uas-ugv/main/messages.proto

syntax = "proto3";

package uas.ugv.messages;

option optimize_for = LITE_RUNTIME;

enum UGV_State {
  STATE_IDLE = 0;
  STATE_AQUIRING = 1;
  STATE_DRIVING = 2;
  STATE_FINISHED = 3;
  STATE_TEST = 4;
}

message Location {
  uint32 fix_quality = 1;
  float latitude = 2;
  float longitude = 3;
  float altitude = 4;
}

message UGV_Status {
  UGV_State state = 1;
  Location location = 2;
}

message UGV_Message {
  oneof ugv_message {
    UGV_Status status = 1;
    uint32 command_ack = 2;
  }
}

enum GroundCommandType {
  CMD_DISABLE = 0;
  CMD_DRIVE_TO_TARGET = 1;
  CMD_TEST = 2;
}

message GroundCommand {
  uint32 id = 1;
  GroundCommandType type = 2;
}

message GroundMessage {
  oneof ground_message {
    GroundCommand command = 1;
  }
}