node_status.proto

import "dccl/option_extensions.proto";

package goby.moos.protobuf;

message NodeStatus
{
    option (dccl.msg).id = 20;
    option (dccl.msg).max_bytes = 32;
    option (dccl.msg).unit_system = "si";
    option (dccl.msg).codec_version = 3;

    required double time = 1 [
        (dccl.field).codec = "_time",
        (dccl.field).units.derived_dimensions = "time"
    ];
    optional string name = 2 [(dccl.field).omit = true];
    optional uint32 modem_id = 12 [(dccl.field).min = 1, (dccl.field).max = 31];

    // defined in goby/core/proto/config.proto
    optional VehicleType type = 3;

    // lat, lon, depth
    required GeodeticCoordinate global_fix = 4;
    // x, y, z on local cartesian grid
    required CartesianCoordinate local_fix = 5;

    // roll, pitch, yaw
    required EulerAngles pose = 7;

    // speed over ground (not relative to water or surface)
    required double speed = 8 [
        (dccl.field).max = 20.0,
        (dccl.field).min = -2.0,
        (dccl.field).precision = 1,
        (dccl.field).units.derived_dimensions = "length/time"
    ];

    optional SourceSensor speed_source = 9
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];
    optional double speed_time_lag = 11 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
}

// Type of vehicle for a given node
enum VehicleType
{
    UNKNOWN = 0;
    AUV = 1;
    USV = 2;
    SHIP = 3;
    GLIDER = 4;
    TARGET = 5;
    BUOY = 6;
    OTHER = -1;
}

enum SourceSensor
{
    SOURCE_UNKNOWN = 0;
    GPS = 1;
    DEAD_RECKONING = 2;
    INERTIAL_MEASUREMENT_UNIT = 3;
    PRESSURE_SENSOR = 4;
    COMPASS = 5;
    SIMULATION = 6;
}

message GeodeticCoordinate
{
    option (dccl.msg).unit_system = "si";

    optional double lat = 1 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "plane_angle",
        (dccl.field).units.system = "angle::degree"
    ];  // dccl sends Cartesian Y
    optional double lon = 2 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "plane_angle",
        (dccl.field).units.system = "angle::degree"
    ];  // dccl sends Cartesian X
    optional double depth = 3 [
        default = 0,
        (dccl.field).max = 6400.0,
        (dccl.field).min = 0.0,
        (dccl.field).precision = 1,
        (dccl.field).units.derived_dimensions = "length"
    ];  // negative of "height"
    optional double altitude = 4 [
        (dccl.field).max = 5000.0,
        (dccl.field).min = -10.0,
        (dccl.field).precision = 1,
        (dccl.field).units.derived_dimensions = "length"
    ];

    optional SourceSensor lat_source = 5
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];
    optional SourceSensor lon_source = 6
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];
    optional SourceSensor depth_source = 7
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];
    optional SourceSensor altitude_source = 8
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];

    // time lags (in seconds) from the message Header time
    optional double lat_time_lag = 9 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
    optional double lon_time_lag = 10 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
    optional double depth_time_lag = 11 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
    optional double altitude_time_lag = 12 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
}

// computed from GeodeticCoordinate
message CartesianCoordinate
{
    option (dccl.msg).unit_system = "si";

    required double x = 1 [
        (dccl.field).max = 100000,
        (dccl.field).min = -100000,
        (dccl.field).precision = 0,
        (dccl.field).units.derived_dimensions = "length"
    ];
    required double y = 2 [
        (dccl.field).max = 100000,
        (dccl.field).min = -100000,
        (dccl.field).precision = 0,
        (dccl.field).units.derived_dimensions = "length"
    ];
    optional double z = 3 [
        default = 0,
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "length"
    ];  // negative of "depth"
}

// all in degrees
message EulerAngles
{
    option (dccl.msg).unit_system = "si";

    optional double roll = 1 [
        (dccl.field).max = 180,
        (dccl.field).min = -180,
        (dccl.field).precision = 1,
        (dccl.field).units.derived_dimensions = "plane_angle",
        (dccl.field).units.system = "angle::degree"
    ];
    optional double pitch = 2 [
        (dccl.field).max = 180,
        (dccl.field).min = -180,
        (dccl.field).precision = 1,
        (dccl.field).units.derived_dimensions = "plane_angle",
        (dccl.field).units.system = "angle::degree"
    ];
    optional double heading = 3 [
        (dccl.field).max = 360,
        (dccl.field).min = 0,
        (dccl.field).precision = 1,
        (dccl.field).units.derived_dimensions = "plane_angle",
        (dccl.field).units.system = "angle::degree"
    ];

    optional double roll_rate = 4 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "plane_angle/time",
        (dccl.field).units.system = "angle::degree"
    ];
    optional double pitch_rate = 5 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "plane_angle/time",
        (dccl.field).units.system = "angle::degree"
    ];
    optional double heading_rate = 6 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "plane_angle/time",
        (dccl.field).units.system = "angle::degree"
    ];

    optional SourceSensor roll_source = 10
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];
    optional SourceSensor pitch_source = 11
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];
    optional SourceSensor heading_source = 12
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];
    optional SourceSensor roll_rate_source = 13
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];
    optional SourceSensor pitch_rate_source = 14
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];
    optional SourceSensor heading_rate_source = 15
        [(dccl.field).omit = true, default = SOURCE_UNKNOWN];

    // time lags (in seconds) from the message Header time
    optional double roll_time_lag = 20 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
    optional double pitch_time_lag = 21 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
    optional double heading_time_lag = 22 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
    optional double roll_rate_time_lag = 23 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
    optional double pitch_rate_time_lag = 24 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
    optional double heading_rate_time_lag = 25 [
        (dccl.field).omit = true,
        (dccl.field).units.derived_dimensions = "time"
    ];
}