bluefin_config.proto

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syntax = "proto2";
import "dccl/option_extensions.proto";
 
import "goby/middleware/protobuf/frontseat_config.proto";
import "goby/protobuf/option_extensions.proto";
 
package goby.middleware.frontseat.protobuf;
 
message BluefinConfig
{
    option (dccl.msg).unit_system = "si";
 
    required string huxley_tcp_address = 1;
    optional uint32 huxley_tcp_port = 2 [default = 29500];
    optional uint32 reconnect_interval = 3 [
        default = 10,
        (dccl.field).units.base_dimensions = "T",
        (goby.field).description =
            "How many seconds to wait between reconnects if the Huxley server "
            "disconnects."
    ];
    optional uint32 nmea_resend_attempts = 4 [
        default = 3,
        (goby.field).description =
            "Number of resend attempts for a given NMEA message"
    ];
    optional uint32 nmea_resend_interval = 5 [
        default = 5,
        (dccl.field).units.base_dimensions = "T",
        (goby.field).description =
            "How many seconds to wait between resend attempts"
    ];
    optional uint32 allowed_nmea_demerits = 6 [
        default = 3,
        (goby.field).description =
            "Number of times Huxley can fail to acknowledge a NMEA message "
            "before we close the connection."
    ];
    optional uint32 allow_missing_nav_interval = 7 [
        default = 5,
        (dccl.field).units.base_dimensions = "T",
        (goby.field).description =
            "How many seconds to allow without $BFNVG before declaring "
            "frontseat not providing us data."
    ];
    optional uint32 heartbeat_interval = 8 [
        default = 1,
        (dccl.field).units.base_dimensions = "T",
        (goby.field).description =
            "How many seconds between heartbeats (BPSTS)."
    ];
 
    repeated string extra_bplog = 9
        [(goby.field).description =
             "Additional Bluefin messages to enable logging for (e.g. for to "
             "send '$BPLOG,CMA,ON', set this field to 'CMA'"];
 
    optional bool send_tmr_messages = 10 [
        default = true,
        (goby.field).description =
            "Send the BPTMR message with acoustic comms contents."
    ];
 
    optional bool disable_ack = 11 [
        default = false,
        (goby.field).description =
            "(Advanced) if true, do not use the BFACK message. Set to true for "
            "vehicles without the BFACK support. Note that if this field is "
            "set, IFS_COMMAND_RESPONSE messages will not be posted."
    ];
 
    enum AcceptingCommandsHook
    {
        BFMSC_TRIGGER = 0;
        BFMIS_RUNNING_TRIGGER = 1;
        BFCTL_TRIGGER = 2;
    }
 
    optional AcceptingCommandsHook accepting_commands_hook = 12 [
        default = BFMSC_TRIGGER,
        (goby.field).description =
            "How this driver determines if the Bluefin Huxley is accepting "
            "commands. BFMSC_TRIGGER means the $BFMSC message receipt "
            "indicates that Huxley is receiving our commands. "
            "BFMIS_RUNNING_TRIGGER indicates that any $BFMIS (start of "
            "mission) that contains the word 'Running' indicates that Huxley "
            "is receiving our commands."
    ];
 
    optional bool use_rpm_table_for_speed = 20 [
        default = false,
        (goby.field).description =
            "If true, use a direct linear mapping from speed to RPM as defined "
            "by the 'rpm_table' entries, rather than commanding a desired "
            "speed"
    ];
    message RPMSpeedEntry
    {
        required double speed = 1
            [(dccl.field).units = {derived_dimensions: "velocity"}];
        required int32 rpm = 2;
    }
    repeated RPMSpeedEntry rpm_table = 21;
}
 
extend Config
{
    optional BluefinConfig bluefin_config = 1000;
}