config.proto

import "goby/common/protobuf/option_extensions.proto";
import "goby/common/protobuf/app_base_config.proto";

package goby.core.proto;

// Type of vehicle for a given node
enum VehicleType
{
    AUV = 1;
    USV = 2;
    SHIP = 3;
    GLIDER = 4;
    TARGET = 5;
    BUOY = 6;
    OTHER = 7;
}

// defines information and connections
// to a node (vehicle, ship, etc.)
// a node is defined by a single gobyd and collection
// of connected processes
message Platform
{
    message SerialInfo
    {
        required string port = 1 [(goby.field).example = "/dev/ttyUSB1"];
        required uint32 baud = 2 [(goby.field).example = "19200"];
    }
    message AcousticModemInfo
    {
        required uint32 modem_id = 1 [
            (goby.field).description = "Micro-Modem id ($CCCFQ,SRC)",
            (goby.field).example = "1"
        ];
        required SerialInfo modem_serial = 2;
        optional bool has_coproc = 3 [
            default = true,
            (goby.field).description = "can handle high-rate PSK"
        ];
    }
    message EthernetInfo
    {
        required string ipv4_addr = 1 [(goby.field).example = "192.168.1.1"];
        required uint32 ipv4_port = 2 [(goby.field).example = "10023"];
    }

    required string name = 1 [
        (goby.field).description = "unique name of the node",
        (goby.field).example = "AUV-23"
    ];
    optional VehicleType type = 2
        [(goby.field).description = "type of the node", default = AUV];

    optional AcousticModemInfo acomms = 3
        [(goby.field).description = "acoustic connectivity"];
    optional EthernetInfo ether = 4
        [(goby.field).description = "ethernet connectivity"];
    optional SerialInfo serial = 5
        [(goby.field).description = "serial connectivity "];
}

message LogConfig
{
    enum SQLBackend
    {
        SQLITE = 1;
    }
    optional SQLBackend backend = 1 [default = SQLITE];

    message SQLiteInfo
    {
        // %1% gets expanded into platform name
        // %2% gets expanded to iso date-time stamp
        optional string path = 2 [default = "./%1%_%2%_goby.db"];
    }
    // only needed if backend == SQLITE
    optional SQLiteInfo sqlite = 2;
}

// latitude and longitude can be troublesome to use, so often
// we want to define a local datum for doing a planar approximation
// in X,Y,Z coordinates (meters) of where vehicles are.
// This datum is the 0,0,0 point of the X,Y,Z grid
message LocalCartesianDatum
{
    required double lat = 1;                  // decimal degrees
    required double lon = 2;                  // decimal degrees
    optional double depth = 3 [default = 0];  // meters
}

message Config
{
    optional AppBaseConfig base = 1
        [(goby.field).description = "params shared with all goby applications"];
    optional Platform self = 2 [(goby.field).description = "this platform"];
    repeated Platform other = 3
        [(goby.field).description = "the known world of platforms"];
    //  optional LogConfig log = 4 [(goby.field).description="SQL log
    //  configuration"];

    optional LocalCartesianDatum origin = 5 [
        (goby.field).description =
            "Convenient origin for local cartesian coordinate transformations"
    ];
}