JaiaBot 2.1.1
JaiaBot micro-AUV software
 
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config.proto
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1// Copyright 2024:
2// JaiaRobotics LLC
3// File authors:
4// Toby Schneider <toby@gobysoft.org>
5//
6//
7// This file is part of the JaiaBot Project Binaries
8// ("The Jaia Binaries").
9//
10// The Jaia Binaries are free software: you can redistribute them and/or modify
11// them under the terms of the GNU General Public License as published by
12// the Free Software Foundation, either version 2 of the License, or
13// (at your option) any later version.
14//
15// The Jaia Binaries are distributed in the hope that they will be useful,
16// but WITHOUT ANY WARRANTY; without even the implied warranty of
17// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18// GNU General Public License for more details.
19//
20// You should have received a copy of the GNU General Public License
21// along with the Jaia Binaries. If not, see <http://www.gnu.org/licenses/>.
22
23syntax = "proto2";
24
25import "dccl/option_extensions.proto";
26import "goby/middleware/protobuf/app_config.proto";
27import "goby/zeromq/protobuf/interprocess_config.proto";
28import "jaiabot/messages/low_control.proto";
29import "jaiabot/messages/high_control.proto";
30
31package jaiabot.config;
32
33message MissionRepeater
34{
35 option (dccl.msg) = {
36 unit_system: "si"
37 };
38 optional goby.middleware.protobuf.AppConfig app = 1;
39 optional goby.zeromq.protobuf.InterProcessPortalConfig interprocess = 2;
40
41 required int32 bot_id = 10;
42
43 message Script
44 {
45 message Step
46 {
47 required double duration = 1
48 [(dccl.field) = { units { derived_dimensions: "time" } }];
49
50 // for ease of log parsing
51 required int32 step_marker = 2;
52
53 // repeat publication with this number of seconds between publishes
54 // if omitted, does not repeat
55 optional double repeat_interval = 3
56 [(dccl.field) = { units { derived_dimensions: "time" } }];
57 oneof publication
58 {
59 protobuf.DesiredSetpoints desired_setpoints = 10;
60 protobuf.LowControl low_control = 11;
61 }
62 }
63 repeated Step step = 1;
64 }
65
66 required Script script = 20;
67}