3 import "goby/middleware/protobuf/app_config.proto";
4 import "goby/zeromq/protobuf/interprocess_config.proto";
5 import "goby/middleware/protobuf/serial_config.proto";
6 import "goby/middleware/protobuf/transporter_config.proto";
7 import "dccl/option_extensions.proto";
8 import "jaiabot/messages/health.proto";
9 import "jaiabot/messages/mission.proto";
10 import "jaiabot/messages/modem_message_extensions.proto";
11 import "jaiabot/messages/camera_driver.proto";
13 package jaiabot.config;
15 message MissionManager
20 optional goby.middleware.protobuf.AppConfig app = 1;
21 optional goby.zeromq.protobuf.InterProcessPortalConfig interprocess = 2;
23 required int32 fleet_id = 9;
24 required int32 bot_id = 10;
25 required goby.middleware.protobuf.TransporterConfig command_sub_cfg = 11;
26 optional goby.middleware.protobuf.TransporterConfig contact_update_sub_cfg =
29 // timeout to allow all applications to report HEALTH__OK
30 optional double startup_timeout = 12
31 [default = 120, (dccl.field).units = { base_dimensions: "T" }];
33 // powered ascent motor on timeout
34 optional int32 powered_ascent_motor_on_timeout = 25
35 [default = 5, (dccl.field).units = { base_dimensions: "T" }];
37 // powered ascent motor off timeout
38 optional int32 powered_ascent_motor_off_timeout = 26
39 [default = 2, (dccl.field).units = { base_dimensions: "T" }];
41 // timeout on dive prep to then transition to powered descent
42 optional int32 dive_prep_timeout = 27
43 [default = 10, (dccl.field).units = { base_dimensions: "T" }];
45 // safety timeout on powered descent to then transition to unpowered descent
46 optional int32 powered_descent_timeout = 28
47 [default = 100, (dccl.field).units = { base_dimensions: "T" }];
49 // detect bottom logic initial timeout in seconds. Used to determine
50 // when we should start determining we reached bottom in powered descent
51 // logic. (this gives the vehicle time to begin diving)
52 optional double detect_bottom_logic_init_timeout = 29
53 [default = 15, (dccl.field).units = { base_dimensions: "T" }];
55 // detect bottom logic timeout in seconds. Used to determine
56 // when we should start determining we reached bottom in powered descent
57 // logic. (this gives the vehicle time to begin diving after a hold)
58 optional double detect_bottom_logic_after_hold_timeout = 30
59 [default = 5, (dccl.field).units = { base_dimensions: "T" }];
61 // acceptable eps when dive depth is considered reached (in meters)
62 optional double dive_depth_eps = 31
63 [default = 0.1, (dccl.field).units = { base_dimensions: "L" }];
65 // bottoming timeout in seconds without depth change greater than
66 // dive_depth_eps before assuming the bottom has been hit
67 optional double bottoming_timeout = 32
68 [default = 3, (dccl.field).units = { base_dimensions: "T" }];
70 // acceptable eps when dive surface is considered reached (in meters)
71 optional double dive_surface_eps = 33
72 [default = 0.75, (dccl.field).units = { base_dimensions: "L" }];
74 // number of times to check the gps hdop and pdop
75 // when in reacquiring gps state
76 optional uint32 total_gps_fix_checks = 34 [default = 10];
78 // number of times to check the gps hdop and pdop
79 // while in transit to go into reacquiring gps state
80 optional uint32 total_gps_degraded_fix_checks = 35 [default = 2];
82 // The hdop value to check against to determine gps fix
83 optional double gps_hdop_fix = 36 [default = 1.3];
85 // The pdop value to check against to determine gps fix
86 optional double gps_pdop_fix = 37 [default = 2.2];
88 // number of times to check the gps hdop and pdop
89 // when in reacquiring gps state after a dive
90 optional uint32 total_after_dive_gps_fix_checks = 38 [default = 15];
92 // The hdop value to check against to determine gps fix after a dive
93 optional double gps_after_dive_hdop_fix = 39 [default = 1.3];
95 // The pdop value to check against to determine gps fix after a dive
96 optional double gps_after_dive_pdop_fix = 40 [default = 2.2];
98 // Min depth safety behavior
99 optional double min_depth_safety = 41 [default = -1];
101 // Time factor used to increase/decrease time to travel to goal
102 optional double goal_timeout_buffer_factor = 44 [default = 1];
104 // The number of reacquire attempts used to calculate goal timeout
105 optional uint32 goal_timeout_reacquire_gps_attempts = 45 [default = 2];
107 // Number of good gps locations to keep
108 optional uint32 tpv_history_max = 46 [default = 15];
110 // Used to indicate to use goal timeout
111 optional bool use_goal_timeout = 47 [default = false];
113 // Skip goal task if the bot timeouts trying to get to the goal
114 optional bool skip_goal_task = 48 [default = false];
116 // States to detect goal timeout
117 repeated jaiabot.protobuf.MissionState include_goal_timeout_states = 49;
119 enum RemoteControlSetpointEnd
121 RC_SETPOINT_ENDS_IN_STATIONKEEP = 1;
122 RC_SETPOINT_ENDS_IN_SURFACE_DRIFT = 2;
124 optional RemoteControlSetpointEnd rc_setpoint_end = 50
125 [default = RC_SETPOINT_ENDS_IN_STATIONKEEP];
127 optional uint32 imu_restart_seconds = 51 [default = 15];
129 // Bot not rising timeout in seconds without depth change greater than
130 // dive_depth_eps before assuming the bot is stuck and is not rising
131 optional double bot_not_rising_timeout = 52
132 [default = 6, (dccl.field).units = { base_dimensions: "T" }];
134 // If the bot is not rising then increment the motor on time
135 optional int32 motor_on_time_increment = 53
136 [default = 1, (dccl.field).units = { base_dimensions: "T" }];
138 // The max the motor should be on for powered ascent
139 optional int32 motor_on_time_max = 54
140 [default = 10, (dccl.field).units = { base_dimensions: "T" }];
142 // The power ascent throttle
143 optional double powered_ascent_throttle = 55 [default = 25];
145 // The power ascent throttle increment
146 optional double powered_ascent_throttle_increment = 56 [default = 5];
148 // The power ascent max thottle
149 optional double powered_ascent_throttle_max = 57 [default = 60];
151 optional double pitch_to_determine_powered_ascent_vertical = 58
154 optional double pitch_to_determine_dive_prep_vertical = 59 [default = 70];
156 optional int32 pitch_angle_checks = 60 [default = 3];
158 // The min amount of time to trigger a EvBotNotVertical event
159 optional double pitch_angle_min_check_time = 61
160 [default = 1, (dccl.field).units = { base_dimensions: "T" }];
162 // acceptable eps when we consider the bot diving (in meters)
163 optional double dive_eps_to_determine_diving = 62
164 [default = 0.3, (dccl.field).units = { base_dimensions: "L" }];
166 required string data_preoffload_script = 70;
167 required string data_postoffload_script = 71;
169 // e.g. /var/log/jaiabot/bot/*/
170 required string log_dir = 72;
172 optional string log_staging_dir = 73 [
173 default = "/var/log/jaiabot/staging"
174 ]; // dir on bot with data to be offloaded
176 optional string log_archive_dir = 74
177 [default = "/var/log/jaiabot/archive"]; // archived bot data
179 enum DownloadFileTypes
185 optional DownloadFileTypes data_offload_exclude = 75;
187 enum EngineeringTestMode
189 ENGINEERING_TEST__ALWAYS_LOG_EVEN_WHEN_IDLE = 1;
190 ENGINEERING_TEST__IGNORE_SOME_ERRORS = 2;
191 ENGINEERING_TEST__INDOOR_MODE__NO_GPS = 3;
193 repeated EngineeringTestMode test_mode = 80;
196 // only when test_mode: ENGINEERING_TEST__IGNORE_SOME_ERRORS
197 repeated jaiabot.protobuf.Error ignore_error = 81;
199 optional bool is_sim = 82 [default = false];
201 optional jaiabot.protobuf.HubInfo subscribe_to_hub_on_start = 83;
203 // Determines if the acceleration is hard or soft
204 optional double hard_bottom_type_acceleration = 84 [default = 100];
206 // timeout for when to stop logging if in failed state
207 optional int32 failed_startup_log_timeout = 85
208 [default = 300, (dccl.field).units = { base_dimensions: "T" }];
210 // used to update transitting to waypoint to allow more overshoot
211 optional int32 waypoint_with_no_task_slip_radius = 86 [default = 15];
213 // used to update transitting to waypoint to allow less overshoot
214 optional int32 waypoint_with_task_slip_radius = 87 [default = 5];
216 message ResolveNoForwardProgress
218 // time after going into ResolveNoForwardProgress to resume attempting
220 optional int32 resume_timeout = 1
221 [default = 10, (dccl.field).units = { base_dimensions: "T" }];
223 // angle above which the vehicle is assumed to not be making forward
224 // progress, below which it is
225 optional int32 pitch_threshold = 2 [
227 (dccl.field).units = {
228 derived_dimensions: "plane_angle"
229 system: "angle::degree"
233 // desired speed above which the vehicle is expected to be making
235 optional int32 desired_speed_threshold = 3
236 [default = 0, (dccl.field).units = { base_dimensions: "LT^-1" }];
238 // time after desired speed > desired_speed_threshold but pitch
239 // > pitch_threshold that triggers EvNoForwardProgress
240 optional int32 trigger_timeout = 4
241 [default = 15, (dccl.field).units = { base_dimensions: "T" }];
244 optional ResolveNoForwardProgress resolve_no_forward_progress = 88;
246 required uint32 subnet_mask = 89;
248 optional jaiabot.protobuf.CameraCommand start_camera_command = 90;
249 optional jaiabot.protobuf.CameraCommand stop_camera_command = 91;