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Add frame generation timestamp and multibeam index caching message #162

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Merged
merged 7 commits into from
Sep 5, 2024
Merged

Add frame generation timestamp and multibeam index caching message #162

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17575d6
Add frame generation timestamp
jp-pino Aug 28, 2024
8523ffb
Add MutltibeamRecordingIndexx to cache multibeam frame positions
jp-pino Sep 5, 2024
1e9ef68
Remove empty line
jp-pino Sep 5, 2024
d8ee4d3
Add type comments to new Multibeam caching messages
jp-pino Sep 5, 2024
0f74aa6
Make offset in MultibeamFrameOffset uint64 to match type size in code
jp-pino Sep 5, 2024
8635bfb
Make offset in MultibeamFrameOffset int64 to match type size in code
jp-pino Sep 5, 2024
020e8e8
Make frame_generation_timestamp backwards compatible
jp-pino Sep 5, 2024
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11 changes: 11 additions & 0 deletions protobuf_definitions/message_formats.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ syntax = "proto3";

package blueye.protocol;
import "google/protobuf/any.proto";
import "google/protobuf/duration.proto";
import "google/protobuf/timestamp.proto";
option csharp_namespace = "Blueye.Protocol.Protobuf";

Expand Down Expand Up @@ -972,6 +973,7 @@ message MultibeamPing {

bytes ping_data = 10; // Ping data (row major, 2D, grayscale image)
GuestPortDeviceID device_id = 11; // Device ID of the sonar
google.protobuf.Timestamp frame_generation_timestamp = 12; // Timestamp when the frame was generated
}


Expand Down Expand Up @@ -1020,6 +1022,15 @@ message MultibeamDiscovery {
GuestPortDeviceID device_id = 7; // Device ID of the sonar
}

message MultibeamFrameOffset {
google.protobuf.Duration duration = 1; // Duration from the start of the recording
uint32 offset = 2; // Offset in bytes from the start of the file
}

message MutltibeamRecordingIndex {
repeated MultibeamFrameOffset frame_offsets = 1; // List of frame offsets
}

// PersistentStorageSettings defines settings for writing various types of data in the persistent storage on the drone
//
// Some of the data is written during factory calibration (acc calibration), while other data is written during user
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