bluefin_config.proto

import "goby/moos/protobuf/frontseat_config.proto";
import "goby/common/protobuf/option_extensions.proto";

message BluefinFrontSeatConfig
{
    required string huxley_tcp_address = 1;
    optional uint32 huxley_tcp_port = 2 [default = 29500];
    optional uint32 reconnect_interval = 3 [
        default = 10,
        (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,
        (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,
        (goby.field).description =
            "How many seconds to allow without $BFNVG before declaring "
            "frontseat "
            "not providing us data."
    ];
    optional uint32 heartbeat_interval = 8 [
        default = 1,
        (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."
    ];
}

extend iFrontSeatConfig
{
    optional BluefinFrontSeatConfig bluefin_config = 1000;
}