/*
 * Copyright (C) 2022 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

syntax = "proto3";
package gz.msgs;
option java_package = "com.gz.msgs";
option java_outer_classname = "DVLBeamStateProtos";

/// \ingroup gz.msgs
/// \interface DVLBeamState
/// \brief State of some acoustic beam in a Doppler Velocity Log sensor. Each beam, when locked,
/// estimates the distance to the reflecting target as well as its velocity in some reference
/// frame. Some additional attributes may also be available.

import "gz/msgs/dvl_kinematic_estimate.proto";
import "gz/msgs/dvl_range_estimate.proto";

message DVLBeamState
{
  /// \brief Beam ID.
  int32 id = 1;

  /// \brief Beam velocity estimate, measured along
  /// its axis, in meters per second.
  DVLKinematicEstimate velocity = 2;

  /// \brief Beam range estimate, in meters.
  DVLRangeEstimate range = 3;

  /// \brief Beam signal strength indicator.
  double rssi = 4;

  /// \brief Measured background noise spectral density,
  /// in watts per hertz.
  double nsd = 5;

  /// \brief Whether beam is locked to its target or not.
  /// A beam is said to be locked when it can reliably
  /// measure signal reflections.
  bool locked = 6;
}
