@blueyerobotics/protocol-definitions 3.2.0-09fee2ba

package/dist/mission_planning.js

@@ -0,0 +1,2317 @@
+"use strict";
+// Code generated by protoc-gen-ts_proto. DO NOT EDIT.
+// versions:
+//   protoc-gen-ts_proto  v2.7.7
+//   protoc               v3.21.12
+// source: mission_planning.proto
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.MissionStatus = exports.ReferenceAutoPilot = exports.PathSegment = exports.GoToHomeCommand = exports.GoToSeabedCommand = exports.GoToSurfaceCommand = exports.CameraCommand = exports.WaitForCommand = exports.TiltMultibeamCommand = exports.TiltMainCameraCommand = exports.DepthSetPointCommand = exports.WaypointCommand = exports.ControlModeCommand = exports.Waypoint = exports.DepthSetPoint = exports.Instruction = exports.Mission = exports.MissionState = exports.InstructionType = exports.CameraAction = exports.ControlModeHorizontal = exports.ControlModeVertical = exports.DepthZeroReference = void 0;
+exports.depthZeroReferenceFromJSON = depthZeroReferenceFromJSON;
+exports.depthZeroReferenceToJSON = depthZeroReferenceToJSON;
+exports.controlModeVerticalFromJSON = controlModeVerticalFromJSON;
+exports.controlModeVerticalToJSON = controlModeVerticalToJSON;
+exports.controlModeHorizontalFromJSON = controlModeHorizontalFromJSON;
+exports.controlModeHorizontalToJSON = controlModeHorizontalToJSON;
+exports.cameraActionFromJSON = cameraActionFromJSON;
+exports.cameraActionToJSON = cameraActionToJSON;
+exports.instructionTypeFromJSON = instructionTypeFromJSON;
+exports.instructionTypeToJSON = instructionTypeToJSON;
+exports.missionStateFromJSON = missionStateFromJSON;
+exports.missionStateToJSON = missionStateToJSON;
+/* eslint-disable */
+const wire_1 = require("@bufbuild/protobuf/wire");
+const message_formats_1 = require("./message_formats");
+/**
+ * Mission Planning Protocol.
+ *
+ * These messages are used to start a mission and to monitor the status of the mission.
+ */
+/** Depth zero reference from surface for depth, and seabed for altitude. */
+var DepthZeroReference;
+(function (DepthZeroReference) {
+    DepthZeroReference[DepthZeroReference["DEPTH_ZERO_REFERENCE_UNSPECIFIED"] = 0] = "DEPTH_ZERO_REFERENCE_UNSPECIFIED";
+    DepthZeroReference[DepthZeroReference["DEPTH_ZERO_REFERENCE_SURFACE"] = 1] = "DEPTH_ZERO_REFERENCE_SURFACE";
+    DepthZeroReference[DepthZeroReference["DEPTH_ZERO_REFERENCE_SEABED"] = 2] = "DEPTH_ZERO_REFERENCE_SEABED";
+    DepthZeroReference[DepthZeroReference["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
+})(DepthZeroReference || (exports.DepthZeroReference = DepthZeroReference = {}));
+function depthZeroReferenceFromJSON(object) {
+    switch (object) {
+        case 0:
+        case "DEPTH_ZERO_REFERENCE_UNSPECIFIED":
+            return DepthZeroReference.DEPTH_ZERO_REFERENCE_UNSPECIFIED;
+        case 1:
+        case "DEPTH_ZERO_REFERENCE_SURFACE":
+            return DepthZeroReference.DEPTH_ZERO_REFERENCE_SURFACE;
+        case 2:
+        case "DEPTH_ZERO_REFERENCE_SEABED":
+            return DepthZeroReference.DEPTH_ZERO_REFERENCE_SEABED;
+        case -1:
+        case "UNRECOGNIZED":
+        default:
+            return DepthZeroReference.UNRECOGNIZED;
+    }
+}
+function depthZeroReferenceToJSON(object) {
+    switch (object) {
+        case DepthZeroReference.DEPTH_ZERO_REFERENCE_UNSPECIFIED:
+            return "DEPTH_ZERO_REFERENCE_UNSPECIFIED";
+        case DepthZeroReference.DEPTH_ZERO_REFERENCE_SURFACE:
+            return "DEPTH_ZERO_REFERENCE_SURFACE";
+        case DepthZeroReference.DEPTH_ZERO_REFERENCE_SEABED:
+            return "DEPTH_ZERO_REFERENCE_SEABED";
+        case DepthZeroReference.UNRECOGNIZED:
+        default:
+            return "UNRECOGNIZED";
+    }
+}
+/** Control mode for the vertical axis of the drone. */
+var ControlModeVertical;
+(function (ControlModeVertical) {
+    /** CONTROL_MODE_VERTICAL_UNSPECIFIED - Unspecified. */
+    ControlModeVertical[ControlModeVertical["CONTROL_MODE_VERTICAL_UNSPECIFIED"] = 0] = "CONTROL_MODE_VERTICAL_UNSPECIFIED";
+    /** CONTROL_MODE_VERTICAL_MANUAL - Manual control mode. */
+    ControlModeVertical[ControlModeVertical["CONTROL_MODE_VERTICAL_MANUAL"] = 1] = "CONTROL_MODE_VERTICAL_MANUAL";
+    /** CONTROL_MODE_VERTICAL_AUTO_DEPTH - Auto depth control mode. */
+    ControlModeVertical[ControlModeVertical["CONTROL_MODE_VERTICAL_AUTO_DEPTH"] = 2] = "CONTROL_MODE_VERTICAL_AUTO_DEPTH";
+    /** CONTROL_MODE_VERTICAL_AUTO_ALTITUDE - Auto altitude control mode. */
+    ControlModeVertical[ControlModeVertical["CONTROL_MODE_VERTICAL_AUTO_ALTITUDE"] = 3] = "CONTROL_MODE_VERTICAL_AUTO_ALTITUDE";
+    ControlModeVertical[ControlModeVertical["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
+})(ControlModeVertical || (exports.ControlModeVertical = ControlModeVertical = {}));
+function controlModeVerticalFromJSON(object) {
+    switch (object) {
+        case 0:
+        case "CONTROL_MODE_VERTICAL_UNSPECIFIED":
+            return ControlModeVertical.CONTROL_MODE_VERTICAL_UNSPECIFIED;
+        case 1:
+        case "CONTROL_MODE_VERTICAL_MANUAL":
+            return ControlModeVertical.CONTROL_MODE_VERTICAL_MANUAL;
+        case 2:
+        case "CONTROL_MODE_VERTICAL_AUTO_DEPTH":
+            return ControlModeVertical.CONTROL_MODE_VERTICAL_AUTO_DEPTH;
+        case 3:
+        case "CONTROL_MODE_VERTICAL_AUTO_ALTITUDE":
+            return ControlModeVertical.CONTROL_MODE_VERTICAL_AUTO_ALTITUDE;
+        case -1:
+        case "UNRECOGNIZED":
+        default:
+            return ControlModeVertical.UNRECOGNIZED;
+    }
+}
+function controlModeVerticalToJSON(object) {
+    switch (object) {
+        case ControlModeVertical.CONTROL_MODE_VERTICAL_UNSPECIFIED:
+            return "CONTROL_MODE_VERTICAL_UNSPECIFIED";
+        case ControlModeVertical.CONTROL_MODE_VERTICAL_MANUAL:
+            return "CONTROL_MODE_VERTICAL_MANUAL";
+        case ControlModeVertical.CONTROL_MODE_VERTICAL_AUTO_DEPTH:
+            return "CONTROL_MODE_VERTICAL_AUTO_DEPTH";
+        case ControlModeVertical.CONTROL_MODE_VERTICAL_AUTO_ALTITUDE:
+            return "CONTROL_MODE_VERTICAL_AUTO_ALTITUDE";
+        case ControlModeVertical.UNRECOGNIZED:
+        default:
+            return "UNRECOGNIZED";
+    }
+}
+/** Control mode for the horizontal axis of the drone. */
+var ControlModeHorizontal;
+(function (ControlModeHorizontal) {
+    /** CONTROL_MODE_HORIZONTAL_UNSPECIFIED - Unspecified. */
+    ControlModeHorizontal[ControlModeHorizontal["CONTROL_MODE_HORIZONTAL_UNSPECIFIED"] = 0] = "CONTROL_MODE_HORIZONTAL_UNSPECIFIED";
+    /** CONTROL_MODE_HORIZONTAL_MANUAL - Manual control mode. */
+    ControlModeHorizontal[ControlModeHorizontal["CONTROL_MODE_HORIZONTAL_MANUAL"] = 1] = "CONTROL_MODE_HORIZONTAL_MANUAL";
+    /** CONTROL_MODE_HORIZONTAL_AUTO_HEADING - Auto heading control mode. */
+    ControlModeHorizontal[ControlModeHorizontal["CONTROL_MODE_HORIZONTAL_AUTO_HEADING"] = 2] = "CONTROL_MODE_HORIZONTAL_AUTO_HEADING";
+    /** CONTROL_MODE_HORIZONTAL_STATION_KEEPING - Station keeping control mode. */
+    ControlModeHorizontal[ControlModeHorizontal["CONTROL_MODE_HORIZONTAL_STATION_KEEPING"] = 3] = "CONTROL_MODE_HORIZONTAL_STATION_KEEPING";
+    ControlModeHorizontal[ControlModeHorizontal["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
+})(ControlModeHorizontal || (exports.ControlModeHorizontal = ControlModeHorizontal = {}));
+function controlModeHorizontalFromJSON(object) {
+    switch (object) {
+        case 0:
+        case "CONTROL_MODE_HORIZONTAL_UNSPECIFIED":
+            return ControlModeHorizontal.CONTROL_MODE_HORIZONTAL_UNSPECIFIED;
+        case 1:
+        case "CONTROL_MODE_HORIZONTAL_MANUAL":
+            return ControlModeHorizontal.CONTROL_MODE_HORIZONTAL_MANUAL;
+        case 2:
+        case "CONTROL_MODE_HORIZONTAL_AUTO_HEADING":
+            return ControlModeHorizontal.CONTROL_MODE_HORIZONTAL_AUTO_HEADING;
+        case 3:
+        case "CONTROL_MODE_HORIZONTAL_STATION_KEEPING":
+            return ControlModeHorizontal.CONTROL_MODE_HORIZONTAL_STATION_KEEPING;
+        case -1:
+        case "UNRECOGNIZED":
+        default:
+            return ControlModeHorizontal.UNRECOGNIZED;
+    }
+}
+function controlModeHorizontalToJSON(object) {
+    switch (object) {
+        case ControlModeHorizontal.CONTROL_MODE_HORIZONTAL_UNSPECIFIED:
+            return "CONTROL_MODE_HORIZONTAL_UNSPECIFIED";
+        case ControlModeHorizontal.CONTROL_MODE_HORIZONTAL_MANUAL:
+            return "CONTROL_MODE_HORIZONTAL_MANUAL";
+        case ControlModeHorizontal.CONTROL_MODE_HORIZONTAL_AUTO_HEADING:
+            return "CONTROL_MODE_HORIZONTAL_AUTO_HEADING";
+        case ControlModeHorizontal.CONTROL_MODE_HORIZONTAL_STATION_KEEPING:
+            return "CONTROL_MODE_HORIZONTAL_STATION_KEEPING";
+        case ControlModeHorizontal.UNRECOGNIZED:
+        default:
+            return "UNRECOGNIZED";
+    }
+}
+/** List of available camera actions. */
+var CameraAction;
+(function (CameraAction) {
+    /** CAMERA_ACTION_UNSPECIFIED - Unspecified command. */
+    CameraAction[CameraAction["CAMERA_ACTION_UNSPECIFIED"] = 0] = "CAMERA_ACTION_UNSPECIFIED";
+    /** CAMERA_ACTION_TAKE_PHOTO - Take one photo. */
+    CameraAction[CameraAction["CAMERA_ACTION_TAKE_PHOTO"] = 1] = "CAMERA_ACTION_TAKE_PHOTO";
+    /** CAMERA_ACTION_TAKE_PHOTOS_TIME - Take a photo every x second. */
+    CameraAction[CameraAction["CAMERA_ACTION_TAKE_PHOTOS_TIME"] = 2] = "CAMERA_ACTION_TAKE_PHOTOS_TIME";
+    /** CAMERA_ACTION_TAKE_PHOTOS_DISTANCE - Take a photo every x meter. */
+    CameraAction[CameraAction["CAMERA_ACTION_TAKE_PHOTOS_DISTANCE"] = 3] = "CAMERA_ACTION_TAKE_PHOTOS_DISTANCE";
+    /** CAMERA_ACTION_STOP_TAKING_PHOTOS - Stop taking photos. */
+    CameraAction[CameraAction["CAMERA_ACTION_STOP_TAKING_PHOTOS"] = 4] = "CAMERA_ACTION_STOP_TAKING_PHOTOS";
+    /** CAMERA_ACTION_START_RECORDING - Start recording. */
+    CameraAction[CameraAction["CAMERA_ACTION_START_RECORDING"] = 5] = "CAMERA_ACTION_START_RECORDING";
+    /** CAMERA_ACTION_STOP_RECORDING - Stop recording. */
+    CameraAction[CameraAction["CAMERA_ACTION_STOP_RECORDING"] = 6] = "CAMERA_ACTION_STOP_RECORDING";
+    CameraAction[CameraAction["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
+})(CameraAction || (exports.CameraAction = CameraAction = {}));
+function cameraActionFromJSON(object) {
+    switch (object) {
+        case 0:
+        case "CAMERA_ACTION_UNSPECIFIED":
+            return CameraAction.CAMERA_ACTION_UNSPECIFIED;
+        case 1:
+        case "CAMERA_ACTION_TAKE_PHOTO":
+            return CameraAction.CAMERA_ACTION_TAKE_PHOTO;
+        case 2:
+        case "CAMERA_ACTION_TAKE_PHOTOS_TIME":
+            return CameraAction.CAMERA_ACTION_TAKE_PHOTOS_TIME;
+        case 3:
+        case "CAMERA_ACTION_TAKE_PHOTOS_DISTANCE":
+            return CameraAction.CAMERA_ACTION_TAKE_PHOTOS_DISTANCE;
+        case 4:
+        case "CAMERA_ACTION_STOP_TAKING_PHOTOS":
+            return CameraAction.CAMERA_ACTION_STOP_TAKING_PHOTOS;
+        case 5:
+        case "CAMERA_ACTION_START_RECORDING":
+            return CameraAction.CAMERA_ACTION_START_RECORDING;
+        case 6:
+        case "CAMERA_ACTION_STOP_RECORDING":
+            return CameraAction.CAMERA_ACTION_STOP_RECORDING;
+        case -1:
+        case "UNRECOGNIZED":
+        default:
+            return CameraAction.UNRECOGNIZED;
+    }
+}
+function cameraActionToJSON(object) {
+    switch (object) {
+        case CameraAction.CAMERA_ACTION_UNSPECIFIED:
+            return "CAMERA_ACTION_UNSPECIFIED";
+        case CameraAction.CAMERA_ACTION_TAKE_PHOTO:
+            return "CAMERA_ACTION_TAKE_PHOTO";
+        case CameraAction.CAMERA_ACTION_TAKE_PHOTOS_TIME:
+            return "CAMERA_ACTION_TAKE_PHOTOS_TIME";
+        case CameraAction.CAMERA_ACTION_TAKE_PHOTOS_DISTANCE:
+            return "CAMERA_ACTION_TAKE_PHOTOS_DISTANCE";
+        case CameraAction.CAMERA_ACTION_STOP_TAKING_PHOTOS:
+            return "CAMERA_ACTION_STOP_TAKING_PHOTOS";
+        case CameraAction.CAMERA_ACTION_START_RECORDING:
+            return "CAMERA_ACTION_START_RECORDING";
+        case CameraAction.CAMERA_ACTION_STOP_RECORDING:
+            return "CAMERA_ACTION_STOP_RECORDING";
+        case CameraAction.UNRECOGNIZED:
+        default:
+            return "UNRECOGNIZED";
+    }
+}
+/** List of available instruction types. */
+var InstructionType;
+(function (InstructionType) {
+    /** INSTRUCTION_TYPE_UNSPECIFIED - Unspecified. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_UNSPECIFIED"] = 0] = "INSTRUCTION_TYPE_UNSPECIFIED";
+    /** INSTRUCTION_TYPE_NONE - None. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_NONE"] = 1] = "INSTRUCTION_TYPE_NONE";
+    /** INSTRUCTION_TYPE_GO_TO_WAYPOINT - Go to waypoint. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_GO_TO_WAYPOINT"] = 2] = "INSTRUCTION_TYPE_GO_TO_WAYPOINT";
+    /** INSTRUCTION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT - Go to waypoint with depth set point. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT"] = 3] = "INSTRUCTION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT";
+    /** INSTRUCTION_TYPE_GO_TO_DEPTH_SET_POINT - Go to depth set point. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_GO_TO_DEPTH_SET_POINT"] = 4] = "INSTRUCTION_TYPE_GO_TO_DEPTH_SET_POINT";
+    /** INSTRUCTION_TYPE_SET_CAMERA_ACTION - Command used to take photo repeatedly or start, stop recording. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_SET_CAMERA_ACTION"] = 5] = "INSTRUCTION_TYPE_SET_CAMERA_ACTION";
+    /** INSTRUCTION_TYPE_SET_CONTROL_MODE - Sets a new control mode. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_SET_CONTROL_MODE"] = 6] = "INSTRUCTION_TYPE_SET_CONTROL_MODE";
+    /** INSTRUCTION_TYPE_SET_TILT_MAIN_CAMERA - Sets a new angle for the tilt servo. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_SET_TILT_MAIN_CAMERA"] = 7] = "INSTRUCTION_TYPE_SET_TILT_MAIN_CAMERA";
+    /** INSTRUCTION_TYPE_SET_TILT_SERVO - Sets a new angle for the tilt servo. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_SET_TILT_SERVO"] = 8] = "INSTRUCTION_TYPE_SET_TILT_SERVO";
+    /** INSTRUCTION_TYPE_WAIT_FOR_SEC - Waiting for requested time in seconds. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_WAIT_FOR_SEC"] = 9] = "INSTRUCTION_TYPE_WAIT_FOR_SEC";
+    /** INSTRUCTION_TYPE_GO_TO_SURFACE - Go to the surface. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_GO_TO_SURFACE"] = 10] = "INSTRUCTION_TYPE_GO_TO_SURFACE";
+    /** INSTRUCTION_TYPE_GO_TO_SEABED - Go to the seabed. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_GO_TO_SEABED"] = 11] = "INSTRUCTION_TYPE_GO_TO_SEABED";
+    /** INSTRUCTION_TYPE_GO_TO_HOME - Returning to home. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_GO_TO_HOME"] = 12] = "INSTRUCTION_TYPE_GO_TO_HOME";
+    InstructionType[InstructionType["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
+})(InstructionType || (exports.InstructionType = InstructionType = {}));
+function instructionTypeFromJSON(object) {
+    switch (object) {
+        case 0:
+        case "INSTRUCTION_TYPE_UNSPECIFIED":
+            return InstructionType.INSTRUCTION_TYPE_UNSPECIFIED;
+        case 1:
+        case "INSTRUCTION_TYPE_NONE":
+            return InstructionType.INSTRUCTION_TYPE_NONE;
+        case 2:
+        case "INSTRUCTION_TYPE_GO_TO_WAYPOINT":
+            return InstructionType.INSTRUCTION_TYPE_GO_TO_WAYPOINT;
+        case 3:
+        case "INSTRUCTION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT":
+            return InstructionType.INSTRUCTION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT;
+        case 4:
+        case "INSTRUCTION_TYPE_GO_TO_DEPTH_SET_POINT":
+            return InstructionType.INSTRUCTION_TYPE_GO_TO_DEPTH_SET_POINT;
+        case 5:
+        case "INSTRUCTION_TYPE_SET_CAMERA_ACTION":
+            return InstructionType.INSTRUCTION_TYPE_SET_CAMERA_ACTION;
+        case 6:
+        case "INSTRUCTION_TYPE_SET_CONTROL_MODE":
+            return InstructionType.INSTRUCTION_TYPE_SET_CONTROL_MODE;
+        case 7:
+        case "INSTRUCTION_TYPE_SET_TILT_MAIN_CAMERA":
+            return InstructionType.INSTRUCTION_TYPE_SET_TILT_MAIN_CAMERA;
+        case 8:
+        case "INSTRUCTION_TYPE_SET_TILT_SERVO":
+            return InstructionType.INSTRUCTION_TYPE_SET_TILT_SERVO;
+        case 9:
+        case "INSTRUCTION_TYPE_WAIT_FOR_SEC":
+            return InstructionType.INSTRUCTION_TYPE_WAIT_FOR_SEC;
+        case 10:
+        case "INSTRUCTION_TYPE_GO_TO_SURFACE":
+            return InstructionType.INSTRUCTION_TYPE_GO_TO_SURFACE;
+        case 11:
+        case "INSTRUCTION_TYPE_GO_TO_SEABED":
+            return InstructionType.INSTRUCTION_TYPE_GO_TO_SEABED;
+        case 12:
+        case "INSTRUCTION_TYPE_GO_TO_HOME":
+            return InstructionType.INSTRUCTION_TYPE_GO_TO_HOME;
+        case -1:
+        case "UNRECOGNIZED":
+        default:
+            return InstructionType.UNRECOGNIZED;
+    }
+}
+function instructionTypeToJSON(object) {
+    switch (object) {
+        case InstructionType.INSTRUCTION_TYPE_UNSPECIFIED:
+            return "INSTRUCTION_TYPE_UNSPECIFIED";
+        case InstructionType.INSTRUCTION_TYPE_NONE:
+            return "INSTRUCTION_TYPE_NONE";
+        case InstructionType.INSTRUCTION_TYPE_GO_TO_WAYPOINT:
+            return "INSTRUCTION_TYPE_GO_TO_WAYPOINT";
+        case InstructionType.INSTRUCTION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT:
+            return "INSTRUCTION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT";
+        case InstructionType.INSTRUCTION_TYPE_GO_TO_DEPTH_SET_POINT:
+            return "INSTRUCTION_TYPE_GO_TO_DEPTH_SET_POINT";
+        case InstructionType.INSTRUCTION_TYPE_SET_CAMERA_ACTION:
+            return "INSTRUCTION_TYPE_SET_CAMERA_ACTION";
+        case InstructionType.INSTRUCTION_TYPE_SET_CONTROL_MODE:
+            return "INSTRUCTION_TYPE_SET_CONTROL_MODE";
+        case InstructionType.INSTRUCTION_TYPE_SET_TILT_MAIN_CAMERA:
+            return "INSTRUCTION_TYPE_SET_TILT_MAIN_CAMERA";
+        case InstructionType.INSTRUCTION_TYPE_SET_TILT_SERVO:
+            return "INSTRUCTION_TYPE_SET_TILT_SERVO";
+        case InstructionType.INSTRUCTION_TYPE_WAIT_FOR_SEC:
+            return "INSTRUCTION_TYPE_WAIT_FOR_SEC";
+        case InstructionType.INSTRUCTION_TYPE_GO_TO_SURFACE:
+            return "INSTRUCTION_TYPE_GO_TO_SURFACE";
+        case InstructionType.INSTRUCTION_TYPE_GO_TO_SEABED:
+            return "INSTRUCTION_TYPE_GO_TO_SEABED";
+        case InstructionType.INSTRUCTION_TYPE_GO_TO_HOME:
+            return "INSTRUCTION_TYPE_GO_TO_HOME";
+        case InstructionType.UNRECOGNIZED:
+        default:
+            return "UNRECOGNIZED";
+    }
+}
+/** List of mission supervisor states. */
+var MissionState;
+(function (MissionState) {
+    /** MISSION_STATE_UNSPECIFIED - Unspecified. */
+    MissionState[MissionState["MISSION_STATE_UNSPECIFIED"] = 0] = "MISSION_STATE_UNSPECIFIED";
+    /** MISSION_STATE_INACTIVE - Mission supervisor is inactive. */
+    MissionState[MissionState["MISSION_STATE_INACTIVE"] = 1] = "MISSION_STATE_INACTIVE";
+    /** MISSION_STATE_READY - Ready to start mission. */
+    MissionState[MissionState["MISSION_STATE_READY"] = 2] = "MISSION_STATE_READY";
+    /** MISSION_STATE_RUNNING - Mission is running. */
+    MissionState[MissionState["MISSION_STATE_RUNNING"] = 3] = "MISSION_STATE_RUNNING";
+    /** MISSION_STATE_PAUSED - Mission is paused. */
+    MissionState[MissionState["MISSION_STATE_PAUSED"] = 4] = "MISSION_STATE_PAUSED";
+    /** MISSION_STATE_COMPLETED - Mission is completed. */
+    MissionState[MissionState["MISSION_STATE_COMPLETED"] = 5] = "MISSION_STATE_COMPLETED";
+    /** MISSION_STATE_ABORTED - Mission is aborted by the mission supervisor. */
+    MissionState[MissionState["MISSION_STATE_ABORTED"] = 6] = "MISSION_STATE_ABORTED";
+    /** MISSION_STATE_FAILED_TO_LOAD_MISSION - Mission has failed to load. */
+    MissionState[MissionState["MISSION_STATE_FAILED_TO_LOAD_MISSION"] = 7] = "MISSION_STATE_FAILED_TO_LOAD_MISSION";
+    /** MISSION_STATE_FAILED_TO_START_MISSION - Mission has failed to start. */
+    MissionState[MissionState["MISSION_STATE_FAILED_TO_START_MISSION"] = 8] = "MISSION_STATE_FAILED_TO_START_MISSION";
+    MissionState[MissionState["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
+})(MissionState || (exports.MissionState = MissionState = {}));
+function missionStateFromJSON(object) {
+    switch (object) {
+        case 0:
+        case "MISSION_STATE_UNSPECIFIED":
+            return MissionState.MISSION_STATE_UNSPECIFIED;
+        case 1:
+        case "MISSION_STATE_INACTIVE":
+            return MissionState.MISSION_STATE_INACTIVE;
+        case 2:
+        case "MISSION_STATE_READY":
+            return MissionState.MISSION_STATE_READY;
+        case 3:
+        case "MISSION_STATE_RUNNING":
+            return MissionState.MISSION_STATE_RUNNING;
+        case 4:
+        case "MISSION_STATE_PAUSED":
+            return MissionState.MISSION_STATE_PAUSED;
+        case 5:
+        case "MISSION_STATE_COMPLETED":
+            return MissionState.MISSION_STATE_COMPLETED;
+        case 6:
+        case "MISSION_STATE_ABORTED":
+            return MissionState.MISSION_STATE_ABORTED;
+        case 7:
+        case "MISSION_STATE_FAILED_TO_LOAD_MISSION":
+            return MissionState.MISSION_STATE_FAILED_TO_LOAD_MISSION;
+        case 8:
+        case "MISSION_STATE_FAILED_TO_START_MISSION":
+            return MissionState.MISSION_STATE_FAILED_TO_START_MISSION;
+        case -1:
+        case "UNRECOGNIZED":
+        default:
+            return MissionState.UNRECOGNIZED;
+    }
+}
+function missionStateToJSON(object) {
+    switch (object) {
+        case MissionState.MISSION_STATE_UNSPECIFIED:
+            return "MISSION_STATE_UNSPECIFIED";
+        case MissionState.MISSION_STATE_INACTIVE:
+            return "MISSION_STATE_INACTIVE";
+        case MissionState.MISSION_STATE_READY:
+            return "MISSION_STATE_READY";
+        case MissionState.MISSION_STATE_RUNNING:
+            return "MISSION_STATE_RUNNING";
+        case MissionState.MISSION_STATE_PAUSED:
+            return "MISSION_STATE_PAUSED";
+        case MissionState.MISSION_STATE_COMPLETED:
+            return "MISSION_STATE_COMPLETED";
+        case MissionState.MISSION_STATE_ABORTED:
+            return "MISSION_STATE_ABORTED";
+        case MissionState.MISSION_STATE_FAILED_TO_LOAD_MISSION:
+            return "MISSION_STATE_FAILED_TO_LOAD_MISSION";
+        case MissionState.MISSION_STATE_FAILED_TO_START_MISSION:
+            return "MISSION_STATE_FAILED_TO_START_MISSION";
+        case MissionState.UNRECOGNIZED:
+        default:
+            return "UNRECOGNIZED";
+    }
+}
+function createBaseMission() {
+    return {
+        id: 0,
+        name: "",
+        instructions: [],
+        pathSegments: [],
+        totalDistance: 0,
+        totalDurationTime: 0,
+        defaultSurgeSpeed: 0,
+        defaultHeaveSpeed: 0,
+        defaultCircleOfAcceptance: 0,
+    };
+}
+exports.Mission = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.id !== 0) {
+            writer.uint32(8).uint32(message.id);
+        }
+        if (message.name !== "") {
+            writer.uint32(18).string(message.name);
+        }
+        for (const v of message.instructions) {
+            exports.Instruction.encode(v, writer.uint32(26).fork()).join();
+        }
+        for (const v of message.pathSegments) {
+            exports.PathSegment.encode(v, writer.uint32(34).fork()).join();
+        }
+        if (message.totalDistance !== 0) {
+            writer.uint32(40).uint32(message.totalDistance);
+        }
+        if (message.totalDurationTime !== 0) {
+            writer.uint32(48).uint32(message.totalDurationTime);
+        }
+        if (message.defaultSurgeSpeed !== 0) {
+            writer.uint32(61).float(message.defaultSurgeSpeed);
+        }
+        if (message.defaultHeaveSpeed !== 0) {
+            writer.uint32(69).float(message.defaultHeaveSpeed);
+        }
+        if (message.defaultCircleOfAcceptance !== 0) {
+            writer.uint32(77).float(message.defaultCircleOfAcceptance);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseMission();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.id = reader.uint32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 18) {
+                        break;
+                    }
+                    message.name = reader.string();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 26) {
+                        break;
+                    }
+                    message.instructions.push(exports.Instruction.decode(reader, reader.uint32()));
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 34) {
+                        break;
+                    }
+                    message.pathSegments.push(exports.PathSegment.decode(reader, reader.uint32()));
+                    continue;
+                }
+                case 5: {
+                    if (tag !== 40) {
+                        break;
+                    }
+                    message.totalDistance = reader.uint32();
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 48) {
+                        break;
+                    }
+                    message.totalDurationTime = reader.uint32();
+                    continue;
+                }
+                case 7: {
+                    if (tag !== 61) {
+                        break;
+                    }
+                    message.defaultSurgeSpeed = reader.float();
+                    continue;
+                }
+                case 8: {
+                    if (tag !== 69) {
+                        break;
+                    }
+                    message.defaultHeaveSpeed = reader.float();
+                    continue;
+                }
+                case 9: {
+                    if (tag !== 77) {
+                        break;
+                    }
+                    message.defaultCircleOfAcceptance = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            id: isSet(object.id) ? gt.Number(object.id) : 0,
+            name: isSet(object.name) ? gt.String(object.name) : "",
+            instructions: gt.Array.isArray(object?.instructions)
+                ? object.instructions.map((e) => exports.Instruction.fromJSON(e))
+                : [],
+            pathSegments: gt.Array.isArray(object?.pathSegments)
+                ? object.pathSegments.map((e) => exports.PathSegment.fromJSON(e))
+                : [],
+            totalDistance: isSet(object.totalDistance) ? gt.Number(object.totalDistance) : 0,
+            totalDurationTime: isSet(object.totalDurationTime) ? gt.Number(object.totalDurationTime) : 0,
+            defaultSurgeSpeed: isSet(object.defaultSurgeSpeed) ? gt.Number(object.defaultSurgeSpeed) : 0,
+            defaultHeaveSpeed: isSet(object.defaultHeaveSpeed) ? gt.Number(object.defaultHeaveSpeed) : 0,
+            defaultCircleOfAcceptance: isSet(object.defaultCircleOfAcceptance)
+                ? gt.Number(object.defaultCircleOfAcceptance)
+                : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.id !== 0) {
+            obj.id = Math.round(message.id);
+        }
+        if (message.name !== "") {
+            obj.name = message.name;
+        }
+        if (message.instructions?.length) {
+            obj.instructions = message.instructions.map((e) => exports.Instruction.toJSON(e));
+        }
+        if (message.pathSegments?.length) {
+            obj.pathSegments = message.pathSegments.map((e) => exports.PathSegment.toJSON(e));
+        }
+        if (message.totalDistance !== 0) {
+            obj.totalDistance = Math.round(message.totalDistance);
+        }
+        if (message.totalDurationTime !== 0) {
+            obj.totalDurationTime = Math.round(message.totalDurationTime);
+        }
+        if (message.defaultSurgeSpeed !== 0) {
+            obj.defaultSurgeSpeed = message.defaultSurgeSpeed;
+        }
+        if (message.defaultHeaveSpeed !== 0) {
+            obj.defaultHeaveSpeed = message.defaultHeaveSpeed;
+        }
+        if (message.defaultCircleOfAcceptance !== 0) {
+            obj.defaultCircleOfAcceptance = message.defaultCircleOfAcceptance;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.Mission.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseMission();
+        message.id = object.id ?? 0;
+        message.name = object.name ?? "";
+        message.instructions = object.instructions?.map((e) => exports.Instruction.fromPartial(e)) || [];
+        message.pathSegments = object.pathSegments?.map((e) => exports.PathSegment.fromPartial(e)) || [];
+        message.totalDistance = object.totalDistance ?? 0;
+        message.totalDurationTime = object.totalDurationTime ?? 0;
+        message.defaultSurgeSpeed = object.defaultSurgeSpeed ?? 0;
+        message.defaultHeaveSpeed = object.defaultHeaveSpeed ?? 0;
+        message.defaultCircleOfAcceptance = object.defaultCircleOfAcceptance ?? 0;
+        return message;
+    },
+};
+function createBaseInstruction() {
+    return {
+        id: 0,
+        groupId: 0,
+        autoContinue: false,
+        waypointCommand: undefined,
+        depthSetPointCommand: undefined,
+        cameraCommand: undefined,
+        controlModeCommand: undefined,
+        tiltMainCameraCommand: undefined,
+        tiltMultibeamCommand: undefined,
+        waitForCommand: undefined,
+        goToSurfaceCommand: undefined,
+        goToSeabedCommand: undefined,
+        goToHomeCommand: undefined,
+    };
+}
+exports.Instruction = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.id !== 0) {
+            writer.uint32(8).uint32(message.id);
+        }
+        if (message.groupId !== 0) {
+            writer.uint32(16).uint32(message.groupId);
+        }
+        if (message.autoContinue !== false) {
+            writer.uint32(24).bool(message.autoContinue);
+        }
+        if (message.waypointCommand !== undefined) {
+            exports.WaypointCommand.encode(message.waypointCommand, writer.uint32(34).fork()).join();
+        }
+        if (message.depthSetPointCommand !== undefined) {
+            exports.DepthSetPointCommand.encode(message.depthSetPointCommand, writer.uint32(42).fork()).join();
+        }
+        if (message.cameraCommand !== undefined) {
+            exports.CameraCommand.encode(message.cameraCommand, writer.uint32(50).fork()).join();
+        }
+        if (message.controlModeCommand !== undefined) {
+            exports.ControlModeCommand.encode(message.controlModeCommand, writer.uint32(58).fork()).join();
+        }
+        if (message.tiltMainCameraCommand !== undefined) {
+            exports.TiltMainCameraCommand.encode(message.tiltMainCameraCommand, writer.uint32(66).fork()).join();
+        }
+        if (message.tiltMultibeamCommand !== undefined) {
+            exports.TiltMultibeamCommand.encode(message.tiltMultibeamCommand, writer.uint32(74).fork()).join();
+        }
+        if (message.waitForCommand !== undefined) {
+            exports.WaitForCommand.encode(message.waitForCommand, writer.uint32(82).fork()).join();
+        }
+        if (message.goToSurfaceCommand !== undefined) {
+            exports.GoToSurfaceCommand.encode(message.goToSurfaceCommand, writer.uint32(90).fork()).join();
+        }
+        if (message.goToSeabedCommand !== undefined) {
+            exports.GoToSeabedCommand.encode(message.goToSeabedCommand, writer.uint32(98).fork()).join();
+        }
+        if (message.goToHomeCommand !== undefined) {
+            exports.GoToHomeCommand.encode(message.goToHomeCommand, writer.uint32(106).fork()).join();
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseInstruction();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.id = reader.uint32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.groupId = reader.uint32();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 24) {
+                        break;
+                    }
+                    message.autoContinue = reader.bool();
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 34) {
+                        break;
+                    }
+                    message.waypointCommand = exports.WaypointCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 5: {
+                    if (tag !== 42) {
+                        break;
+                    }
+                    message.depthSetPointCommand = exports.DepthSetPointCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 50) {
+                        break;
+                    }
+                    message.cameraCommand = exports.CameraCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 7: {
+                    if (tag !== 58) {
+                        break;
+                    }
+                    message.controlModeCommand = exports.ControlModeCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 8: {
+                    if (tag !== 66) {
+                        break;
+                    }
+                    message.tiltMainCameraCommand = exports.TiltMainCameraCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 9: {
+                    if (tag !== 74) {
+                        break;
+                    }
+                    message.tiltMultibeamCommand = exports.TiltMultibeamCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 10: {
+                    if (tag !== 82) {
+                        break;
+                    }
+                    message.waitForCommand = exports.WaitForCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 11: {
+                    if (tag !== 90) {
+                        break;
+                    }
+                    message.goToSurfaceCommand = exports.GoToSurfaceCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 12: {
+                    if (tag !== 98) {
+                        break;
+                    }
+                    message.goToSeabedCommand = exports.GoToSeabedCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 13: {
+                    if (tag !== 106) {
+                        break;
+                    }
+                    message.goToHomeCommand = exports.GoToHomeCommand.decode(reader, reader.uint32());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            id: isSet(object.id) ? gt.Number(object.id) : 0,
+            groupId: isSet(object.groupId) ? gt.Number(object.groupId) : 0,
+            autoContinue: isSet(object.autoContinue) ? gt.Boolean(object.autoContinue) : false,
+            waypointCommand: isSet(object.waypointCommand) ? exports.WaypointCommand.fromJSON(object.waypointCommand) : undefined,
+            depthSetPointCommand: isSet(object.depthSetPointCommand)
+                ? exports.DepthSetPointCommand.fromJSON(object.depthSetPointCommand)
+                : undefined,
+            cameraCommand: isSet(object.cameraCommand) ? exports.CameraCommand.fromJSON(object.cameraCommand) : undefined,
+            controlModeCommand: isSet(object.controlModeCommand)
+                ? exports.ControlModeCommand.fromJSON(object.controlModeCommand)
+                : undefined,
+            tiltMainCameraCommand: isSet(object.tiltMainCameraCommand)
+                ? exports.TiltMainCameraCommand.fromJSON(object.tiltMainCameraCommand)
+                : undefined,
+            tiltMultibeamCommand: isSet(object.tiltMultibeamCommand)
+                ? exports.TiltMultibeamCommand.fromJSON(object.tiltMultibeamCommand)
+                : undefined,
+            waitForCommand: isSet(object.waitForCommand) ? exports.WaitForCommand.fromJSON(object.waitForCommand) : undefined,
+            goToSurfaceCommand: isSet(object.goToSurfaceCommand)
+                ? exports.GoToSurfaceCommand.fromJSON(object.goToSurfaceCommand)
+                : undefined,
+            goToSeabedCommand: isSet(object.goToSeabedCommand)
+                ? exports.GoToSeabedCommand.fromJSON(object.goToSeabedCommand)
+                : undefined,
+            goToHomeCommand: isSet(object.goToHomeCommand) ? exports.GoToHomeCommand.fromJSON(object.goToHomeCommand) : undefined,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.id !== 0) {
+            obj.id = Math.round(message.id);
+        }
+        if (message.groupId !== 0) {
+            obj.groupId = Math.round(message.groupId);
+        }
+        if (message.autoContinue !== false) {
+            obj.autoContinue = message.autoContinue;
+        }
+        if (message.waypointCommand !== undefined) {
+            obj.waypointCommand = exports.WaypointCommand.toJSON(message.waypointCommand);
+        }
+        if (message.depthSetPointCommand !== undefined) {
+            obj.depthSetPointCommand = exports.DepthSetPointCommand.toJSON(message.depthSetPointCommand);
+        }
+        if (message.cameraCommand !== undefined) {
+            obj.cameraCommand = exports.CameraCommand.toJSON(message.cameraCommand);
+        }
+        if (message.controlModeCommand !== undefined) {
+            obj.controlModeCommand = exports.ControlModeCommand.toJSON(message.controlModeCommand);
+        }
+        if (message.tiltMainCameraCommand !== undefined) {
+            obj.tiltMainCameraCommand = exports.TiltMainCameraCommand.toJSON(message.tiltMainCameraCommand);
+        }
+        if (message.tiltMultibeamCommand !== undefined) {
+            obj.tiltMultibeamCommand = exports.TiltMultibeamCommand.toJSON(message.tiltMultibeamCommand);
+        }
+        if (message.waitForCommand !== undefined) {
+            obj.waitForCommand = exports.WaitForCommand.toJSON(message.waitForCommand);
+        }
+        if (message.goToSurfaceCommand !== undefined) {
+            obj.goToSurfaceCommand = exports.GoToSurfaceCommand.toJSON(message.goToSurfaceCommand);
+        }
+        if (message.goToSeabedCommand !== undefined) {
+            obj.goToSeabedCommand = exports.GoToSeabedCommand.toJSON(message.goToSeabedCommand);
+        }
+        if (message.goToHomeCommand !== undefined) {
+            obj.goToHomeCommand = exports.GoToHomeCommand.toJSON(message.goToHomeCommand);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.Instruction.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseInstruction();
+        message.id = object.id ?? 0;
+        message.groupId = object.groupId ?? 0;
+        message.autoContinue = object.autoContinue ?? false;
+        message.waypointCommand = (object.waypointCommand !== undefined && object.waypointCommand !== null)
+            ? exports.WaypointCommand.fromPartial(object.waypointCommand)
+            : undefined;
+        message.depthSetPointCommand = (object.depthSetPointCommand !== undefined && object.depthSetPointCommand !== null)
+            ? exports.DepthSetPointCommand.fromPartial(object.depthSetPointCommand)
+            : undefined;
+        message.cameraCommand = (object.cameraCommand !== undefined && object.cameraCommand !== null)
+            ? exports.CameraCommand.fromPartial(object.cameraCommand)
+            : undefined;
+        message.controlModeCommand = (object.controlModeCommand !== undefined && object.controlModeCommand !== null)
+            ? exports.ControlModeCommand.fromPartial(object.controlModeCommand)
+            : undefined;
+        message.tiltMainCameraCommand =
+            (object.tiltMainCameraCommand !== undefined && object.tiltMainCameraCommand !== null)
+                ? exports.TiltMainCameraCommand.fromPartial(object.tiltMainCameraCommand)
+                : undefined;
+        message.tiltMultibeamCommand = (object.tiltMultibeamCommand !== undefined && object.tiltMultibeamCommand !== null)
+            ? exports.TiltMultibeamCommand.fromPartial(object.tiltMultibeamCommand)
+            : undefined;
+        message.waitForCommand = (object.waitForCommand !== undefined && object.waitForCommand !== null)
+            ? exports.WaitForCommand.fromPartial(object.waitForCommand)
+            : undefined;
+        message.goToSurfaceCommand = (object.goToSurfaceCommand !== undefined && object.goToSurfaceCommand !== null)
+            ? exports.GoToSurfaceCommand.fromPartial(object.goToSurfaceCommand)
+            : undefined;
+        message.goToSeabedCommand = (object.goToSeabedCommand !== undefined && object.goToSeabedCommand !== null)
+            ? exports.GoToSeabedCommand.fromPartial(object.goToSeabedCommand)
+            : undefined;
+        message.goToHomeCommand = (object.goToHomeCommand !== undefined && object.goToHomeCommand !== null)
+            ? exports.GoToHomeCommand.fromPartial(object.goToHomeCommand)
+            : undefined;
+        return message;
+    },
+};
+function createBaseDepthSetPoint() {
+    return { depth: 0, speedToDepth: 0, depthZeroReference: 0 };
+}
+exports.DepthSetPoint = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.depth !== 0) {
+            writer.uint32(13).float(message.depth);
+        }
+        if (message.speedToDepth !== 0) {
+            writer.uint32(21).float(message.speedToDepth);
+        }
+        if (message.depthZeroReference !== 0) {
+            writer.uint32(24).int32(message.depthZeroReference);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseDepthSetPoint();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 13) {
+                        break;
+                    }
+                    message.depth = reader.float();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 21) {
+                        break;
+                    }
+                    message.speedToDepth = reader.float();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 24) {
+                        break;
+                    }
+                    message.depthZeroReference = reader.int32();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            depth: isSet(object.depth) ? gt.Number(object.depth) : 0,
+            speedToDepth: isSet(object.speedToDepth) ? gt.Number(object.speedToDepth) : 0,
+            depthZeroReference: isSet(object.depthZeroReference) ? depthZeroReferenceFromJSON(object.depthZeroReference) : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.depth !== 0) {
+            obj.depth = message.depth;
+        }
+        if (message.speedToDepth !== 0) {
+            obj.speedToDepth = message.speedToDepth;
+        }
+        if (message.depthZeroReference !== 0) {
+            obj.depthZeroReference = depthZeroReferenceToJSON(message.depthZeroReference);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.DepthSetPoint.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseDepthSetPoint();
+        message.depth = object.depth ?? 0;
+        message.speedToDepth = object.speedToDepth ?? 0;
+        message.depthZeroReference = object.depthZeroReference ?? 0;
+        return message;
+    },
+};
+function createBaseWaypoint() {
+    return {
+        id: 0,
+        name: "",
+        globalPosition: undefined,
+        circleOfAcceptance: 0,
+        speedToTarget: 0,
+        depthSetPoint: undefined,
+    };
+}
+exports.Waypoint = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.id !== 0) {
+            writer.uint32(8).uint32(message.id);
+        }
+        if (message.name !== "") {
+            writer.uint32(18).string(message.name);
+        }
+        if (message.globalPosition !== undefined) {
+            message_formats_1.LatLongPosition.encode(message.globalPosition, writer.uint32(26).fork()).join();
+        }
+        if (message.circleOfAcceptance !== 0) {
+            writer.uint32(37).float(message.circleOfAcceptance);
+        }
+        if (message.speedToTarget !== 0) {
+            writer.uint32(45).float(message.speedToTarget);
+        }
+        if (message.depthSetPoint !== undefined) {
+            exports.DepthSetPoint.encode(message.depthSetPoint, writer.uint32(50).fork()).join();
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseWaypoint();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.id = reader.uint32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 18) {
+                        break;
+                    }
+                    message.name = reader.string();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 26) {
+                        break;
+                    }
+                    message.globalPosition = message_formats_1.LatLongPosition.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 37) {
+                        break;
+                    }
+                    message.circleOfAcceptance = reader.float();
+                    continue;
+                }
+                case 5: {
+                    if (tag !== 45) {
+                        break;
+                    }
+                    message.speedToTarget = reader.float();
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 50) {
+                        break;
+                    }
+                    message.depthSetPoint = exports.DepthSetPoint.decode(reader, reader.uint32());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            id: isSet(object.id) ? gt.Number(object.id) : 0,
+            name: isSet(object.name) ? gt.String(object.name) : "",
+            globalPosition: isSet(object.globalPosition) ? message_formats_1.LatLongPosition.fromJSON(object.globalPosition) : undefined,
+            circleOfAcceptance: isSet(object.circleOfAcceptance) ? gt.Number(object.circleOfAcceptance) : 0,
+            speedToTarget: isSet(object.speedToTarget) ? gt.Number(object.speedToTarget) : 0,
+            depthSetPoint: isSet(object.depthSetPoint) ? exports.DepthSetPoint.fromJSON(object.depthSetPoint) : undefined,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.id !== 0) {
+            obj.id = Math.round(message.id);
+        }
+        if (message.name !== "") {
+            obj.name = message.name;
+        }
+        if (message.globalPosition !== undefined) {
+            obj.globalPosition = message_formats_1.LatLongPosition.toJSON(message.globalPosition);
+        }
+        if (message.circleOfAcceptance !== 0) {
+            obj.circleOfAcceptance = message.circleOfAcceptance;
+        }
+        if (message.speedToTarget !== 0) {
+            obj.speedToTarget = message.speedToTarget;
+        }
+        if (message.depthSetPoint !== undefined) {
+            obj.depthSetPoint = exports.DepthSetPoint.toJSON(message.depthSetPoint);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.Waypoint.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseWaypoint();
+        message.id = object.id ?? 0;
+        message.name = object.name ?? "";
+        message.globalPosition = (object.globalPosition !== undefined && object.globalPosition !== null)
+            ? message_formats_1.LatLongPosition.fromPartial(object.globalPosition)
+            : undefined;
+        message.circleOfAcceptance = object.circleOfAcceptance ?? 0;
+        message.speedToTarget = object.speedToTarget ?? 0;
+        message.depthSetPoint = (object.depthSetPoint !== undefined && object.depthSetPoint !== null)
+            ? exports.DepthSetPoint.fromPartial(object.depthSetPoint)
+            : undefined;
+        return message;
+    },
+};
+function createBaseControlModeCommand() {
+    return { controlModeVertical: 0, controlModeHorizontal: 0 };
+}
+exports.ControlModeCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.controlModeVertical !== 0) {
+            writer.uint32(40).int32(message.controlModeVertical);
+        }
+        if (message.controlModeHorizontal !== 0) {
+            writer.uint32(48).int32(message.controlModeHorizontal);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseControlModeCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 5: {
+                    if (tag !== 40) {
+                        break;
+                    }
+                    message.controlModeVertical = reader.int32();
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 48) {
+                        break;
+                    }
+                    message.controlModeHorizontal = reader.int32();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            controlModeVertical: isSet(object.controlModeVertical)
+                ? controlModeVerticalFromJSON(object.controlModeVertical)
+                : 0,
+            controlModeHorizontal: isSet(object.controlModeHorizontal)
+                ? controlModeHorizontalFromJSON(object.controlModeHorizontal)
+                : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.controlModeVertical !== 0) {
+            obj.controlModeVertical = controlModeVerticalToJSON(message.controlModeVertical);
+        }
+        if (message.controlModeHorizontal !== 0) {
+            obj.controlModeHorizontal = controlModeHorizontalToJSON(message.controlModeHorizontal);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.ControlModeCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseControlModeCommand();
+        message.controlModeVertical = object.controlModeVertical ?? 0;
+        message.controlModeHorizontal = object.controlModeHorizontal ?? 0;
+        return message;
+    },
+};
+function createBaseWaypointCommand() {
+    return { waypoint: undefined };
+}
+exports.WaypointCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.waypoint !== undefined) {
+            exports.Waypoint.encode(message.waypoint, writer.uint32(10).fork()).join();
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseWaypointCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.waypoint = exports.Waypoint.decode(reader, reader.uint32());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return { waypoint: isSet(object.waypoint) ? exports.Waypoint.fromJSON(object.waypoint) : undefined };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.waypoint !== undefined) {
+            obj.waypoint = exports.Waypoint.toJSON(message.waypoint);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.WaypointCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseWaypointCommand();
+        message.waypoint = (object.waypoint !== undefined && object.waypoint !== null)
+            ? exports.Waypoint.fromPartial(object.waypoint)
+            : undefined;
+        return message;
+    },
+};
+function createBaseDepthSetPointCommand() {
+    return { depthSetPoint: undefined };
+}
+exports.DepthSetPointCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.depthSetPoint !== undefined) {
+            exports.DepthSetPoint.encode(message.depthSetPoint, writer.uint32(10).fork()).join();
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseDepthSetPointCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.depthSetPoint = exports.DepthSetPoint.decode(reader, reader.uint32());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return { depthSetPoint: isSet(object.depthSetPoint) ? exports.DepthSetPoint.fromJSON(object.depthSetPoint) : undefined };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.depthSetPoint !== undefined) {
+            obj.depthSetPoint = exports.DepthSetPoint.toJSON(message.depthSetPoint);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.DepthSetPointCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseDepthSetPointCommand();
+        message.depthSetPoint = (object.depthSetPoint !== undefined && object.depthSetPoint !== null)
+            ? exports.DepthSetPoint.fromPartial(object.depthSetPoint)
+            : undefined;
+        return message;
+    },
+};
+function createBaseTiltMainCameraCommand() {
+    return { tiltAngle: undefined };
+}
+exports.TiltMainCameraCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.tiltAngle !== undefined) {
+            message_formats_1.TiltAngle.encode(message.tiltAngle, writer.uint32(10).fork()).join();
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseTiltMainCameraCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.tiltAngle = message_formats_1.TiltAngle.decode(reader, reader.uint32());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return { tiltAngle: isSet(object.tiltAngle) ? message_formats_1.TiltAngle.fromJSON(object.tiltAngle) : undefined };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.tiltAngle !== undefined) {
+            obj.tiltAngle = message_formats_1.TiltAngle.toJSON(message.tiltAngle);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.TiltMainCameraCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseTiltMainCameraCommand();
+        message.tiltAngle = (object.tiltAngle !== undefined && object.tiltAngle !== null)
+            ? message_formats_1.TiltAngle.fromPartial(object.tiltAngle)
+            : undefined;
+        return message;
+    },
+};
+function createBaseTiltMultibeamCommand() {
+    return { multibeamServo: undefined };
+}
+exports.TiltMultibeamCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.multibeamServo !== undefined) {
+            message_formats_1.MultibeamServo.encode(message.multibeamServo, writer.uint32(10).fork()).join();
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseTiltMultibeamCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.multibeamServo = message_formats_1.MultibeamServo.decode(reader, reader.uint32());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            multibeamServo: isSet(object.multibeamServo) ? message_formats_1.MultibeamServo.fromJSON(object.multibeamServo) : undefined,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.multibeamServo !== undefined) {
+            obj.multibeamServo = message_formats_1.MultibeamServo.toJSON(message.multibeamServo);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.TiltMultibeamCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseTiltMultibeamCommand();
+        message.multibeamServo = (object.multibeamServo !== undefined && object.multibeamServo !== null)
+            ? message_formats_1.MultibeamServo.fromPartial(object.multibeamServo)
+            : undefined;
+        return message;
+    },
+};
+function createBaseWaitForCommand() {
+    return { waitForSeconds: 0 };
+}
+exports.WaitForCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.waitForSeconds !== 0) {
+            writer.uint32(13).float(message.waitForSeconds);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseWaitForCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 13) {
+                        break;
+                    }
+                    message.waitForSeconds = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return { waitForSeconds: isSet(object.waitForSeconds) ? gt.Number(object.waitForSeconds) : 0 };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.waitForSeconds !== 0) {
+            obj.waitForSeconds = message.waitForSeconds;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.WaitForCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseWaitForCommand();
+        message.waitForSeconds = object.waitForSeconds ?? 0;
+        return message;
+    },
+};
+function createBaseCameraCommand() {
+    return { cameraAction: 0, actionParam: 0 };
+}
+exports.CameraCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.cameraAction !== 0) {
+            writer.uint32(8).int32(message.cameraAction);
+        }
+        if (message.actionParam !== 0) {
+            writer.uint32(21).float(message.actionParam);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseCameraCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.cameraAction = reader.int32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 21) {
+                        break;
+                    }
+                    message.actionParam = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            cameraAction: isSet(object.cameraAction) ? cameraActionFromJSON(object.cameraAction) : 0,
+            actionParam: isSet(object.actionParam) ? gt.Number(object.actionParam) : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.cameraAction !== 0) {
+            obj.cameraAction = cameraActionToJSON(message.cameraAction);
+        }
+        if (message.actionParam !== 0) {
+            obj.actionParam = message.actionParam;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.CameraCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseCameraCommand();
+        message.cameraAction = object.cameraAction ?? 0;
+        message.actionParam = object.actionParam ?? 0;
+        return message;
+    },
+};
+function createBaseGoToSurfaceCommand() {
+    return { desiredSpeed: 0 };
+}
+exports.GoToSurfaceCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.desiredSpeed !== 0) {
+            writer.uint32(13).float(message.desiredSpeed);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseGoToSurfaceCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 13) {
+                        break;
+                    }
+                    message.desiredSpeed = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return { desiredSpeed: isSet(object.desiredSpeed) ? gt.Number(object.desiredSpeed) : 0 };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.desiredSpeed !== 0) {
+            obj.desiredSpeed = message.desiredSpeed;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.GoToSurfaceCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseGoToSurfaceCommand();
+        message.desiredSpeed = object.desiredSpeed ?? 0;
+        return message;
+    },
+};
+function createBaseGoToSeabedCommand() {
+    return { desiredSpeed: 0 };
+}
+exports.GoToSeabedCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.desiredSpeed !== 0) {
+            writer.uint32(13).float(message.desiredSpeed);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseGoToSeabedCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 13) {
+                        break;
+                    }
+                    message.desiredSpeed = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return { desiredSpeed: isSet(object.desiredSpeed) ? gt.Number(object.desiredSpeed) : 0 };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.desiredSpeed !== 0) {
+            obj.desiredSpeed = message.desiredSpeed;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.GoToSeabedCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseGoToSeabedCommand();
+        message.desiredSpeed = object.desiredSpeed ?? 0;
+        return message;
+    },
+};
+function createBaseGoToHomeCommand() {
+    return { desiredSpeed: 0 };
+}
+exports.GoToHomeCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.desiredSpeed !== 0) {
+            writer.uint32(13).float(message.desiredSpeed);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseGoToHomeCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 13) {
+                        break;
+                    }
+                    message.desiredSpeed = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return { desiredSpeed: isSet(object.desiredSpeed) ? gt.Number(object.desiredSpeed) : 0 };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.desiredSpeed !== 0) {
+            obj.desiredSpeed = message.desiredSpeed;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.GoToHomeCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseGoToHomeCommand();
+        message.desiredSpeed = object.desiredSpeed ?? 0;
+        return message;
+    },
+};
+function createBasePathSegment() {
+    return {
+        id: 0,
+        speedToTarget: 0,
+        courseToTarget: 0,
+        depthSpeed: 0,
+        horizontalLength: 0,
+        verticalLength: 0,
+        fromWpId: 0,
+        toWpId: 0,
+        durationTime: 0,
+    };
+}
+exports.PathSegment = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.id !== 0) {
+            writer.uint32(8).uint32(message.id);
+        }
+        if (message.speedToTarget !== 0) {
+            writer.uint32(21).float(message.speedToTarget);
+        }
+        if (message.courseToTarget !== 0) {
+            writer.uint32(29).float(message.courseToTarget);
+        }
+        if (message.depthSpeed !== 0) {
+            writer.uint32(37).float(message.depthSpeed);
+        }
+        if (message.horizontalLength !== 0) {
+            writer.uint32(45).float(message.horizontalLength);
+        }
+        if (message.verticalLength !== 0) {
+            writer.uint32(53).float(message.verticalLength);
+        }
+        if (message.fromWpId !== 0) {
+            writer.uint32(56).uint32(message.fromWpId);
+        }
+        if (message.toWpId !== 0) {
+            writer.uint32(64).uint32(message.toWpId);
+        }
+        if (message.durationTime !== 0) {
+            writer.uint32(77).float(message.durationTime);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBasePathSegment();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.id = reader.uint32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 21) {
+                        break;
+                    }
+                    message.speedToTarget = reader.float();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 29) {
+                        break;
+                    }
+                    message.courseToTarget = reader.float();
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 37) {
+                        break;
+                    }
+                    message.depthSpeed = reader.float();
+                    continue;
+                }
+                case 5: {
+                    if (tag !== 45) {
+                        break;
+                    }
+                    message.horizontalLength = reader.float();
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 53) {
+                        break;
+                    }
+                    message.verticalLength = reader.float();
+                    continue;
+                }
+                case 7: {
+                    if (tag !== 56) {
+                        break;
+                    }
+                    message.fromWpId = reader.uint32();
+                    continue;
+                }
+                case 8: {
+                    if (tag !== 64) {
+                        break;
+                    }
+                    message.toWpId = reader.uint32();
+                    continue;
+                }
+                case 9: {
+                    if (tag !== 77) {
+                        break;
+                    }
+                    message.durationTime = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            id: isSet(object.id) ? gt.Number(object.id) : 0,
+            speedToTarget: isSet(object.speedToTarget) ? gt.Number(object.speedToTarget) : 0,
+            courseToTarget: isSet(object.courseToTarget) ? gt.Number(object.courseToTarget) : 0,
+            depthSpeed: isSet(object.depthSpeed) ? gt.Number(object.depthSpeed) : 0,
+            horizontalLength: isSet(object.horizontalLength) ? gt.Number(object.horizontalLength) : 0,
+            verticalLength: isSet(object.verticalLength) ? gt.Number(object.verticalLength) : 0,
+            fromWpId: isSet(object.fromWpId) ? gt.Number(object.fromWpId) : 0,
+            toWpId: isSet(object.toWpId) ? gt.Number(object.toWpId) : 0,
+            durationTime: isSet(object.durationTime) ? gt.Number(object.durationTime) : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.id !== 0) {
+            obj.id = Math.round(message.id);
+        }
+        if (message.speedToTarget !== 0) {
+            obj.speedToTarget = message.speedToTarget;
+        }
+        if (message.courseToTarget !== 0) {
+            obj.courseToTarget = message.courseToTarget;
+        }
+        if (message.depthSpeed !== 0) {
+            obj.depthSpeed = message.depthSpeed;
+        }
+        if (message.horizontalLength !== 0) {
+            obj.horizontalLength = message.horizontalLength;
+        }
+        if (message.verticalLength !== 0) {
+            obj.verticalLength = message.verticalLength;
+        }
+        if (message.fromWpId !== 0) {
+            obj.fromWpId = Math.round(message.fromWpId);
+        }
+        if (message.toWpId !== 0) {
+            obj.toWpId = Math.round(message.toWpId);
+        }
+        if (message.durationTime !== 0) {
+            obj.durationTime = message.durationTime;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.PathSegment.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBasePathSegment();
+        message.id = object.id ?? 0;
+        message.speedToTarget = object.speedToTarget ?? 0;
+        message.courseToTarget = object.courseToTarget ?? 0;
+        message.depthSpeed = object.depthSpeed ?? 0;
+        message.horizontalLength = object.horizontalLength ?? 0;
+        message.verticalLength = object.verticalLength ?? 0;
+        message.fromWpId = object.fromWpId ?? 0;
+        message.toWpId = object.toWpId ?? 0;
+        message.durationTime = object.durationTime ?? 0;
+        return message;
+    },
+};
+function createBaseReferenceAutoPilot() {
+    return {
+        instructionType: 0,
+        activeInstructionId: 0,
+        activePathSegmentId: 0,
+        courseToTarget: 0,
+        speedOverGround: 0,
+        horizontalDistanceToTarget: 0,
+        circleOfAcceptance: 0,
+        depthSetPoint: 0,
+        heaveVelocity: 0,
+        verticalDistanceToTarget: 0,
+        depthZeroReference: 0,
+        timeToComplete: 0,
+    };
+}
+exports.ReferenceAutoPilot = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.instructionType !== 0) {
+            writer.uint32(8).int32(message.instructionType);
+        }
+        if (message.activeInstructionId !== 0) {
+            writer.uint32(16).uint32(message.activeInstructionId);
+        }
+        if (message.activePathSegmentId !== 0) {
+            writer.uint32(24).uint32(message.activePathSegmentId);
+        }
+        if (message.courseToTarget !== 0) {
+            writer.uint32(37).float(message.courseToTarget);
+        }
+        if (message.speedOverGround !== 0) {
+            writer.uint32(45).float(message.speedOverGround);
+        }
+        if (message.horizontalDistanceToTarget !== 0) {
+            writer.uint32(53).float(message.horizontalDistanceToTarget);
+        }
+        if (message.circleOfAcceptance !== 0) {
+            writer.uint32(61).float(message.circleOfAcceptance);
+        }
+        if (message.depthSetPoint !== 0) {
+            writer.uint32(69).float(message.depthSetPoint);
+        }
+        if (message.heaveVelocity !== 0) {
+            writer.uint32(77).float(message.heaveVelocity);
+        }
+        if (message.verticalDistanceToTarget !== 0) {
+            writer.uint32(85).float(message.verticalDistanceToTarget);
+        }
+        if (message.depthZeroReference !== 0) {
+            writer.uint32(88).int32(message.depthZeroReference);
+        }
+        if (message.timeToComplete !== 0) {
+            writer.uint32(101).float(message.timeToComplete);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseReferenceAutoPilot();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.instructionType = reader.int32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.activeInstructionId = reader.uint32();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 24) {
+                        break;
+                    }
+                    message.activePathSegmentId = reader.uint32();
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 37) {
+                        break;
+                    }
+                    message.courseToTarget = reader.float();
+                    continue;
+                }
+                case 5: {
+                    if (tag !== 45) {
+                        break;
+                    }
+                    message.speedOverGround = reader.float();
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 53) {
+                        break;
+                    }
+                    message.horizontalDistanceToTarget = reader.float();
+                    continue;
+                }
+                case 7: {
+                    if (tag !== 61) {
+                        break;
+                    }
+                    message.circleOfAcceptance = reader.float();
+                    continue;
+                }
+                case 8: {
+                    if (tag !== 69) {
+                        break;
+                    }
+                    message.depthSetPoint = reader.float();
+                    continue;
+                }
+                case 9: {
+                    if (tag !== 77) {
+                        break;
+                    }
+                    message.heaveVelocity = reader.float();
+                    continue;
+                }
+                case 10: {
+                    if (tag !== 85) {
+                        break;
+                    }
+                    message.verticalDistanceToTarget = reader.float();
+                    continue;
+                }
+                case 11: {
+                    if (tag !== 88) {
+                        break;
+                    }
+                    message.depthZeroReference = reader.int32();
+                    continue;
+                }
+                case 12: {
+                    if (tag !== 101) {
+                        break;
+                    }
+                    message.timeToComplete = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            instructionType: isSet(object.instructionType) ? instructionTypeFromJSON(object.instructionType) : 0,
+            activeInstructionId: isSet(object.activeInstructionId) ? gt.Number(object.activeInstructionId) : 0,
+            activePathSegmentId: isSet(object.activePathSegmentId) ? gt.Number(object.activePathSegmentId) : 0,
+            courseToTarget: isSet(object.courseToTarget) ? gt.Number(object.courseToTarget) : 0,
+            speedOverGround: isSet(object.speedOverGround) ? gt.Number(object.speedOverGround) : 0,
+            horizontalDistanceToTarget: isSet(object.horizontalDistanceToTarget)
+                ? gt.Number(object.horizontalDistanceToTarget)
+                : 0,
+            circleOfAcceptance: isSet(object.circleOfAcceptance) ? gt.Number(object.circleOfAcceptance) : 0,
+            depthSetPoint: isSet(object.depthSetPoint) ? gt.Number(object.depthSetPoint) : 0,
+            heaveVelocity: isSet(object.heaveVelocity) ? gt.Number(object.heaveVelocity) : 0,
+            verticalDistanceToTarget: isSet(object.verticalDistanceToTarget) ? gt.Number(object.verticalDistanceToTarget) : 0,
+            depthZeroReference: isSet(object.depthZeroReference) ? depthZeroReferenceFromJSON(object.depthZeroReference) : 0,
+            timeToComplete: isSet(object.timeToComplete) ? gt.Number(object.timeToComplete) : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.instructionType !== 0) {
+            obj.instructionType = instructionTypeToJSON(message.instructionType);
+        }
+        if (message.activeInstructionId !== 0) {
+            obj.activeInstructionId = Math.round(message.activeInstructionId);
+        }
+        if (message.activePathSegmentId !== 0) {
+            obj.activePathSegmentId = Math.round(message.activePathSegmentId);
+        }
+        if (message.courseToTarget !== 0) {
+            obj.courseToTarget = message.courseToTarget;
+        }
+        if (message.speedOverGround !== 0) {
+            obj.speedOverGround = message.speedOverGround;
+        }
+        if (message.horizontalDistanceToTarget !== 0) {
+            obj.horizontalDistanceToTarget = message.horizontalDistanceToTarget;
+        }
+        if (message.circleOfAcceptance !== 0) {
+            obj.circleOfAcceptance = message.circleOfAcceptance;
+        }
+        if (message.depthSetPoint !== 0) {
+            obj.depthSetPoint = message.depthSetPoint;
+        }
+        if (message.heaveVelocity !== 0) {
+            obj.heaveVelocity = message.heaveVelocity;
+        }
+        if (message.verticalDistanceToTarget !== 0) {
+            obj.verticalDistanceToTarget = message.verticalDistanceToTarget;
+        }
+        if (message.depthZeroReference !== 0) {
+            obj.depthZeroReference = depthZeroReferenceToJSON(message.depthZeroReference);
+        }
+        if (message.timeToComplete !== 0) {
+            obj.timeToComplete = message.timeToComplete;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.ReferenceAutoPilot.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseReferenceAutoPilot();
+        message.instructionType = object.instructionType ?? 0;
+        message.activeInstructionId = object.activeInstructionId ?? 0;
+        message.activePathSegmentId = object.activePathSegmentId ?? 0;
+        message.courseToTarget = object.courseToTarget ?? 0;
+        message.speedOverGround = object.speedOverGround ?? 0;
+        message.horizontalDistanceToTarget = object.horizontalDistanceToTarget ?? 0;
+        message.circleOfAcceptance = object.circleOfAcceptance ?? 0;
+        message.depthSetPoint = object.depthSetPoint ?? 0;
+        message.heaveVelocity = object.heaveVelocity ?? 0;
+        message.verticalDistanceToTarget = object.verticalDistanceToTarget ?? 0;
+        message.depthZeroReference = object.depthZeroReference ?? 0;
+        message.timeToComplete = object.timeToComplete ?? 0;
+        return message;
+    },
+};
+function createBaseMissionStatus() {
+    return {
+        state: 0,
+        timeElapsed: 0,
+        estimatedTimeToComplete: 0,
+        distanceToComplete: 0,
+        completedInstructionIds: [],
+        totalNumberOfInstructions: 0,
+        completedPathSegmentIds: [],
+        totalNumberOfPathSegments: 0,
+        id: 0,
+    };
+}
+exports.MissionStatus = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.state !== 0) {
+            writer.uint32(8).int32(message.state);
+        }
+        if (message.timeElapsed !== 0) {
+            writer.uint32(16).uint32(message.timeElapsed);
+        }
+        if (message.estimatedTimeToComplete !== 0) {
+            writer.uint32(24).uint32(message.estimatedTimeToComplete);
+        }
+        if (message.distanceToComplete !== 0) {
+            writer.uint32(32).uint32(message.distanceToComplete);
+        }
+        writer.uint32(42).fork();
+        for (const v of message.completedInstructionIds) {
+            writer.uint32(v);
+        }
+        writer.join();
+        if (message.totalNumberOfInstructions !== 0) {
+            writer.uint32(48).uint32(message.totalNumberOfInstructions);
+        }
+        writer.uint32(58).fork();
+        for (const v of message.completedPathSegmentIds) {
+            writer.uint32(v);
+        }
+        writer.join();
+        if (message.totalNumberOfPathSegments !== 0) {
+            writer.uint32(64).uint32(message.totalNumberOfPathSegments);
+        }
+        if (message.id !== 0) {
+            writer.uint32(72).uint32(message.id);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        const end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseMissionStatus();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.state = reader.int32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.timeElapsed = reader.uint32();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 24) {
+                        break;
+                    }
+                    message.estimatedTimeToComplete = reader.uint32();
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 32) {
+                        break;
+                    }
+                    message.distanceToComplete = reader.uint32();
+                    continue;
+                }
+                case 5: {
+                    if (tag === 40) {
+                        message.completedInstructionIds.push(reader.uint32());
+                        continue;
+                    }
+                    if (tag === 42) {
+                        const end2 = reader.uint32() + reader.pos;
+                        while (reader.pos < end2) {
+                            message.completedInstructionIds.push(reader.uint32());
+                        }
+                        continue;
+                    }
+                    break;
+                }
+                case 6: {
+                    if (tag !== 48) {
+                        break;
+                    }
+                    message.totalNumberOfInstructions = reader.uint32();
+                    continue;
+                }
+                case 7: {
+                    if (tag === 56) {
+                        message.completedPathSegmentIds.push(reader.uint32());
+                        continue;
+                    }
+                    if (tag === 58) {
+                        const end2 = reader.uint32() + reader.pos;
+                        while (reader.pos < end2) {
+                            message.completedPathSegmentIds.push(reader.uint32());
+                        }
+                        continue;
+                    }
+                    break;
+                }
+                case 8: {
+                    if (tag !== 64) {
+                        break;
+                    }
+                    message.totalNumberOfPathSegments = reader.uint32();
+                    continue;
+                }
+                case 9: {
+                    if (tag !== 72) {
+                        break;
+                    }
+                    message.id = reader.uint32();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            state: isSet(object.state) ? missionStateFromJSON(object.state) : 0,
+            timeElapsed: isSet(object.timeElapsed) ? gt.Number(object.timeElapsed) : 0,
+            estimatedTimeToComplete: isSet(object.estimatedTimeToComplete) ? gt.Number(object.estimatedTimeToComplete) : 0,
+            distanceToComplete: isSet(object.distanceToComplete) ? gt.Number(object.distanceToComplete) : 0,
+            completedInstructionIds: gt.Array.isArray(object?.completedInstructionIds)
+                ? object.completedInstructionIds.map((e) => gt.Number(e))
+                : [],
+            totalNumberOfInstructions: isSet(object.totalNumberOfInstructions)
+                ? gt.Number(object.totalNumberOfInstructions)
+                : 0,
+            completedPathSegmentIds: gt.Array.isArray(object?.completedPathSegmentIds)
+                ? object.completedPathSegmentIds.map((e) => gt.Number(e))
+                : [],
+            totalNumberOfPathSegments: isSet(object.totalNumberOfPathSegments)
+                ? gt.Number(object.totalNumberOfPathSegments)
+                : 0,
+            id: isSet(object.id) ? gt.Number(object.id) : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.state !== 0) {
+            obj.state = missionStateToJSON(message.state);
+        }
+        if (message.timeElapsed !== 0) {
+            obj.timeElapsed = Math.round(message.timeElapsed);
+        }
+        if (message.estimatedTimeToComplete !== 0) {
+            obj.estimatedTimeToComplete = Math.round(message.estimatedTimeToComplete);
+        }
+        if (message.distanceToComplete !== 0) {
+            obj.distanceToComplete = Math.round(message.distanceToComplete);
+        }
+        if (message.completedInstructionIds?.length) {
+            obj.completedInstructionIds = message.completedInstructionIds.map((e) => Math.round(e));
+        }
+        if (message.totalNumberOfInstructions !== 0) {
+            obj.totalNumberOfInstructions = Math.round(message.totalNumberOfInstructions);
+        }
+        if (message.completedPathSegmentIds?.length) {
+            obj.completedPathSegmentIds = message.completedPathSegmentIds.map((e) => Math.round(e));
+        }
+        if (message.totalNumberOfPathSegments !== 0) {
+            obj.totalNumberOfPathSegments = Math.round(message.totalNumberOfPathSegments);
+        }
+        if (message.id !== 0) {
+            obj.id = Math.round(message.id);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.MissionStatus.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseMissionStatus();
+        message.state = object.state ?? 0;
+        message.timeElapsed = object.timeElapsed ?? 0;
+        message.estimatedTimeToComplete = object.estimatedTimeToComplete ?? 0;
+        message.distanceToComplete = object.distanceToComplete ?? 0;
+        message.completedInstructionIds = object.completedInstructionIds?.map((e) => e) || [];
+        message.totalNumberOfInstructions = object.totalNumberOfInstructions ?? 0;
+        message.completedPathSegmentIds = object.completedPathSegmentIds?.map((e) => e) || [];
+        message.totalNumberOfPathSegments = object.totalNumberOfPathSegments ?? 0;
+        message.id = object.id ?? 0;
+        return message;
+    },
+};
+const gt = (() => {
+    if (typeof globalThis !== "undefined") {
+        return globalThis;
+    }
+    if (typeof self !== "undefined") {
+        return self;
+    }
+    if (typeof window !== "undefined") {
+        return window;
+    }
+    if (typeof global !== "undefined") {
+        return global;
+    }
+    throw "Unable to locate global object";
+})();
+function isSet(value) {
+    return value !== null && value !== undefined;
+}