message NodeReport
{
  required string name = 2;

  // defined in goby/core/proto/config.proto
  optional VehicleType type = 3;
  
  // lat, lon, depth
  required GeodeticCoordinate global_fix = 4;  
  // x, y, z on local cartesian grid
  optional CartesianCoordinate local_fix = 5;
  
  // roll, pitch, yaw
  optional EulerAngles pose = 7;
  
  // speed over ground (not relative to water or surface)
  optional double speed = 8;
  optional SourceSensor speed_source = 9;  
  optional double speed_time_lag = 11;
  
}

// Type of vehicle for a given node
enum VehicleType { AUV = 1;
                   USV = 2;
                   SHIP = 3;
                   GLIDER = 4;
                   TARGET = 5;
                   BUOY = 6;
                   OTHER = 7; }

enum SourceSensor { GPS = 1;
                    DEAD_RECKONING = 2;
                    INERTIAL_MEASUREMENT_UNIT = 3;
                    PRESSURE_SENSOR = 4;
                    COMPASS = 5;
                    SIMULATION = 6;}

message GeodeticCoordinate
{
  required double lat = 1;
  required double lon = 2;
  optional double depth = 3 [default = 0]; // negative of "height"
  optional double altitude = 4;
  
  optional SourceSensor lat_source = 5;
  optional SourceSensor lon_source = 6;
  optional SourceSensor depth_source = 7;
  optional SourceSensor altitude_source = 8;

  // time lags (in seconds) from the message Header time
  optional double lat_time_lag = 9;
  optional double lon_time_lag = 10;
  optional double depth_time_lag = 11;
  optional double altitude_time_lag = 12;
}

// computed from GeodeticCoordinate
message CartesianCoordinate
{
  required double x = 1;
  required double y = 2;
  optional double z = 3 [default = 0]; // negative of "depth"  
}

// all in degrees
message EulerAngles
{
  optional double roll = 1;
  optional double pitch = 2;
  optional double yaw = 3; // also known as "heading"
  
  optional SourceSensor roll_source = 4;
  optional SourceSensor pitch_source = 5;
  optional SourceSensor yaw_source = 6;

  // time lags (in seconds) from the message Header time
  optional double roll_time_lag = 7;
  optional double pitch_time_lag = 8;
  optional double yaw_time_lag = 9;
}