pAcommsHandler_config.proto

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syntax = "proto2";
import "goby/moos/protobuf/goby_moos_app.proto";
import "goby/acomms/protobuf/driver_base.proto";
import "goby/acomms/protobuf/queue.proto";
import "goby/acomms/protobuf/amac_config.proto";
import "goby/acomms/protobuf/dccl.proto";
import "goby/acomms/protobuf/route.proto";
import "goby/moos/protobuf/translator.proto";
import "goby/protobuf/option_extensions.proto";
 
package goby.apps.moos.protobuf;
 
message pAcommsHandlerConfig
{
    optional goby.moos.protobuf.GobyMOOSAppConfig common = 1 [
        (goby.field).description =
            "Configuration common to all Goby MOOS applications"
    ];  // see goby_moos_app.proto
 
    // unique identifying integer (1-31) for this vehicle's modem
    // setting this will set the modem_id for all the components of goby-acomms
    required int32 modem_id = 2 [
        (goby.field).description = "Unique number 1-31 to identify this node",
        (goby.field).example = "1"
    ];
 
    optional goby.acomms.protobuf.DriverConfig driver_cfg = 4
        [(goby.field).description =
             "Configure the primary acoustic modem driver (used for sending "
             "and receiving)"];
 
    repeated goby.acomms.protobuf.DriverConfig listen_driver_cfg = 31
        [(goby.field).description =
             "Configuration for the additional drivers."];
 
    message DriverFailureApproach
    {
        enum DriverFailureTechnique
        {
            CONTINUALLY_RESTART_DRIVER = 1;
            MOVE_LISTEN_DRIVER_TO_PRIMARY = 2;
            DISABLE_AND_MOVE_LISTEN_DRIVER_TO_PRIMARY = 3;
        }
        optional DriverFailureTechnique technique = 1
            [default = CONTINUALLY_RESTART_DRIVER];
        optional int32 driver_backoff_sec = 2 [
            (goby.field).description =
                "Seconds to wait until restarting a failed driver.",
            default = 60
        ];
        optional int32 new_driver_backoff_sec = 3 [
            (goby.field).description =
                "Seconds to wait until starting a listen driver in place of the failed driver.",
            default = 5
        ];
    }
    optional DriverFailureApproach driver_failure_approach = 32
        [(goby.field).description = "How to try to deal with a failed driver"];
 
    // amac
    optional goby.acomms.protobuf.MACConfig mac_cfg = 5
        [(goby.field).description =
             "Configure the acoustic Medium Access Control"];
 
    // for queue
    optional goby.acomms.protobuf.QueueManagerConfig queue_cfg = 6
        [(goby.field).description = "Configure the Priority Queuing layer"];
 
    // for dccl
    optional goby.acomms.protobuf.DCCLConfig dccl_cfg = 7
        [(goby.field).description =
             "Configure the Dynamic Compact Control Language Encoding/Decoding "
             "unit"];
 
    optional goby.acomms.protobuf.RouteManagerConfig route_cfg = 8
        [(goby.field).description = "Configure the Goby Routing unit"];
 
    message MOOSVariables
    {
        optional string prefix = 1 [
            default = "ACOMMS_",
            (goby.field).description =
                "Prefix all MOOS variable names with this string"
        ];
 
        // serial feed
        optional string driver_raw_in = 10 [default = "NMEA_IN"];
        optional string driver_raw_out = 11 [default = "NMEA_OUT"];
 
        optional string driver_raw_msg_in = 12 [default = "RAW_INCOMING"];
        optional string driver_raw_msg_out = 13 [default = "RAW_OUTGOING"];
 
        optional string driver_receive = 14 [default = "MODEM_RECEIVE"];
        optional string driver_transmit = 15 [default = "MODEM_TRANSMIT"];
 
        optional string driver_cfg_update = 16
            [default = "DRIVER_CONFIG_UPDATE"];
 
        optional string queue_receive = 100 [default = "QUEUE_RECEIVE"];
        optional string queue_transmit = 101 [default = "QUEUE_TRANSMIT"];
        // acoustic acknowledgments get written here
        optional string queue_ack_transmission = 102 [default = "ACK"];
        optional string queue_ack_original_msg = 103 [default = "ACK_ORIGINAL"];
        // expired messages (ttl ends)
        optional string queue_expire = 104 [default = "EXPIRE"];
        optional string queue_size = 105 [default = "QSIZE"];
        optional string queue_flush = 106 [default = "FLUSH_QUEUE"];
 
        optional string mac_cycle_update = 200 [default = "MAC_CYCLE_UPDATE"];
        optional string mac_initiate_transmission = 201
            [default = "MAC_INITIATE_TRANSMISSION"];
        optional string mac_slot_start = 202 [default = "MAC_SLOT_START"];
 
        optional string config_file = 300 [default = "CONFIG"];
        optional string config_file_request = 301 [default = "CONFIG_REQUEST"];
 
        optional string driver_reset = 400 [default = "DRIVER_RESET"];
 
        optional string ifrontseat_data_out = 500 [default = "IFS_DATA_OUT"];
    }
    optional MOOSVariables moos_var = 10;
 
    repeated string load_shared_library = 20 [
        (goby.field).description =
            "Path to a shared library containing compiled DCCL protobuf files. "
            "Preferred over load_dccl_proto_file.",
        (goby.field).example = "/usr/lib/libmy_dccl_messages.so"
    ];
 
    repeated string load_proto_file = 21 [
        (goby.field).description =
            "Path to a DCCL protobuf file. Use load_shared_library when "
            "possible.",
        (goby.field).example = "/usr/include/mylib/message.proto"
    ];
 
    repeated goby.moos.protobuf.TranslatorEntry translator_entry = 22
        [(goby.field).description =
             "Describes how to trigger (generate) a DCCL message from a MOOS "
             "event and how to publish the contents of the message upon "
             "receipt"];
 
    repeated string multiplex_create_moos_var = 23 [
        (goby.field).description =
            "Used primarily by goby_liaison. Specify a MOOS variable that "
            "contains one of many TECHNIQUE_PREFIXED_PROTOBUF_TEXT_FORMAT "
            "encoded protobuf messages. Upon receipt of a message, the "
            "`create` directives for this type are *published* (inverse of "
            "normal behavior), which triggers the creation of the message (if "
            "`trigger` is set to one of the `create` MOOS variables).",
        (goby.field).example = "LIAISON_COMMANDER_OUT"
    ];
 
    repeated string dccl_frontseat_forward_name = 24
        [(goby.field).description =
             "Full name of DCCL Protobuf message to foward to iFrontSeat"];
 
    // path to text file with entries:
    //   modem_id,name,type
    // for example
    //   3,unicorn,auv
    optional string modem_id_lookup_path = 101 [
        (goby.field).description =
            "Path to file containing mapping between modem_id and vehicle name "
            "& type",
        (goby.field).moos_global = "modem_id_lookup_path"
    ];
 
}