Merge pull request #183 from BluEye-Robotics/multibeam-error-flags

Add multibeam error flags and improve documentation

Author: follesoe

protobuf_definitions/aquatroll.proto

@@ -1,6 +1,6 @@
 // Aquatroll
 //
-// These messages are emitted by the In-Situ AquaTroll 500 probe.
+// These messages are emitted by the In-Situ AquaTroll series of probes.
 syntax = "proto3";
 
 package blueye.protocol;
@@ -21,7 +21,7 @@ enum Type {
   TYPE_TIME = 9;
 }
 
-// Aqua Troll Device IDs
+// Aqua Troll Device IDs.
 enum AquaTrollDevice {
   AQUA_TROLL_DEVICE_UNSPECIFIED = 0;
   AQUA_TROLL_DEVICE_LEVEL_TROLL_500 = 1;
@@ -45,7 +45,7 @@ enum AquaTrollDevice {
   AQUA_TROLL_DEVICE_AQUA_TROLL_500_VENTED = 34;
 }
 
-// Aqua Troll Quality IDs
+// Aqua Troll Quality IDs.
 enum AquaTrollQuality {
   AQUA_TROLL_QUALITY_NORMAL = 0; // protolint:disable:this ENUM_FIELD_NAMES_ZERO_VALUE_END_WITH
   AQUA_TROLL_QUALITY_USER_CAL_EXPIRED = 1;
@@ -57,7 +57,7 @@ enum AquaTrollQuality {
   AQUA_TROLL_QUALITY_OFF_LINE = 7;
 }
 
-// Aqua Troll Parameter IDs
+// Aqua Troll Parameter IDs.
 enum AquaTrollParameter {
   AQUA_TROLL_PARAMETER_UNSPECIFIED = 0;
   AQUA_TROLL_PARAMETER_TEMPERATURE = 1;
@@ -119,7 +119,7 @@ enum AquaTrollParameter {
   AQUA_TROLL_PARAMETER_COLORED_DISSOLVED_ORGANIC_MATTER_CONCENTRATION = 87;
 }
 
-// Aqua Troll Unit IDs
+// Aqua Troll Unit IDs.
 enum AquaTrollUnit {
   AQUA_TROLL_UNIT_UNSPECIFIED = 0;
   AQUA_TROLL_UNIT_TEMP_CELSIUS = 1;
@@ -207,7 +207,7 @@ enum AquaTrollUnit {
   AQUA_TROLL_UNIT_METERS_PER_SECOND = 306;
 }
 
-// Aqua Troll Sensor IDs
+// Aqua Troll Sensor IDs.
 enum AquaTrollSensor {
   AQUA_TROLL_SENSOR_UNSPECIFIED = 0;
   AQUA_TROLL_SENSOR_TEMPERATURE = 1;
@@ -299,9 +299,9 @@ enum AquaTrollDeviceStatus {
   AQUA_TROLL_DEVICE_STATUS_LOW_MEMORY = 14;
 }
 
-// In-Situ Parameter Block
+// In-Situ Parameter Block.
 //
-// Up to NUMBER_OF_SENSOR_PARAMETERS blocks may be part of a sensor
+// Up to NUMBER_OF_SENSOR_PARAMETERS blocks may be part of a sensor.
 message AquaTrollParameterBlock {
   reserved 4;
   reserved "data_quality_id";
@@ -314,12 +314,12 @@ message AquaTrollParameterBlock {
   repeated AquaTrollUnit available_units = 6;
 }
 
-// In-Situ AquaTroll 500 sensor metadata
+// In-Situ AquaTroll 500 sensor metadata.
 //
 // (Mostly) static information about a connected sensor.
 //
 // Refer to Section 7 Sensor Common Registers in the In-Situ Modbus
-// Communication Protocol
+// Communication Protocol.
 message AquaTrollSensorMetadata {
   reserved 4;
   reserved "sensor_status";
@@ -392,14 +392,14 @@ message AquaTrollSensorParametersArray {
   repeated AquaTrollSensorParameters sensors = 2;
 }
 
-// Request to set an In-Situ Aqua Troll parameter unit
+// Request to set an In-Situ Aqua Troll parameter unit.
 message SetAquaTrollParameterUnit {
-  AquaTrollSensor sensor_id = 1; // Sensor id, f. ex. "SENSOR_CONDUCTIVITY_SENSOR"
-  AquaTrollParameter parameter_id = 2; // Parameter name, f. ex. "PARAMETER_TEMPERATURE"
-  AquaTrollUnit unit_id = 3; // Unit, f. ex. "UNIT_TEMP_CELSIUS"
+  AquaTrollSensor sensor_id = 1; // Sensor id, f. ex. "SENSOR_CONDUCTIVITY_SENSOR".
+  AquaTrollParameter parameter_id = 2; // Parameter name, f. ex. "PARAMETER_TEMPERATURE".
+  AquaTrollUnit unit_id = 3; // Unit, f. ex. "UNIT_TEMP_CELSIUS".
 }
 
-// Request to change the In-Situ Aqua Troll connection status
+// Request to change the In-Situ Aqua Troll connection status.
 message SetAquaTrollConnectionStatus {
-  bool connected = 1; // True to connect, false to disconnect
+  bool connected = 1; // True to connect, false to disconnect.
 }

protobuf_definitions/control.proto

@@ -70,37 +70,37 @@ message FinishCalibrationCtrl {
 
 // Issue a command to set auto heading to a desired state.
 message AutoHeadingCtrl {
-  AutoHeadingState state = 1; // State of the heading controller
+  AutoHeadingState state = 1; // State of the heading controller.
 }
 
 // Issue a command to set auto depth to a desired state.
 message AutoDepthCtrl {
-  AutoDepthState state = 1; // State of the depth controller
+  AutoDepthState state = 1; // State of the depth controller.
 }
 
 // Issue a command to set auto altitude to a desired state.
 message AutoAltitudeCtrl {
-  AutoAltitudeState state = 1; // State of the altitude controller
+  AutoAltitudeState state = 1; // State of the altitude controller.
 }
 
 // Issue a command to set station keeping to a desired state.
 message StationKeepingCtrl {
-  StationKeepingState state = 1; // State of the station keeping controller
+  StationKeepingState state = 1; // State of the station keeping controller.
 }
 
 // Issue a command to set station keeping with weather vaning to a desired state.
 message WeatherVaningCtrl {
-  WeatherVaningState state = 1; // State of the weather vaning controller
+  WeatherVaningState state = 1; // State of the weather vaning controller.
 }
 
 // Issue a command to set Auto Pilot for cruising and turning to a desired state.
 message AutoPilotSurgeYawCtrl {
-  AutoPilotSurgeYawState state = 1; // State of the auto pilot surge yaw controller
+  AutoPilotSurgeYawState state = 1; // State of the auto pilot surge yaw controller.
 }
 
 // Issue a command to set Auto Pilot for vertiacl movement to a desired state.
 message AutoPilotHeaveCtrl {
-  AutoPilotHeaveState state = 1; // State of the auto pilot heave controller
+  AutoPilotHeaveState state = 1; // State of the auto pilot heave controller-
 }
 
 // Issue a command to start and pause the loaded mission.
@@ -163,42 +163,42 @@ message MultibeamServoCtrl {
   MultibeamServo servo = 1; // Message with the desired servo angle.
 }
 
-// Deactivate the guest port power
+// Deactivate the guest port power.
 message DeactivateGuestPortsCtrl {
 }
 
-// Activated the guest port power
+// Activated the guest port power.
 message ActivateGuestPortsCtrl {
 }
 
-// Restart the guest ports by turning power on and off
+// Restart the guest ports by turning power on and off.
 message RestartGuestPortsCtrl {
   GuestPortRestartInfo restart_info = 1; // Message with information about how long to keep the guest ports off.
 }
 
-// Request to set an In-Situ Aqua Troll parameter unit
+// Request to set an In-Situ Aqua Troll parameter unit.
 message SetAquaTrollParameterUnitCtrl {
   // Message with information about which parameter to set and the unit to set it to.
   SetAquaTrollParameterUnit parameter_info = 1;
 }
 
-// Request to change the In-Situ Aqua Troll connection status
+// Request to change the In-Situ Aqua Troll connection status.
 message SetAquaTrollConnectionStatusCtrl {
   // Message with information about which parameter to set and the unit to set it to.
   SetAquaTrollConnectionStatus connection_status = 1;
 }
 
-// Update multibeam settings
+// Update the multibeam settings.
 message SetMultibeamConfigCtrl {
   MultibeamConfig config = 1; // Message with the multibeam ping configuration to set.
 }
 
-// Activate multibeam
+// Activate the multibeam with specified configuration.
 message ActivateMultibeamCtrl {
-  MultibeamConfig config = 1; // Message with the multibeam ping configuration to set on connect
+  MultibeamConfig config = 1; // Message with the multibeam ping configuration to set on connect.
 }
 
-// Deactivate multibeam
+// Deactivate the multibeam.
 message DeactivateMultibeamCtrl {
 }
 
@@ -214,4 +214,4 @@ message StartDiveCtrl {
 // The message does not do anything, but is included in the log files so we can see
 // at which point the user exited the dive view.
 message EndDiveCtrl {
-}
+}