iver_driver.proto

import "goby/moos/protobuf/frontseat.proto";

package goby.moos.protobuf;

message IverState
{
    enum IverMissionMode
    {
        IVER_MODE_UNKNOWN = -1;
        IVER_MODE_NORMAL = 0x4E; // 'N'
        IVER_MODE_STOPPED = 0x53; // 'S'
        IVER_MODE_PARKING = 0x50; // 'P'
        IVER_MODE_MANUAL_OVERRIDE = 0x4D; // 'M'
        IVER_MODE_MANUAL_PARKING = 0x6D; // 'm' ("mP")
        IVER_MODE_SERVO_MODE = 0x41; // 'A'
        IVER_MODE_MISSION_MODE = 0x57; // 'W'
    }
    optional IverMissionMode mode = 1 [default = IVER_MODE_UNKNOWN];
}

message IverExtraCommands
{
    enum IverCommand
    {
        UNKNOWN_COMMAND = 0;
        START_MISSION = 1;
        STOP_MISSION = 2;
    }
    optional IverCommand command = 1 [default = UNKNOWN_COMMAND];
    optional string mission = 2;
}

extend CommandRequest
{
    optional IverExtraCommands iver_command = 1001;
}

extend FrontSeatInterfaceData
{
    optional IverState iver_state = 1001;
}