schema.proto

syntax = "proto3";
import "nanopb.proto";

enum FlightState {
    idle = 0;
    awaiting_init = 1;
    initated = 2;
    awaiting_launch = 3;
    boost = 4;
    coast = 5;
    free_fall = 6;
    drogue_descent = 7;
    main_descent = 8;
    landed = 9;
}

message FlightEvent {
    bool launch = 1;
    bool burnout = 2;
    bool apogee = 3;
    bool main_deploy = 4;
    bool drogue_deploy = 5;
    bool landed = 6;
    bool above_acs_threshold = 7;
}

message Acknowledge {
    bool success = 1;
}

message PressureReading {
    float pressure = 1;
}

message ImuReading {
    float ax = 1;
    float ay = 2;
    float az = 3;
    float gx = 4;
    float gy = 5;
    float gz = 6;
}

message StateEstimate {
    float x = 1;
    float y = 2;
    float z = 3;
    float vx = 4;
    float vy = 5;
    float vz = 6;
    float ax = 7;
    float ay = 8;
    float az = 9;

    float roll = 10;
    float pitch = 11;
    float yaw = 12;
}

message CANBus {
    bool can_started = 1;
    fixed32 loki_latest_rx_time = 2;
    fixed32 loki_latest_tx_time = 3;
    fixed32 sigurd_latest_rx_time = 4;
    fixed32 sigurd_latest_tx_time = 5;
}

message PyroStatus {
    bool pyro1_connected = 1;
    bool pyro2_connected = 2;
    bool pyro3_connected = 3;
}

message CAN_LokiToFjalar {
    int32 loki_state = 1;
    int32 loki_substate = 2;
    float loki_current_angle = 3;
    float loki_battery_voltage = 4;
}

message CAN_FjalarToLoki {
    FlightState flight_state = 1;
    FlightEvent flight_event = 2;
    bool enable_airbrakes = 3;
    float airbrakes_angle = 4;
}

message CAN_SigurdToFjalar{
    float sensor_data_1 = 1; //?
    float sensor_data_2 = 2; //?
    float sensor_data_3 = 3; //?
    float sensor_data_4 = 4; //?
}

message CAN_FjalarToSigurd{

}

message CAN_FafnirToFjalar{

}

message CAN_FjalarToFafnir{
    bool open_solenoid_1 = 1; //?
    bool open_solenoid_2 = 2; //?
    bool open_solenoid_3 = 3; //?
    bool open_solenoid_4 = 4; //?
    bool open_main_valve = 5; //?
}

message LORA_GcbToFjalar{
    bool ready_initiate_fjalar = 1; //?
    bool ready_launch_fjalar = 2; //?
}

message LORA_FjalarToGcb{
    // ig this is same as FjalarData
}

message Fjalar_Info {
    float fjalar_battery_voltage = 1;
    int32 flash_address = 2;
    bool sudo = 3;
}

message GnssPosition {
    float longitude = 1;
    float latitude = 2;
    float altitude = 3;
}

message GnssStatus {
    int32 fix = 1;
    int32 num_satellites = 2;
    float hdop = 3;
    float vdop = 4;
}

message SetSudo {
    bool enabled = 1;
}

message ClearFlash {

}

message ReadFlash {
    int32 start_index = 1;
    int32 length = 2;
}

message FlashData {
    int32 start_index = 1;
    bytes data = 2 [(nanopb).max_size = 64];
}

message ReadyUp {

}

message EnterIdle {

}

message TriggerPyro {
    int32 pyro = 1;
}

message HilIn{
    float ax = 1;
    float ay = 2;
    float az = 3;

    float gx = 4;
    float gy = 5;
    float gz = 6;

    float p = 7;

    float lon = 8;
    float lat = 9;
    float alt = 10;

    uint32 time = 11;

    bool awaiting_init = 12;
    bool awaiting_launch = 13;
}

message HilOut{
    float airbrake_percentage = 1;
    bool main_deployed = 2;
    bool drogue_deployed = 3;
}

message FjalarData {
    oneof data {
        Acknowledge acknowledge = 1;
        ImuReading imu_reading = 3;
        PressureReading pressure_reading = 4;
        GnssPosition gnss_position = 5;
        GnssStatus gnss_status = 6;
        SetSudo set_sudo = 8;
        ClearFlash clear_flash = 9;
        ReadFlash read_flash = 10;
        FlashData flash_data = 11;
        ReadyUp ready_up = 12;
        EnterIdle enter_idle = 13;
        TriggerPyro trigger_pyro = 14;
        HilIn hil_in = 15;
        HilOut hil_out = 16;
        StateEstimate state_estimate = 17;
        FlightState flight_state = 18;
        FlightEvent flight_event = 19;
        CANBus can_bus = 20;
        PyroStatus pyro_status = 21;
        CAN_LokiToFjalar can_loki_to_fjalar = 22;
        CAN_FjalarToLoki can_fjalar_to_loki = 23;
        CAN_SigurdToFjalar can_sigurd_to_fjalar = 24;
        CAN_FjalarToSigurd can_fjalar_to_sigurd = 25;
        CAN_FafnirToFjalar can_fafnir_to_fjalar = 26;
        CAN_FjalarToFafnir can_fjalar_to_fafnir = 27;
        LORA_GcbToFjalar lora_gcb_to_fjalar = 28;
        LORA_FjalarToGcb lora_fjalar_to_gcb = 29;
    };
}

message FjalarMessage {
    fixed32 time = 1;
    int32 sequence_number = 2;
    FjalarData data = 3;
}