2019-08-09 07:58:52 -06:00
|
|
|
syntax = "proto2";
|
|
|
|
|
|
|
|
message NavMonMessage {
|
|
|
|
enum Type {
|
|
|
|
ReceptionDataType = 1;
|
|
|
|
ObserverPositionType = 2;
|
|
|
|
GalileoInavType = 3;
|
|
|
|
RFDataType = 4;
|
2019-08-12 07:54:16 -06:00
|
|
|
GPSInavType = 5;
|
2019-08-29 08:46:03 -06:00
|
|
|
BeidouInavTypeD1 = 6;
|
2019-08-30 09:56:41 -06:00
|
|
|
GlonassInavType = 7;
|
2019-09-22 08:31:46 -06:00
|
|
|
BeidouInavTypeD2 = 8;
|
|
|
|
SARResponseType = 9;
|
2019-12-20 05:18:11 -07:00
|
|
|
DebuggingType = 10;
|
2019-12-27 12:37:45 -07:00
|
|
|
ObserverDetailsType = 11;
|
2019-08-09 07:58:52 -06:00
|
|
|
}
|
|
|
|
|
|
|
|
required uint64 sourceID = 1;
|
|
|
|
|
|
|
|
required Type type = 2;
|
|
|
|
required uint64 localUtcSeconds = 3;
|
|
|
|
required uint64 localUtcNanoseconds = 4;
|
|
|
|
|
|
|
|
message GalileoInav {
|
|
|
|
required uint32 gnssWN =1;
|
|
|
|
required uint32 gnssTOW =2; // INTEGERS!
|
|
|
|
|
|
|
|
required uint32 gnssID =3;
|
|
|
|
required uint32 gnssSV =4;
|
|
|
|
required bytes contents =5;
|
2019-09-16 06:33:06 -06:00
|
|
|
optional uint32 sigid = 6;
|
2019-08-09 07:58:52 -06:00
|
|
|
}
|
2019-08-12 07:54:16 -06:00
|
|
|
|
|
|
|
message GPSInav {
|
|
|
|
required uint32 gnssWN =1;
|
|
|
|
required uint32 gnssTOW =2; // INTEGERS!
|
|
|
|
|
|
|
|
required uint32 gnssID =3;
|
|
|
|
required uint32 gnssSV =4;
|
|
|
|
required bytes contents =5;
|
2019-09-16 06:33:06 -06:00
|
|
|
optional uint32 sigid = 6;
|
2019-08-12 07:54:16 -06:00
|
|
|
}
|
2019-08-25 16:18:15 -06:00
|
|
|
|
2019-08-29 08:46:03 -06:00
|
|
|
message BeidouInavD1 {
|
|
|
|
required uint32 gnssWN =1;
|
|
|
|
required uint32 gnssTOW =2; // INTEGERS!
|
|
|
|
|
|
|
|
required uint32 gnssID =3;
|
|
|
|
required uint32 gnssSV =4;
|
|
|
|
required bytes contents =5;
|
2019-09-16 06:33:06 -06:00
|
|
|
optional uint32 sigid = 6;
|
2019-08-29 08:46:03 -06:00
|
|
|
}
|
|
|
|
message BeidouInavD2 {
|
2019-08-25 16:18:15 -06:00
|
|
|
required uint32 gnssWN =1;
|
|
|
|
required uint32 gnssTOW =2; // INTEGERS!
|
|
|
|
|
|
|
|
required uint32 gnssID =3;
|
|
|
|
required uint32 gnssSV =4;
|
|
|
|
required bytes contents =5;
|
2019-09-16 06:33:06 -06:00
|
|
|
optional uint32 sigid = 6;
|
2019-08-25 16:18:15 -06:00
|
|
|
}
|
|
|
|
|
2019-08-30 09:56:41 -06:00
|
|
|
message GlonassInav {
|
|
|
|
required uint32 gnssID = 1;
|
|
|
|
required uint32 gnssSV = 2;
|
|
|
|
required uint32 freq = 3;
|
|
|
|
required bytes contents = 4;
|
2019-09-16 06:33:06 -06:00
|
|
|
optional uint32 sigid = 5;
|
2019-08-30 09:56:41 -06:00
|
|
|
}
|
|
|
|
|
2019-08-25 16:18:15 -06:00
|
|
|
|
2019-08-09 07:58:52 -06:00
|
|
|
message ReceptionData {
|
|
|
|
required uint32 gnssID =1;
|
|
|
|
required uint32 gnssSV =2;
|
2019-09-16 06:33:06 -06:00
|
|
|
optional uint32 sigid = 7;
|
2019-08-09 07:58:52 -06:00
|
|
|
required uint32 db =3;
|
|
|
|
required uint32 el =4;
|
|
|
|
required uint32 azi =5;
|
|
|
|
required double prRes =6;
|
2019-12-28 05:48:34 -07:00
|
|
|
optional uint32 qi = 8;
|
|
|
|
optional bool used = 9;
|
|
|
|
|
2019-08-09 07:58:52 -06:00
|
|
|
}
|
|
|
|
|
|
|
|
message RFData {
|
2019-08-09 08:50:26 -06:00
|
|
|
required double rcvTow = 1;
|
2019-08-10 08:03:45 -06:00
|
|
|
required uint32 rcvWn = 2;
|
|
|
|
required uint32 gnssID =3;
|
|
|
|
required uint32 gnssSV =4;
|
|
|
|
required double doppler =5;
|
|
|
|
required double carrierphase = 6;
|
|
|
|
required double pseudorange = 7;
|
|
|
|
required double locktimeMS = 8;
|
|
|
|
required double doStd = 9;
|
|
|
|
required double cpStd = 10;
|
2019-09-16 06:33:06 -06:00
|
|
|
required double prStd = 11;
|
|
|
|
optional uint32 sigid = 12;
|
2019-12-12 03:23:46 -07:00
|
|
|
optional uint32 cno = 13;
|
|
|
|
optional bool prvalid = 14;
|
|
|
|
optional bool cpvalid = 15;
|
|
|
|
optional bool halfcycvalid =16;
|
|
|
|
optional bool subhalfcyc = 17;
|
|
|
|
optional bool clkReset = 18;
|
|
|
|
|
2019-08-09 07:58:52 -06:00
|
|
|
}
|
|
|
|
|
|
|
|
message ObserverPosition {
|
|
|
|
required double x = 1;
|
|
|
|
required double y = 2;
|
|
|
|
required double z = 3;
|
2019-09-16 06:33:06 -06:00
|
|
|
required double acc = 4;
|
2019-11-26 11:12:37 -07:00
|
|
|
optional double groundSpeed = 5;
|
2019-08-09 07:58:52 -06:00
|
|
|
}
|
|
|
|
|
2019-09-22 08:31:46 -06:00
|
|
|
message SARResponse {
|
|
|
|
required uint32 gnssID =1;
|
|
|
|
required uint32 gnssSV =2;
|
|
|
|
required uint32 sigid =3;
|
|
|
|
required uint32 type =4;
|
|
|
|
required bytes identifier = 5;
|
|
|
|
required uint32 code= 6;
|
|
|
|
required bytes params =7;
|
|
|
|
}
|
|
|
|
|
2019-12-20 05:18:11 -07:00
|
|
|
message DebuggingMessage {
|
|
|
|
required uint32 type = 1;
|
|
|
|
required bytes payload = 2;
|
|
|
|
}
|
2019-09-22 08:31:46 -06:00
|
|
|
|
2019-12-27 12:37:45 -07:00
|
|
|
message ObserverDetails {
|
|
|
|
required string vendor = 1;
|
|
|
|
required string hwversion = 2;
|
|
|
|
required string modules = 3;
|
|
|
|
required string swversion = 4;
|
|
|
|
required string serialno = 5;
|
|
|
|
optional double clockOffsetNS = 6;
|
|
|
|
optional double clockOffsetDriftNS = 7;
|
|
|
|
optional double clockAccuracyNS = 8;
|
|
|
|
optional double freqAccuracyPS = 9;
|
|
|
|
optional string owner = 10;
|
|
|
|
optional string remark = 11;
|
2019-12-28 15:19:40 -07:00
|
|
|
optional string recvgithash = 12;
|
|
|
|
optional uint32 uptime = 13;
|
2019-12-27 12:37:45 -07:00
|
|
|
}
|
|
|
|
|
|
|
|
|
2019-08-09 07:58:52 -06:00
|
|
|
optional GalileoInav gi=5;
|
|
|
|
optional ReceptionData rd=6;
|
|
|
|
optional RFData rfd=7;
|
|
|
|
optional ObserverPosition op=8;
|
2019-08-12 07:54:16 -06:00
|
|
|
optional GPSInav gpsi=9;
|
2019-08-29 08:46:03 -06:00
|
|
|
optional BeidouInavD1 bid1=10;
|
2019-08-30 09:56:41 -06:00
|
|
|
optional BeidouInavD2 bid2=11;
|
|
|
|
optional GlonassInav gloi=12;
|
2019-09-22 08:31:46 -06:00
|
|
|
optional SARResponse sr=13;
|
2019-12-20 05:18:11 -07:00
|
|
|
optional DebuggingMessage dm = 14;
|
2019-12-27 12:37:45 -07:00
|
|
|
optional ObserverDetails od = 15;
|
2019-08-09 07:58:52 -06:00
|
|
|
}
|