.swim.droneconnect.1.0.0-alpha2.source-code.droneconnect.proto Maven / Gradle / Ivy

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/*
 * Copyright (c) 2016, Stephan Heinemann, Charlie Magnuson, Manuel Rosa (UVic Center for Aerospace Research)
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 * list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
syntax = "proto3";

option java_multiple_files = true;
option java_package = "com.cfar.swim.droneconnect";
option java_outer_classname = "DroneConnectProtoc";

package droneconnect;

// The droneconnect service definition.
// Services are meant to provide a layer of abstraction for
// controlling and accessing information from the drone.
service DroneConnect {
  
    rpc getAutopilotInfo(UavIdentifier) returns (AutopilotInfo) {}

    rpc getPosition(Null) returns (Position) {}
    rpc getTimedPosition(Null) returns (TimedPosition) {}

    rpc getHeading(Null) returns (Heading) {}
    rpc getAttitude(Null) returns (Attitude) {}
  
    rpc setMode(Mode) returns (Null) {}
    rpc hasMode(Null) returns (Mode) {}
  
    rpc setArmed(Armed) returns (Null) {}
    rpc isArmed(Null) returns (Armed) {}
  
    rpc setSafety(Safety) returns (Null) {}
    rpc getSafety(Null) returns (Safety) {}
  
    rpc takeoff(TakeoffToAltitude) returns (Position) {}
  
    rpc setPath(stream Position) returns (Null) {}

    rpc getNextWaypoint(Null) returns (IndexedPosition) {}

    rpc getStatus(Null) returns (Status) {}
}

message Null {
}

message UavIdentifier {
    int32 identifier = 1;
}

// Information about the autopilot firmware
message AutopilotInfo {
    int32 identifier = 1;
    string autopilot_firmware_version = 2;
    int32 major_version_number = 3;
    int32 minor_version_number = 4;
    int32 patch_version_number = 5;
    string release_type = 6;
    int32 release_version = 7;
    bool stable_release = 8;
}

// Position of the drone.
// 
// The latitude and longitude are relative to the WGS84 coordinate system.  
// relativeAltitude -     Altitude is relative to the HOME position in meters.  The HOME position is
//                        set when the drone is armed.
// gpsAltitude -          Altitude is relative to mean sea-level (MSL)
// useRelativeAltitude -  When set to TRUE, mission should be relative to HOME position.  Of use
//                        only when a mission is sent to the drone.  When a position is received
//                        both relativeAltitude and useRelativeAltitude will have relevant values.
message Position {
    double lat = 1;
    double lon = 2;
    double gpsAltitude = 3;
    double relativeAltitude = 4;
    bool useRelativeAltitude = 5;
}

// Current time of the drone
message Time {
    int32 year = 1;
    int32 month = 2;
    int32 day = 3;
    int32 hour = 4;
    int32 minute = 5;
    int32 second = 6;
}

// Position of the drone with current time
message TimedPosition {
    Position position = 1;
    Time time = 2;
}

// Position with index of waypoint in current mission
message IndexedPosition {
    Position position = 1;
    int32 index = 2;
}

// Heading of the drone
message Heading {
    double heading = 1;
}

// Attitude of the drone
message Attitude {
    double pitch = 1;
    double bank = 2;
    double yaw = 3;
}

// Mode of the drone, eg. AUTO    
message Mode {
    string mode = 1;
}

// Armed state of the drone.  TRUE indicates the drone is armed
message Armed {
    bool arm = 1;
}

// True indicates safety switch is on
message Safety {
    bool safety = 1;
}

// Take off to an altitude in meters
message TakeoffToAltitude {
    double altitude = 1;
}

// Status of the drone, eg. ACTIVE
message Status {
    string status = 1;
}