"
    ];
    optional int32 server_port = 108 [
        (goby.field).moos_global = "ServerPort",
        (goby.field).description = "MOOSDB Server Port"
    ];

    optional uint32 app_tick = 1 [
        default = 10,
        (goby.field).description = "Frequency at which to run Iterate()."
    ];

    optional uint32 comm_tick = 2 [
        default = 10,
        (goby.field).description =
            "Frequency at which to call into the MOOSDB for mail."
    ];

    optional goby.common.protobuf.GLogConfig.Verbosity verbosity = 3 [
        default = VERBOSE,
        (goby.field).description = "Verbosity of the terminal window output"
    ];
    optional bool show_gui = 4 [
        default = false,
        (goby.field).description =
            "Set to true to display windowed NCurses GUI for terminal output."
    ];

    optional bool use_binary_protobuf = 109 [
        default = false,
        (goby.field).moos_global = "use_binary_protobuf",
        (goby.field).description =
            "Use TECHNIQUE_PREFIXED_PROTOBUF_NATIVE_ENCODED for parse_for_moos "
            "and "
            "serialize_for_moos"
    ];

    optional goby.moos.protobuf.TranslatorEntry.ParserSerializerTechnique
        moos_parser_technique = 110 [
        default = TECHNIQUE_PREFIXED_PROTOBUF_TEXT_FORMAT,
        (goby.field).moos_global = "moos_parser_technique"
    ];

    // post various configuration values to the MOOSDB on startup
    message Initializer
    {
        enum Type
        {
            INI_DOUBLE = 1;
            INI_STRING = 2;
        }
        required Type type = 1 [
            (goby.field).description = "type of MOOS variable to publish",
            (goby.field).example = "INI_DOUBLE"
        ];
        required string moos_var = 2 [
            (goby.field).description = "name of MOOS variable to publish to",
            (goby.field).example = "SOME_MOOS_VAR"
        ];
        optional string global_cfg_var = 3 [
            (goby.field).description =
                "Optionally, instead of giving `sval` or `dval`, give a name "
                "here of "
                "a global MOOS variable (one at the top of the file) whose "
                "contents "
                "should be written to `moos_var`",
            (goby.field).example = "LatOrigin"
        ];  // pull from globals at top of MOOS file
        optional double dval = 4 [
            (goby.field).description = "Value to write for type==INI_DOUBLE",
            (goby.field).example = "3.454"
        ];  // required if type == MOOS_DOUBLE
        optional string sval = 5 [
            (goby.field).description = "Value to write for type==INI_STRING",
            (goby.field).example = "a string"
        ];  // required if type == MOOS_STRING
        optional bool trim = 6 [
            (goby.field).description =
                "Trim whitespace from front and back of string",
            default = true
        ];
    }
    repeated Initializer initializer = 10
        [(goby.field).description =
             "Publish a constant value to the MOOSDB at startup"];
}