gpsd.proto

Go to the documentation of this file.

syntax = "proto2";
 
import "goby/middleware/protobuf/geographic.proto";
import "dccl/option_extensions.proto";
 
package goby.middleware.protobuf.gpsd;
 
 
 
message Satellite {
  option (dccl.msg).unit_system = "si";
  required int32 prn = 1;
  optional double az = 2
    [(dccl.field) = {units {
derived_dimensions: "plane_angle"
                      system: "angle::degree"
    }}];
  optional double el = 3
    [(dccl.field) = {units {
derived_dimensions: "plane_angle"
                      system: "angle::degree"
    }}];
  optional double ss = 4;
  optional bool used = 5;
  optional int32 gnssid = 6;
  optional int32 svid = 7;
  optional int32 sigid= 8;
  optional int32 freqid = 9;
  optional int32 health = 10;
}
 
message SkyView {
 
  option (dccl.msg).unit_system = "si";
  optional string device = 1;
  optional double time = 2 [(dccl.field).units.derived_dimensions = "time"];
 
  optional double gdop = 3;
  optional double hdop = 4;
  optional double pdop = 5;
  optional double tdop = 6;
  optional double vdop = 7;
  optional double xdop = 8;
  optional double ydop = 9;
  optional double nsat = 10;
  optional double usat = 11;
 
  repeated Satellite satellite = 12;
 
}
message Attitude {
 
  option (dccl.msg).unit_system = "si";
  optional string device = 1;
  optional double time = 2 [(dccl.field).units.derived_dimensions = "time"];
 
  optional double heading = 3
    [(dccl.field) = {units {
derived_dimensions: "plane_angle"
                      system: "angle::degree"
    }}];
 
 
  optional double pitch = 4
    [(dccl.field) = {units {
derived_dimensions: "plane_angle"
                      system: "angle::degree"
    }}];
 
  optional double yaw = 5
    [(dccl.field) = {units {
derived_dimensions: "plane_angle"
                      system: "angle::degree"
    }}];
 
 
  optional double roll = 6
    [(dccl.field) = {units {
derived_dimensions: "plane_angle"
                      system: "angle::degree"
    }}];
 
 
}
 
message TimePositionVelocity {
  option (dccl.msg).unit_system = "si";
  // There seems to be a number of things that aren't always initialized, so I am making everything optional for now. 
 
  optional string device = 1;
  optional double time = 2 [(dccl.field).units.derived_dimensions = "time"];
 
  enum Mode {
    ModeNotSeen = 0;
    ModeNoFix = 1;
    Mode2D = 2;
    Mode3D= 3;
  }
 
  optional Mode mode = 3;
  optional LatLonPoint location = 4;
 
  optional double altitude = 5 
    [(dccl.field).units.derived_dimensions = "length"];
 
  optional double track = 6 
    [(dccl.field) = {units {
derived_dimensions: "plane_angle"
                      system: "angle::degree"
    }}];
 
  optional double speed = 7
    [ (dccl.field).units.derived_dimensions = "length/time"];
 
  optional double climb = 8
    [(dccl.field).units.derived_dimensions = "length/time"];
 
  // Do we want any of the uncertainty values?
  optional double epc = 10 
    [ (dccl.field).units.derived_dimensions = "length/time"];
  optional double epd = 11
    [(dccl.field) = {units {
derived_dimensions: "plane_angle"
                      system: "angle::degree"
    }}];
 
 
  optional double eps = 12
 
    [ (dccl.field).units.derived_dimensions = "length/time"];
  optional double ept = 13
    [ (dccl.field).units.derived_dimensions = "time"];
  ;
 
  optional double epv = 14
    [(dccl.field).units.derived_dimensions = "length"];
  optional double epx = 15
    [(dccl.field).units.derived_dimensions = "length"];
  optional double epy = 16
    [(dccl.field).units.derived_dimensions = "length"];
 
}