Update message documentation style

lrauv_ignition_plugins/proto/lrauv_command.proto

@@ -37,58 +37,60 @@ message LRAUVCommand
   /// \brief Optional header data
   ignition.msgs.Header header  = 1;
 
-  float propOmega_             = 2;  // Angular velocity that the controller
-                                     // believes the propeller is currently at.
-                                     // Unit: rad / s. Positive values rotate
-                                     // the propeller clockwise when looking
-                                     // from the back, and propel the vehicle
-                                     // forward.
-  float rudderAngle_           = 3;  // Angle that the controller believes the
-                                     // rudder is currently at. Unit: radians.
-                                     // Higher values have the vertical fins
-                                     // rotated more clockwise when looking
-                                     // from the top (i.e. to starboard)
-  float elevatorAngle_         = 4;  // Angle that the controller believes the
-                                     // elevator is currently at. Unit: radians.
-                                     // Higher values have the horizontal fins
-                                     // rotated more counter-clockwise when
-                                     // looking from starboard, which tilts the
-                                     // nose downward when moving forward.
-  float massPosition_          = 5;  // Position where the controller believes
-                                     // the mass shifter's joint is in. Unit:
-                                     // meters. Positive values have the battery
-                                     // forward, tilting the nose downward.
-  float buoyancyPosition_      = 6;  // Volume that the controller believes the
-                                     // VBS currently has. Unit: cubic meters.
-                                     // Volumes higher than the neutral volume
-                                     // push the vehicle upward.
-  bool dropWeightState_        = 7;  // Indicator "dropweight OK"
-                                     // 1 = in place, 0 = dropped
-
-  float propOmegaAction_       = 8;  // Target angular velocity for the
-                                     // propeller. Unit: rad / s. Positive
-                                     // values rotate the propeller clockwise
-                                     // when looking from the back, and propel
-                                     // the vehicle forward.
-  float rudderAngleAction_     = 9;  // Target angle for rudder joint. Unit:
-                                     // radians. Higher values rotate the
-                                     // vertical fins clockwise when looking
-                                     // from the top (i.e. to starboard)
-  float elevatorAngleAction_   = 10;  // Target angle for the elevator joint.
-                                      // Unit: radians. Higher values rotate
-                                      // vertical fins more counter-clockwise
-                                      // when looking from starboard, which tilts
-                                      // the nose downward when moving forward.
-  float massPositionAction_    = 11;  // Target position for the battery's joint.
-                                      // Unit: meters. Positive values move the
-                                      // battery forward, tilting the nose
-                                      // downward.
-  float buoyancyAction_        = 12;  // Target volume for the VBS (Variable
-                                      // Buoyancy System). Unit: cubic meters.
-                                      // Volumes higher than the neutral volume
-                                      // make the vehicle float.
+  /// \brief Angular velocity that the controller believes the propeller is currently at.
+  /// Unit: rad / s. Positive values rotate the propeller clockwise when looking from the
+  /// back, and propel the vehicle forward.
+  float propOmega_             = 2;
 
+  /// \brief Angle that the controller believes the rudder is currently at. Unit: radians.
+  /// Higher values have the vertical fins rotated more clockwise when looking from the
+  /// top (i.e. to starboard)
+  float rudderAngle_           = 3;
+
+  /// \brief Angle that the controller believes the elevator is currently at. Unit: radians.
+  /// Higher values have the horizontal fins rotated more counter-clockwise when looking
+  /// from starboard, which tilts the nose downward when moving forward.
+  float elevatorAngle_         = 4;
+
+  /// \brief Position where the controller believes the mass shifter's joint is in. Unit:
+  /// meters. Positive values have the battery forward, tilting the nose downward.
+  float massPosition_          = 5;
+
+  /// \brief Volume that the controller believes the VBS currently has. Unit: cubic meters.
+  /// Volumes higher than the neutral volume push the vehicle upward.
+  float buoyancyPosition_      = 6;
+
+  /// \brief Indicator "dropweight OK". 1 = in place, 0 = dropped
+  bool dropWeightState_        = 7;
+
+  /// \brief Target angular velocity for the propeller. Unit: rad / s. Positive
+  /// values rotate the propeller clockwise when looking from the back, and propel
+  /// the vehicle forward.
+  float propOmegaAction_       = 8;
+
+  /// \brief Target angle for rudder joint. Unit: radians. Higher values rotate the
+  /// vertical fins clockwise when looking from the top (i.e. to starboard)
+  float rudderAngleAction_     = 9;
+
+  /// \brief Target angle for the elevator joint. Unit: radians. Higher values rotate
+  /// vertical fins more counter-clockwise when looking from starboard, which tilts
+  /// the nose downward when moving forward.
+  float elevatorAngleAction_   = 10;
+
+  /// \brief Target position for the battery's joint. Unit: meters. Positive values move the
+  /// battery forward, tilting the nose downward.
+  float massPositionAction_    = 11;
+
+  /// \brief Target volume for the VBS (Variable Buoyancy System). Unit: cubic meters.
+  /// Volumes higher than the neutral volume make the vehicle float.
+  float buoyancyAction_        = 12;
+
+  /// \brief Not used
   float density_               = 13;
+
+  /// \brief Not used
   float dt_                    = 14;
+
+  /// \brief Not used
   double time_                 = 15;
 }

lrauv_ignition_plugins/proto/lrauv_init.proto

@@ -41,13 +41,23 @@ message LRAUVInit
   /// \brief Unique ID identifying vehicle
   ignition.msgs.StringMsg id_     = 2;
 
-  // Initial Position Vector
-  double initLat_                 = 3; //  arcdeg  // Initial latitude
-  double initLon_                 = 4; //  arcdeg  // Initial longitude
-  double initZ_                   = 5; //  m       // Initial depth
-  float initPitch_                = 6; //  rad     // Pitch wrto LV
-  float initRoll_                 = 7; //  rad     // Roll wrto LV
-  float initHeading_              = 8; //  rad     // Yaw wrto LV
+  /// \brief Initial latitude in degrees.
+  double initLat_                 = 3;
+
+  /// \brief Initial longitude in degrees.
+  double initLon_                 = 4;
+
+  /// \brief Initial depth in meters.
+  double initZ_                   = 5;
+
+  /// \TODO(chapulina)
+  float initPitch_                = 6;
+
+  /// \TODO(chapulina)
+  float initRoll_                 = 7;
+
+  /// \TODO(chapulina)
+  float initHeading_              = 8;
 
   // Add fields as needed
 }

lrauv_ignition_plugins/proto/lrauv_state.proto

@@ -33,66 +33,114 @@ import "ignition/msgs/header.proto";
 import "ignition/msgs/vector3d.proto";
 
 // Mirrors SimResultStruct
-// Note coordinate frame convention for all pose fields:
-//   FSK (x fore or forward, y starboard or right, z keel or down)
+// \TODO(chapulina) Update coordinate frame convention for all pose fields:
 message LRAUVState
 {
   /// \brief Optional header data
+  /// Stamped with simulation time.
   ignition.msgs.Header header     = 1;
 
+  /// \brief Not populated
   int32 errorPad_                 = 2;
+
+  /// \brief Not populated
   int32 utmZone_                  = 3;
+
+  /// \brief Not populated
   int32 northernHemi_             = 4;
-  float propOmega_                = 5;  // Current angular velocity of the
-                                        // propeller. Unit: rad / s. Positive
-                                        // values rotate the propeller
-                                        // clockwise when looking from the back,
-                                        // and propel the vehicle forward.
-  float propThrust_               = 6;  // Not populated
-  float propTorque_               = 7;  // Not populated
-  float rudderAngle_              = 8;  // Angle that the rudder joint is
-                                        // currently at. Unit: radians.
-                                        // Higher values have the vertical fins
-                                        // rotated more clockwise when looking
-                                        // from the top (i.e. to starboard)
+
+  /// \brief Current angular velocity of the propeller. Unit: rad / s. Positive
+  /// values rotate the propeller clockwise when looking from the back,
+  /// and propel the vehicle forward.
+  float propOmega_                = 5;
+
+  /// \brief Not populated
+  float propThrust_               = 6;
+
+  /// \brief Not populated
+  float propTorque_               = 7;
+
+  /// \brief Angle that the rudder joint is currently at. Unit: radians.
+  /// Higher values have the vertical fins rotated more clockwise when looking
+  /// from the top (i.e. to starboard)
+  float rudderAngle_              = 8;
+
+  /// \brief Angle that the elevator joint is currently at. Unit: radians.
+  /// Higher values have the horizontal fins rotated more counter-clockwise when
+  /// looking from starboard, which tilts the nose downward when moving forward.
   float elevatorAngle_            = 9;
-  float massPosition_             = 10;  // Position of the battery's joint.
-                                         // Unit: meters. Positive values have
-                                         // the battery forward, tilting the
-                                         // nose downward.
-  float buoyancyPosition_         = 11;  // Volume of the VBS. Unit: cubic
-                                         // meters. Volumes higher than the
-                                         // neutral volume push the vehicle
-                                         // upwards.
+
+  /// \brief Position of the battery's joint. Unit: meters. Positive values have
+  /// the battery forward, tilting the nose downward.
+  float massPosition_             = 10;
+
+  /// \brief Volume of the VBS. Unit: cubic meters. Volumes higher than the
+  /// neutral volume push the vehicle upwards.
+  float buoyancyPosition_         = 11;
+
+  /// \brief Vertical position of the vehicle with respect to sea level. Higher
+  /// values are deeper, negative values are above water. Unit: meters.
   float depth_                    = 12;
 
-  ignition.msgs.Vector3d rph_     = 13;  // roll_, pitch_, heading_ in SimResultStruct (rad)
+  /// \brief Duplicate of posRPH_
+  ignition.msgs.Vector3d rph_     = 13;
+
+  /// \brief TODO(chapulina)
+  float speed_                    = 14;
 
-  float speed_                    = 14;  // Magnitude of linear velocity in the
-                                         // world frame. Unit: m / s
+  /// \brief Latitude in degrees
   double latitudeDeg_             = 15;
+
+  /// \brief Longitude in degrees
   double longitudeDeg_            = 16;
-  float netBuoy_                  = 17;  // Net buoyancy forces applied to the
-                                         // vehicle. Unit: Newtons. Currently
-                                         // not populated.
-
-  ignition.msgs.Vector3d force_   = 18;  // forceX_, forceY_, forceZ_ in SimResultStruct
-  ignition.msgs.Vector3d pos_     = 19;  // posX_, posY_, posZ_ in SimResultStruct
-  ignition.msgs.Vector3d posRPH_  = 20;  // posRoll_, posPitch_, posHeading_ in SimResultStruct
-  ignition.msgs.Vector3d posDot_  = 21;  // posXDot_, posYDot_, posZDot_ in SimResultStruct
-                                         // Velocity wrt ground
-  ignition.msgs.Vector3d rateUVW_ = 22;  // rateU_, rateV_, rateW_ in SimResultStruct
-                                         // Water velocity
-  ignition.msgs.Vector3d ratePQR_ = 23;  // rateP_, rateQ_, rateR_ in SimResultStruct
-                                         // for roll, pitch, yaw rates, respectively
-
-  float northCurrent_             = 24;  // +Y velocity in m / s
-  float eastCurrent_              = 25;  // +X velocity in m / s
-  float vertCurrent_              = 26;  // +Z velocity in m / s
+
+  /// \brief Net buoyancy forces applied to the vehicle. Unit: Newtons. Currently not populated.
+  float netBuoy_                  = 17;
+
+  /// \brief Not populated
+  ignition.msgs.Vector3d force_   = 18;
+
+  /// \brief \TODO(chapulina)
+  ignition.msgs.Vector3d pos_     = 19;
+
+  /// \brief \TODO(chapulina)
+  ignition.msgs.Vector3d posRPH_  = 20;
+
+  /// \brief \TODO(chapulina)
+  ignition.msgs.Vector3d posDot_  = 21;
+
+  /// \brief \TODO(chapulina)
+  ignition.msgs.Vector3d rateUVW_ = 22;
+
+  /// \brief \TODO(chapulina)
+  ignition.msgs.Vector3d ratePQR_ = 23;
+
+  /// \brief Northward sea water velocity collected from current sensor. Unit: m/s.
+  float northCurrent_             = 24;
+
+  /// \brief Eastward sea water velocity collected from current sensor. Unit: m/s.
+  float eastCurrent_              = 25;
+
+  /// \brief Not populated
+  float vertCurrent_              = 26;
+
+  /// \brief Not populated
   float magneticVariation_        = 27;
+
+  /// \brief Not populated
   float soundSpeed_               = 28;
-  float temperature_              = 29;  // Celsius
-  float salinity_                 = 30;  // PSU
-  float density_                  = 31;  // Density of the surrounding water in Kg / m ^ 3
-  repeated float values_          = 32;  // Size 4 (0: chlorophyll in ug / L, 1: pressure in Pa)
+
+  /// \brief Data collected from temperature sensor. Unit: Celsius
+  float temperature_              = 29;
+
+  /// \brief Data collected from salinity sensor. Unit: PSU
+  float salinity_                 = 30;
+
+  /// \brief Density of the surrounding water in kg / m ^ 3
+  float density_                  = 31;
+
+  /// \brief Size 4
+  // 0: Data collected from Chlorophyll sensor. Unit: ug / L
+  // 1: Pressure calculated from current depth and latitude. Unit: Pa
+  repeated float values_          = 32;
 }

lrauv_ignition_plugins/src/TethysCommPlugin.cc

@@ -394,15 +394,10 @@ void TethysCommPlugin::SetupEntities(
 void TethysCommPlugin::CommandCallback(
   const lrauv_ignition_plugins::msgs::LRAUVCommand &_msg)
 {
-  // Lazy timestamp conversion just for printing
-  //if (std::chrono::seconds(int(floor(_msg.time_()))) - this->prevSubPrintTime
-  //    > std::chrono::milliseconds(1000))
   if (this->debugPrintout)
   {
     igndbg << "[" << this->ns << "] Received command: " << std::endl
       << _msg.DebugString() << std::endl;
-
-    this->prevSubPrintTime = std::chrono::seconds(int(floor(_msg.time_())));
   }
 
   // Rudder
@@ -617,7 +612,8 @@ void TethysCommPlugin::PostUpdate(
 
   stateMsg.set_eastcurrent_(this->latestCurrent.X());
   stateMsg.set_northcurrent_(this->latestCurrent.Y());
-  stateMsg.set_vertcurrent_(this->latestCurrent.Z());
+  // Not populating vertCurrent because we're not getting it from the science
+  // data
 
   this->statePub.Publish(stateMsg);
 

lrauv_ignition_plugins/src/TethysCommPlugin.hh

@@ -193,8 +193,6 @@ namespace tethys
     /// sanity check
     private: std::chrono::steady_clock::duration prevPubPrintTime =
       std::chrono::steady_clock::duration::zero();
-    private: std::chrono::steady_clock::duration prevSubPrintTime =
-      std::chrono::steady_clock::duration::zero();
 
     /// Transport node for message passing
     private: ignition::transport::Node node;