@@ -21,6 +21,28 @@ message BinlogRecord {
2121 google.protobuf.Timestamp clock_monotonic = 3 ; // Posix CLOCK_MONOTONIC timestamp.
2222}
2323
24+ // Log entry
25+ //
26+ // Used to store ROS log entries in the bez file
27+ message LogEntry {
28+ enum LogLevel {
29+ LOG_LEVEL_UNSPECIFIED = 0 ; // Unspecified log level.
30+ LOG_LEVEL_TRACE = 1 ; // Trace log level.
31+ LOG_LEVEL_DEBUG = 2 ; // Debug log level.
32+ LOG_LEVEL_INFO = 3 ; // Info log level.
33+ LOG_LEVEL_WARNING = 4 ; // Warning log level.
34+ LOG_LEVEL_ERROR = 5 ; // Error log level.
35+ LOG_LEVEL_CRITICAL = 6 ; // Critical log level.
36+ }
37+ google.protobuf.Timestamp timestamp = 1 ; // Timestamp of the log entry.
38+ string process_name = 2 ; // Name of the process that generated the log entry.
39+ uint64 process_id = 3 ; // Process ID of the log entry.
40+ uint64 thread_id = 4 ; // Thread ID of the log entry.
41+ string source = 5 ; // Source of the log entry (specific class or named logger).
42+ LogLevel level = 6 ; // Log level, info, warning, error, etc.
43+ string message = 7 ; // Log message.
44+ }
45+
2446// Motion input from client.
2547//
2648// Used to indicate the desired motion in each direction.
@@ -376,6 +398,20 @@ message Attitude {
376398 float yaw = 3 ; // Yaw angle (-180°..180°).
377399}
378400
401+ // Location source used in magnetic declination look-up.
402+ enum LocationSource {
403+ LOCATION_SOURCE_UNSPECIFIED = 0 ; // The position is not set.
404+ LOCATION_SOURCE_USER = 1 ; // Typically pilot device GPS.
405+ LOCATION_SOURCE_DRONE = 2 ; // Blueye GPS, DVL, or a USBL system.
406+ }
407+
408+ // The Magnetic Declination status used to get true North compass readings based on location.
409+ message MagneticDeclination {
410+ LocationSource location_source = 1 ; // Location source used for the magnetic declination look-up in geographiclib.
411+ float declination = 2 ; // The declination which is applied to the yaw field in the Attitude msg.
412+ LatLongPosition location = 3 ; // The location used for the magnetic declination look-up.
413+ }
414+
379415// Drone altitude over seabed, typically obtained from a DVL.
380416message Altitude {
381417 float value = 1 ; // Drone altitude over seabed (m).
@@ -569,12 +605,48 @@ message StorageSpace {
569605 int64 free_space = 2 ; // Available bytes of storage space (B).
570606}
571607
608+ // Storage partition.
609+ message StoragePartition {
610+ StorageSpace storage_space = 1 ; // The amount of storage space on the device.
611+ string file_system_type = 2 ; // File system type of the removable storage device.
612+ string device_path = 3 ; // Partition device path
613+ string mount_path = 4 ; // Mount path of the partition.
614+ }
615+
616+ // Removable storage device.
617+ message RemovableStorageDevice {
618+ // Overall status of the storage device.
619+ enum Status {
620+ STATUS_UNSPECIFIED = 0 ; // Unspecified.
621+ STATUS_READY = 1 ; // The storage device is valid and ready for use.
622+ STATUS_FORMATTING = 2 ; // The storage device is being formatted
623+ STATUS_ERROR = 3 ; // The storage device is in an error state.
624+ }
625+ string vendor_name = 1 ; // USB vendor name.
626+ string model_name = 2 ; // Model name of the USB storage device.
627+ string device_path = 3 ; // Mount path of the storage device.
628+ Status status = 4 ; // Status of the storage device.
629+ RemovableStorageErrorFlags error_flags = 5 ; // Any active error flags for the storage device.
630+ repeated StoragePartition partitions = 6 ; // List of partitions on the storage device.
631+ }
632+
633+ // Error flags related to a removable storage device.
634+ message RemovableStorageErrorFlags {
635+ // Optional error message to give additional information from the drone to a client about active error flags.
636+ string error_message = 1 ;
637+ bool no_partitions_found = 2 ; // Device is attached but no partitions are found.
638+ bool multiple_partitions_found = 3 ; // Multiple partitions are found.
639+ bool wrong_file_system_found = 4 ; // The wrong file system is found.
640+ bool device_is_read_only = 5 ; // The device is in read-only mode.
641+ bool formatting_failed = 6 ; // Formatting of the device failed.
642+ }
643+
572644// Compass calibration state.
573645message CalibrationState {
574646
575647 // Status of the compass calibration procedure.
576648 //
577- // When calibration is started, the status will indicate the active (upfacing ) axis.
649+ // When calibration is started, the status will indicate the active (up facing ) axis.
578650 enum Status
579651 {
580652 STATUS_UNSPECIFIED = 0 ; // Unspecified status.
@@ -586,7 +658,7 @@ message CalibrationState {
586658 STATUS_CALIBRATING_Y_NEGATIVE = 6 ; // Compass is calibrating and the negative Y axis is active.
587659 STATUS_CALIBRATING_Z_POSITIVE = 7 ; // Compass is calibrating and the positive Z axis is active.
588660 STATUS_CALIBRATING_Z_NEGATIVE = 8 ; // Compass is calibrating and the negative Z axis is active.
589- STATUS_CALIBRATING_THRUSTER = 9 ; // Compass is calibrating for thruster interferance .
661+ STATUS_CALIBRATING_THRUSTER = 9 ; // Compass is calibrating for thruster interference .
590662 }
591663
592664 Status status = 1 ; // Current calibration status.
@@ -717,6 +789,7 @@ enum Resolution {
717789 RESOLUTION_UNSPECIFIED = 0 ; // Resolution not specified.
718790 RESOLUTION_FULLHD_1080P = 1 ; // 1080p Full HD resolution.
719791 RESOLUTION_HD_720P = 2 ; // 720p HD resolution.
792+ RESOLUTION_UHD_4K = 3 ; // 4K Ultra HD resolution.
720793}
721794
722795// Available camera frame rates.
@@ -737,13 +810,16 @@ enum Camera {
737810message CameraParameters {
738811 int32 h264_bitrate = 1 ; // Bitrate of the h264 stream (bit/sec).
739812 int32 mjpg_bitrate = 2 ; // Bitrate of the MJPG stream used for still pictures (bit/sec).
813+
740814 int32 exposure = 3 ; // Shutter speed (1/10000 * s), -1 for automatic exposure.
741815 int32 white_balance = 4 ; // White balance temperature (2800..9300), -1 for automatic white balance.
742816 int32 hue = 5 ; // Hue (-40..40), 0 as default.
743817
744818 float gain = 9 ; // Iso gain (0..1).
745819
746- Resolution resolution = 6 ; // Stream, recording and image resolution.
820+ Resolution resolution = 6 ; // Stream, recording and image resolution (deprecated).
821+ Resolution stream_resolution = 10 ; // Stream resolution.
822+ Resolution recording_resolution = 11 ; // Recording and image resolution.
747823 Framerate framerate = 7 ; // Stream and recording framerate.
748824 Camera camera = 8 ; // Which camera the parameters belong to.
749825}
@@ -863,6 +939,8 @@ enum GuestPortDeviceID {
863939 GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_C550D = 41 ; // Blueprint Subsea Oculus C550d.
864940 GUEST_PORT_DEVICE_ID_BLUEPRINT_SUBSEA_OCULUS_M370S = 42 ; // Blueprint Subsea Oculus M370s.
865941 GUEST_PORT_DEVICE_ID_WATERLINKED_SONAR_3D15 = 43 ; // Waterlinked Sonar 3D-15.
942+ GUEST_PORT_DEVICE_ID_CERULEAN_TRACKER_650 = 44 ; // Cerulean Tracker 650.
943+ GUEST_PORT_DEVICE_ID_BLUEYE_EXTERNAL_USB_STORAGE = 45 ; // Blueye External USB Storage
866944}
867945
868946// Guest port number.
@@ -881,6 +959,7 @@ enum NavigationSensorID {
881959 NAVIGATION_SENSOR_ID_NMEA = 3 ; // NMEA stream from external positioning system.
882960 NAVIGATION_SENSOR_ID_BLUEYE_GNSS = 4 ; // Blueye GNSS device on the ROV.
883961 NAVIGATION_SENSOR_ID_NORTEK_DVL_NUCLEUS = 5 ; // Nortek DVL Nucleus 1000.
962+ NAVIGATION_SENSOR_ID_CERULEAN_TRACKER_650 = 6 ; // Cerulean Tracker 650.
884963}
885964
886965// Navigation sensor used in the position observer with validity state.
@@ -1142,4 +1221,5 @@ message CPUInfo {
11421221 float memory_bus_load = 2 ; // Memory bus load (0..1).
11431222 float main_queue_load = 3 ; // Main queue load (0..1).
11441223 float guestport_queue_load = 4 ; // Guestport queue load (0..1).
1224+ float comm_queue_load = 5 ; // Communication queue load (0..1).
11451225}
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