frontseat.proto

import "goby/moos/protobuf/desired_course.proto";
import "goby/moos/protobuf/ctd_sample.proto";
import "goby/moos/protobuf/node_status.proto";

package goby.moos.protobuf;

enum InterfaceState
{
    INTERFACE_STANDBY = 1;
    INTERFACE_LISTEN = 2;
    INTERFACE_COMMAND = 3;
    INTERFACE_HELM_ERROR = 4;
    INTERFACE_FS_ERROR = 5;
}

enum FrontSeatState
{
    FRONTSEAT_NOT_CONNECTED = 0;
    FRONTSEAT_IDLE = 1;
    FRONTSEAT_ACCEPTING_COMMANDS = 2;
    FRONTSEAT_IN_CONTROL = 3;
}

enum HelmState
{
    HELM_NOT_RUNNING = 0;
    HELM_DRIVE = 1;
    HELM_PARK = 2;
}

enum HelmError
{
    ERROR_HELM_NONE = 0;
    ERROR_HELM_NOT_RUNNING = 1;
    ERROR_HELM_PARKED = 2;
}

enum FrontSeatError
{
    ERROR_FRONTSEAT_NONE = 0;
    ERROR_FRONTSEAT_NOT_CONNECTED = 1;
    ERROR_FRONTSEAT_NOT_PROVIDING_DATA = 2;
    ERROR_FRONTSEAT_IGNORING_COMMANDS = 3;
}

message FrontSeatInterfaceStatus
{
    optional InterfaceState state = 1;
    optional FrontSeatState frontseat_state = 2;
    optional HelmState helm_state = 3;
    optional HelmError helm_error = 4;
    optional FrontSeatError frontseat_error = 5;
}

message CommandRequest
{
    optional DesiredCourse desired_course = 1;
    optional bool response_requested = 10 [default = false];
    optional int32 request_id = 11;

    optional int32 cancel_request_id =
        20;  // if possible, tell the driver to
             // stop trying to process this command

    extensions 1000 to max;
    // 1000 - Bluefin
    // 1001 - Iver
}

message CommandResponse
{
    optional bool request_successful = 10;
    optional int32 request_id = 11;
    optional int32 error_code = 20 [default = 0];
    optional string error_string = 21;

    extensions 1000 to max;
}

message FrontSeatInterfaceData
{
    optional NodeStatus node_status = 1;
    optional CTDSample ctd_sample = 2;
    optional bytes dccl_message = 3;

    extensions 1000 to max;
    // 1001 - Iver
}

message FrontSeatRaw
{
    optional bytes raw = 1;
    enum RawType
    {
        RAW_ASCII = 1;
        RAW_BINARY = 2;
    }
    optional RawType type = 2 [default = RAW_ASCII];
    optional string description = 3;
}