galmon/navmon.proto

syntax = "proto2";

message NavMonMessage {
  enum Type {
    ReceptionDataType = 1;
    ObserverPositionType = 2;
    GalileoInavType = 3;
    RFDataType = 4;
    GPSInavType = 5;
    BeidouInavTypeD1 = 6;
    GlonassInavType = 7;
    BeidouInavTypeD2 = 8;
    SARResponseType = 9;
    DebuggingType = 10;
    ObserverDetailsType = 11;
    UbloxJammingStatsType = 12;
    SBASMessageType = 13;
    GPSCnavType = 14;
    RTCMMessageType = 15;
    TimeOffsetType = 16;
    GalileoFnavType = 17;
    GalileoCnavType = 18;
  }

  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;
        optional uint32 sigid = 6;
        optional bytes reserved1 = 7;
        optional bytes reserved2 = 8;
        optional bytes sar = 9;
        optional bytes spare = 10;
        optional bytes crc = 11;      
  }

message GalileoFnav {
	required uint32 gnssWN =1;
  	required uint32 gnssTOW =2; // INTEGERS!

	required uint32 gnssID =3;
	required uint32 gnssSV =4;
	required bytes contents =5;
        required uint32 sigid = 6;        
  }
  message GalileoCnav {
	required uint32 gnssWN =1;
  	required uint32 gnssTOW =2; // INTEGERS!

	required uint32 gnssID =3;
	required uint32 gnssSV =4;
	required bytes contents =5;
        required uint32 sigid = 6;        
  }

  message GPSInav {
	required uint32 gnssWN =1;
  	required uint32 gnssTOW =2; // INTEGERS!

	required uint32 gnssID =3;
	required uint32 gnssSV =4;
	required bytes contents =5;
        optional uint32 sigid = 6;
  }

  message BeidouInavD1 {
	required uint32 gnssWN =1;
  	required uint32 gnssTOW =2; // INTEGERS!

	required uint32 gnssID =3;
	required uint32 gnssSV =4;
	required bytes contents =5;
                optional uint32 sigid = 6;      
  }
  message BeidouInavD2 {
	required uint32 gnssWN =1;
  	required uint32 gnssTOW =2; // INTEGERS!

	required uint32 gnssID =3;
	required uint32 gnssSV =4;
	required bytes contents =5;
        optional uint32 sigid = 6;        
  }

  message GlonassInav {
        required uint32 gnssID  = 1;
	required uint32 gnssSV  = 2;
        required uint32 freq    = 3;
	required bytes contents = 4;
        optional uint32 sigid = 5;
  }


  message ReceptionData {
        required uint32 gnssID =1;
	required uint32 gnssSV =2;
        optional uint32 sigid = 7;
  	required uint32 db     =3;
        required uint32 el     =4;
        required uint32 azi    =5;
        required double prRes  =6;
        optional uint32 qi = 8;
        optional bool used = 9;
        
  }

  message RFData {
        required double rcvTow = 1;
        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;
        required double prStd = 11;
        optional uint32 sigid = 12;
        optional uint32 cno = 13;
        optional bool prvalid = 14;
        optional bool cpvalid = 15;
        optional bool halfcycvalid =16;
        optional bool subhalfcyc = 17;
        optional bool clkReset = 18;
        
  }

  message ObserverPosition {
          required double x = 1;
          required double y = 2;
          required double z = 3;
          required double acc = 4;
          optional double groundSpeed = 5;
  }

  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;
  }

  message DebuggingMessage {
          required uint32 type = 1;
          required bytes payload = 2;
  }

  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;
          optional string recvgithash = 12;
          optional uint32 uptime = 13;
  }

  message UbloxJammingStats
  {
        required uint32 noisePerMS = 1;
        required uint32 agcCnt = 2;
        required uint32 flags = 3;
        required uint32 jamInd = 4;
  }

  message SBASMessage {
	required uint32 gnssID = 1;
	required uint32 gnssSV = 2;
	required bytes contents = 3;
  }


  message GPSCnav {
	required uint32 gnssWN =1;
  	required uint32 gnssTOW =2; // INTEGERS!

	required uint32 gnssID =3;
	required uint32 gnssSV =4;
	required bytes contents =5;
        required uint32 sigid = 6;
  }


  message RTCMMessage {
	required bytes contents =5;
  }

  message GNSSOffset
  {
        required uint32 gnssid = 1;

        required int32 offsetNS = 2;
        required uint32 tAcc = 3;
        required bool valid = 4;
        optional int32 leapS = 5;
        required uint32 tow = 6;
        optional uint32 wn = 7;
        optional uint32 nT = 8;
        optional uint32 n4 = 9;

  }
  

  message TimeOffsetMessage
  {
       required uint32 itow = 1;
       repeated GNSSOffset offsets = 2;
  }


  optional GalileoInav gi=5;
  optional ReceptionData rd=6;  
  optional RFData rfd=7;
  optional ObserverPosition op=8;
  optional GPSInav gpsi=9;
  optional BeidouInavD1 bid1=10;
  optional BeidouInavD2 bid2=11;
  optional GlonassInav  gloi=12;
  optional SARResponse sr=13;
  optional DebuggingMessage dm = 14;
  optional ObserverDetails od = 15;
  optional UbloxJammingStats ujs = 16;
  optional SBASMessage sbm = 17;
  optional GPSCnav gpsc = 18;
  optional RTCMMessage rm = 19;
  optional TimeOffsetMessage to = 20;
  optional GalileoFnav gf=21;
  optional GalileoCnav gc=22;
}