bluefin.proto

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

import "goby/acomms/protobuf/modem_message.proto";

package goby.moos.protobuf;

message BuoyancyStatus
{
    enum Status
    {
        BUOYANCY_IDLE = 0;
        BUOYANCY_IN_PROGRESS = 1;
        BUOYANCY_COMPLETED_SUCCESSFULLY = 2;
        BUOYANCY_COMPLETED_UNSUCCESSFULLY = 3;
    }

    optional Status status = 1 [default = BUOYANCY_IDLE];

    enum Error
    {
        ERROR_NONE = 0;
        ERROR_BUOYANCY_OPERATION_FAILED = 1;
        ERROR_OPERATION_CANCELLED = 2;
        ERROR_ZERO_FLOW = 3;
    }

    optional Error error = 2 [default = ERROR_NONE];
    optional string debug_string = 3;
    optional double buoyancy_newtons = 4;
}

message TrimStatus
{
    enum Status
    {
        TRIM_IDLE = 0;
        TRIM_IN_PROGRESS = 1;
        TRIM_COMPLETED_SUCCESSFULLY = 2;
        TRIM_COMPLETED_UNSUCCESSFULLY = 3;
    }

    optional Status status = 1 [default = TRIM_IDLE];

    enum Error
    {
        ERROR_NONE = 0;
        ERROR_TRIM_OPERATION_FAILED = 1;
        ERROR_CANNOT_TRIM_WHILE_SILENT = 2;
    }

    optional Error error = 2 [default = ERROR_NONE];
    optional string debug_string = 3;
    optional double pitch_trim_degrees = 4;
    optional double roll_trim_degrees = 5;
}

message BluefinExtraData
{
    optional goby.acomms.protobuf.ModemRaw micro_modem_raw_out = 1;
    optional goby.acomms.protobuf.ModemRaw micro_modem_raw_in = 2;
    optional BuoyancyStatus buoyancy_status = 10;
    optional TrimStatus trim_status = 20;

    message PayloadStatus
    {
        required int32 id = 1;
        required uint64 expire_time = 2;
        required string msg = 3;
        required bool all_ok = 4;
    };

    repeated PayloadStatus payload_status = 30;
}

extend FrontSeatInterfaceData
{
    optional BluefinExtraData bluefin_data = 1000;
}

message BluefinExtraCommands
{
    enum BluefinCommand
    {
        UNKNOWN_COMMAND = 0;
        DESIRED_COURSE = 1;
        TRIM_ADJUST = 3;
        BUOYANCY_ADJUST = 4;
        SILENT_MODE = 5;
        CANCEL_CURRENT_BEHAVIOR = 6;
        ABORT_MISSION = 7;
        MISSION_START_CONFIRM = 8;
        MISSION_END_CONFIRM = 9;
    }
    optional BluefinCommand command = 1 [default = UNKNOWN_COMMAND];

    enum SilentMode
    {
        NORMAL = 0;
        SILENT = 1;
    }
    optional SilentMode silent_mode = 10 [default = NORMAL];

    enum AbortReason
    {
        SUCCESSFUL_MISSION = 0;
        ABORT_WITH_ERRORS = 1;
    }

    optional AbortReason abort_reason = 11 [default = ABORT_WITH_ERRORS];

    enum StartConfirm
    {
        SUCCESS = 1;
        FAIL = 0;
    }
    optional StartConfirm start_confirm = 12 [default = SUCCESS];
}

extend CommandRequest
{
    optional BluefinExtraCommands bluefin_command = 1000;
}