@blueyerobotics/protocol-definitions 3.2.0-0a6e99a1

package/dist/mission_planning.d.ts

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+import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
+import { LatLongPosition, MultibeamServo, TiltAngle } from "./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. */
+export declare enum DepthZeroReference {
+    DEPTH_ZERO_REFERENCE_UNSPECIFIED = 0,
+    DEPTH_ZERO_REFERENCE_SURFACE = 1,
+    DEPTH_ZERO_REFERENCE_SEABED = 2,
+    UNRECOGNIZED = -1
+}
+export declare function depthZeroReferenceFromJSON(object: any): DepthZeroReference;
+export declare function depthZeroReferenceToJSON(object: DepthZeroReference): string;
+/** Control mode for the vertical axis of the drone. */
+export declare enum ControlModeVertical {
+    /** CONTROL_MODE_VERTICAL_UNSPECIFIED - Unspecified. */
+    CONTROL_MODE_VERTICAL_UNSPECIFIED = 0,
+    /** CONTROL_MODE_VERTICAL_MANUAL - Manual control mode. */
+    CONTROL_MODE_VERTICAL_MANUAL = 1,
+    /** CONTROL_MODE_VERTICAL_AUTO_DEPTH - Auto depth control mode. */
+    CONTROL_MODE_VERTICAL_AUTO_DEPTH = 2,
+    /** CONTROL_MODE_VERTICAL_AUTO_ALTITUDE - Auto altitude control mode. */
+    CONTROL_MODE_VERTICAL_AUTO_ALTITUDE = 3,
+    UNRECOGNIZED = -1
+}
+export declare function controlModeVerticalFromJSON(object: any): ControlModeVertical;
+export declare function controlModeVerticalToJSON(object: ControlModeVertical): string;
+/** Control mode for the horizontal axis of the drone. */
+export declare enum ControlModeHorizontal {
+    /** CONTROL_MODE_HORIZONTAL_UNSPECIFIED - Unspecified. */
+    CONTROL_MODE_HORIZONTAL_UNSPECIFIED = 0,
+    /** CONTROL_MODE_HORIZONTAL_MANUAL - Manual control mode. */
+    CONTROL_MODE_HORIZONTAL_MANUAL = 1,
+    /** CONTROL_MODE_HORIZONTAL_AUTO_HEADING - Auto heading control mode. */
+    CONTROL_MODE_HORIZONTAL_AUTO_HEADING = 2,
+    /** CONTROL_MODE_HORIZONTAL_STATION_KEEPING - Station keeping control mode. */
+    CONTROL_MODE_HORIZONTAL_STATION_KEEPING = 3,
+    UNRECOGNIZED = -1
+}
+export declare function controlModeHorizontalFromJSON(object: any): ControlModeHorizontal;
+export declare function controlModeHorizontalToJSON(object: ControlModeHorizontal): string;
+/** List of available camera actions. */
+export declare enum CameraAction {
+    /** CAMERA_ACTION_UNSPECIFIED - Unspecified command. */
+    CAMERA_ACTION_UNSPECIFIED = 0,
+    /** CAMERA_ACTION_TAKE_PHOTO - Take one photo. */
+    CAMERA_ACTION_TAKE_PHOTO = 1,
+    /** CAMERA_ACTION_TAKE_PHOTOS_TIME - Take a photo every x second. */
+    CAMERA_ACTION_TAKE_PHOTOS_TIME = 2,
+    /** CAMERA_ACTION_TAKE_PHOTOS_DISTANCE - Take a photo every x meter. */
+    CAMERA_ACTION_TAKE_PHOTOS_DISTANCE = 3,
+    /** CAMERA_ACTION_STOP_TAKING_PHOTOS - Stop taking photos. */
+    CAMERA_ACTION_STOP_TAKING_PHOTOS = 4,
+    /** CAMERA_ACTION_START_RECORDING - Start recording. */
+    CAMERA_ACTION_START_RECORDING = 5,
+    /** CAMERA_ACTION_STOP_RECORDING - Stop recording. */
+    CAMERA_ACTION_STOP_RECORDING = 6,
+    UNRECOGNIZED = -1
+}
+export declare function cameraActionFromJSON(object: any): CameraAction;
+export declare function cameraActionToJSON(object: CameraAction): string;
+/** List of available instruction types. */
+export declare enum InstructionType {
+    /** INSTRUCTION_TYPE_UNSPECIFIED - Unspecified. */
+    INSTRUCTION_TYPE_UNSPECIFIED = 0,
+    /** INSTRUCTION_TYPE_NONE - None. */
+    INSTRUCTION_TYPE_NONE = 1,
+    /** INSTRUCTION_TYPE_GO_TO_WAYPOINT - Go to waypoint. */
+    INSTRUCTION_TYPE_GO_TO_WAYPOINT = 2,
+    /** INSTRUCTION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT - Go to waypoint with depth set point. */
+    INSTRUCTION_TYPE_GO_TO_WAYPOINT_WITH_DEPTH_SET_POINT = 3,
+    /** INSTRUCTION_TYPE_GO_TO_DEPTH_SET_POINT - Go to depth set point. */
+    INSTRUCTION_TYPE_GO_TO_DEPTH_SET_POINT = 4,
+    /** INSTRUCTION_TYPE_SET_CAMERA_ACTION - Command used to take photo repeatedly or start, stop recording. */
+    INSTRUCTION_TYPE_SET_CAMERA_ACTION = 5,
+    /** INSTRUCTION_TYPE_SET_CONTROL_MODE - Sets a new control mode. */
+    INSTRUCTION_TYPE_SET_CONTROL_MODE = 6,
+    /** INSTRUCTION_TYPE_SET_TILT_MAIN_CAMERA - Sets a new angle for the tilt servo. */
+    INSTRUCTION_TYPE_SET_TILT_MAIN_CAMERA = 7,
+    /** INSTRUCTION_TYPE_SET_TILT_SERVO - Sets a new angle for the tilt servo. */
+    INSTRUCTION_TYPE_SET_TILT_SERVO = 8,
+    /** INSTRUCTION_TYPE_WAIT_FOR_SEC - Waiting for requested time in seconds. */
+    INSTRUCTION_TYPE_WAIT_FOR_SEC = 9,
+    /** INSTRUCTION_TYPE_GO_TO_SURFACE - Go to the surface. */
+    INSTRUCTION_TYPE_GO_TO_SURFACE = 10,
+    /** INSTRUCTION_TYPE_GO_TO_SEABED - Go to the seabed. */
+    INSTRUCTION_TYPE_GO_TO_SEABED = 11,
+    /** INSTRUCTION_TYPE_GO_TO_HOME - Returning to home. */
+    INSTRUCTION_TYPE_GO_TO_HOME = 12,
+    UNRECOGNIZED = -1
+}
+export declare function instructionTypeFromJSON(object: any): InstructionType;
+export declare function instructionTypeToJSON(object: InstructionType): string;
+/** List of mission supervisor states. */
+export declare enum MissionState {
+    /** MISSION_STATE_UNSPECIFIED - Unspecified. */
+    MISSION_STATE_UNSPECIFIED = 0,
+    /** MISSION_STATE_INACTIVE - Mission supervisor is inactive. */
+    MISSION_STATE_INACTIVE = 1,
+    /** MISSION_STATE_READY - Ready to start mission. */
+    MISSION_STATE_READY = 2,
+    /** MISSION_STATE_RUNNING - Mission is running. */
+    MISSION_STATE_RUNNING = 3,
+    /** MISSION_STATE_PAUSED - Mission is paused. */
+    MISSION_STATE_PAUSED = 4,
+    /** MISSION_STATE_COMPLETED - Mission is completed. */
+    MISSION_STATE_COMPLETED = 5,
+    /** MISSION_STATE_ABORTED - Mission is aborted by the mission supervisor. */
+    MISSION_STATE_ABORTED = 6,
+    /** MISSION_STATE_FAILED_TO_LOAD_MISSION - Mission has failed to load. */
+    MISSION_STATE_FAILED_TO_LOAD_MISSION = 7,
+    /** MISSION_STATE_FAILED_TO_START_MISSION - Mission has failed to start. */
+    MISSION_STATE_FAILED_TO_START_MISSION = 8,
+    UNRECOGNIZED = -1
+}
+export declare function missionStateFromJSON(object: any): MissionState;
+export declare function missionStateToJSON(object: MissionState): string;
+/** A list of waypoints describes a mission that the auto pilot can execute. */
+export interface Mission {
+    /** Mission id, defined by the client. */
+    id: number;
+    /** Mission name provided from the app. */
+    name: string;
+    /** List of instructions in the mission. */
+    instructions: Instruction[];
+    /** Calculated path segments from the reference generator (optional). */
+    pathSegments: PathSegment[];
+    /** Total distance of the mission (m) (optional). */
+    totalDistance: number;
+    /** Total duration time of the mission (s) (optional). */
+    totalDurationTime: number;
+    /** Default cruise speed of the mission (m/s) (optional). */
+    defaultSurgeSpeed: number;
+    /** Default heave speed of the mission (m/s) (optional). */
+    defaultHeaveSpeed: number;
+    /** Default circle of acceptance for waypoints (m) (optional). */
+    defaultCircleOfAcceptance: number;
+}
+/** A mission consists of one or multiple instructions. One instruction can be of different types. */
+export interface Instruction {
+    id: number;
+    /** Group id used for polygons. */
+    groupId: number;
+    /** False will pause the mission after this instruction. */
+    autoContinue: boolean;
+    /** Go to waypoint. */
+    waypointCommand?: WaypointCommand | undefined;
+    /** Go to depth. */
+    depthSetPointCommand?: DepthSetPointCommand | undefined;
+    /** Camera commands. */
+    cameraCommand?: CameraCommand | undefined;
+    /** Set control modes. */
+    controlModeCommand?: ControlModeCommand | undefined;
+    /** Set camera to angle x. */
+    tiltMainCameraCommand?: TiltMainCameraCommand | undefined;
+    /** Set multibeam tilt angle. */
+    tiltMultibeamCommand?: TiltMultibeamCommand | undefined;
+    /** Wait for x seconds. */
+    waitForCommand?: WaitForCommand | undefined;
+    /** Go to surface. */
+    goToSurfaceCommand?: GoToSurfaceCommand | undefined;
+    /** Go to seabed. */
+    goToSeabedCommand?: GoToSeabedCommand | undefined;
+    /** Go to home position. */
+    goToHomeCommand?: GoToHomeCommand | undefined;
+}
+/** Depth set point is used to describe a depth set-point relative to the surface or the seabed. */
+export interface DepthSetPoint {
+    /** Desired depth at the wp (m). */
+    depth: number;
+    /** Desired speed to desired depth set point (m/s). */
+    speedToDepth: number;
+    /** Used to distinguish desired altitude or depth. */
+    depthZeroReference: DepthZeroReference;
+}
+/** Waypoints used to describe a path for the auto pilot. */
+export interface Waypoint {
+    /** Waypoint id. */
+    id: number;
+    /** Waypoint name provided from the app. */
+    name: string;
+    /** Position if the waypoint (decimal degrees). */
+    globalPosition: LatLongPosition | undefined;
+    /** Radius of the acceptance circle around the waypoint (m). */
+    circleOfAcceptance: number;
+    /** Desired speed over ground to waypoint (m/s). */
+    speedToTarget: number;
+    /** Depth set point (optional). */
+    depthSetPoint: DepthSetPoint | undefined;
+}
+/** A ControlModeCommand is used to set vertical and horizontal control mode during a mission. */
+export interface ControlModeCommand {
+    /** Desired control mode in heave. */
+    controlModeVertical: ControlModeVertical;
+    /** Desired control mode in surge and yaw. */
+    controlModeHorizontal: ControlModeHorizontal;
+}
+/** A WaypointCommand will request the drone to drive to a point automatically. */
+export interface WaypointCommand {
+    /** Waypoint to go to. */
+    waypoint: Waypoint | undefined;
+}
+/** A DepthSetPointCommand is used to go to a desired depth or altitude. */
+export interface DepthSetPointCommand {
+    /** Depth set point to go to. */
+    depthSetPoint: DepthSetPoint | undefined;
+}
+/** The TiltMainCameraCommand can set the desired camera tilt angle. */
+export interface TiltMainCameraCommand {
+    /** Tilt angle of the camera (-30..30). */
+    tiltAngle: TiltAngle | undefined;
+}
+/** The TiltMultibeamCommand is used to set the tilt angle of the servo. */
+export interface TiltMultibeamCommand {
+    /** Tilt angle for the multibeam servo. */
+    multibeamServo: MultibeamServo | undefined;
+}
+/** WaitForCommand is used to wait during a mission. */
+export interface WaitForCommand {
+    /** Wait for x seconds. */
+    waitForSeconds: number;
+}
+/** CameraCommands are used to control the camera from a mission. */
+export interface CameraCommand {
+    /** Camera command. */
+    cameraAction: CameraAction;
+    /** Used for taking photos based on a time or distance interval. */
+    actionParam: number;
+}
+/** GoToSurfaceCommand is used to go to the surface. */
+export interface GoToSurfaceCommand {
+    /** Desired speed to surface (m/s). */
+    desiredSpeed: number;
+}
+/** GoToSeabedCommand is used to go to the seabed. */
+export interface GoToSeabedCommand {
+    /** Desired speed to seabed (m/s). */
+    desiredSpeed: number;
+}
+/** GoToHomeCommand is used to go to the home position. */
+export interface GoToHomeCommand {
+    /** Desired speed to home (m/s). */
+    desiredSpeed: number;
+}
+/** Path segment used to describe segments of a mission as a line between to waypoints. */
+export interface PathSegment {
+    /** Path segment id starting at 0, -1 for inactive. */
+    id: number;
+    /** Desired speed over ground in (m/s). */
+    speedToTarget: number;
+    /** Course to target relative to north (rad) [-pi, pi]. */
+    courseToTarget: number;
+    /** Desired speed in heave (m/s). */
+    depthSpeed: number;
+    /** Horizontal length of the path segment (m). */
+    horizontalLength: number;
+    /** Vertical length of the path segment (m). */
+    verticalLength: number;
+    /** Id of the starting waypoint. */
+    fromWpId: number;
+    /** Id of the ending waypoint. */
+    toWpId: number;
+    /** Estimated time it takes to complete given length and desired speed (s). */
+    durationTime: number;
+}
+/** Reference for the auto pilot when a mission is active. */
+export interface ReferenceAutoPilot {
+    /** Instruction type. */
+    instructionType: InstructionType;
+    /** Id of the active instruction. */
+    activeInstructionId: number;
+    /** Id of the active path segment. */
+    activePathSegmentId: number;
+    /** Course to the next waypoint from north (rad) [-pi, pi]. */
+    courseToTarget: number;
+    /** Desired speed over ground (m/s). */
+    speedOverGround: number;
+    /** Horizontal distance to the next waypoint (m). */
+    horizontalDistanceToTarget: number;
+    /** Circle of acceptance to mark waypoint as visited (m). */
+    circleOfAcceptance: number;
+    /** Desired depth set point (m). */
+    depthSetPoint: number;
+    /** Desired heave velocity (m/s). */
+    heaveVelocity: number;
+    /** Vertical distance to the next waypoint (m). */
+    verticalDistanceToTarget: number;
+    /** Indicates if depth is measured from the surface or seabed. */
+    depthZeroReference: DepthZeroReference;
+    /** Estimated time to complete the instruction (s). */
+    timeToComplete: number;
+}
+/** Mission Status is used for showing the status of the mission. */
+export interface MissionStatus {
+    /** State of the mission supervisor. */
+    state: MissionState;
+    /** Time elapsed since mission started (s). */
+    timeElapsed: number;
+    /** Estimated time to complete the mission (s). */
+    estimatedTimeToComplete: number;
+    /** Distance left of the mission (m). */
+    distanceToComplete: number;
+    /** Ids of the completed instructions. */
+    completedInstructionIds: number[];
+    /** Total number of instructions in the mission. */
+    totalNumberOfInstructions: number;
+    /** Ids of the completed path segments. */
+    completedPathSegmentIds: number[];
+    /** Total number of path segments in the mission. */
+    totalNumberOfPathSegments: number;
+    /** Mission id of the active mission. */
+    id: number;
+}
+export declare const Mission: MessageFns<Mission>;
+export declare const Instruction: MessageFns<Instruction>;
+export declare const DepthSetPoint: MessageFns<DepthSetPoint>;
+export declare const Waypoint: MessageFns<Waypoint>;
+export declare const ControlModeCommand: MessageFns<ControlModeCommand>;
+export declare const WaypointCommand: MessageFns<WaypointCommand>;
+export declare const DepthSetPointCommand: MessageFns<DepthSetPointCommand>;
+export declare const TiltMainCameraCommand: MessageFns<TiltMainCameraCommand>;
+export declare const TiltMultibeamCommand: MessageFns<TiltMultibeamCommand>;
+export declare const WaitForCommand: MessageFns<WaitForCommand>;
+export declare const CameraCommand: MessageFns<CameraCommand>;
+export declare const GoToSurfaceCommand: MessageFns<GoToSurfaceCommand>;
+export declare const GoToSeabedCommand: MessageFns<GoToSeabedCommand>;
+export declare const GoToHomeCommand: MessageFns<GoToHomeCommand>;
+export declare const PathSegment: MessageFns<PathSegment>;
+export declare const ReferenceAutoPilot: MessageFns<ReferenceAutoPilot>;
+export declare const MissionStatus: MessageFns<MissionStatus>;
+type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
+type DeepPartial<T> = T extends Builtin ? T : T extends globalThis.Array<infer U> ? globalThis.Array<DeepPartial<U>> : T extends ReadonlyArray<infer U> ? ReadonlyArray<DeepPartial<U>> : T extends {} ? {
+    [K in keyof T]?: DeepPartial<T[K]>;
+} : Partial<T>;
+interface MessageFns<T> {
+    encode(message: T, writer?: BinaryWriter): BinaryWriter;
+    decode(input: BinaryReader | Uint8Array, length?: number): T;
+    fromJSON(object: any): T;
+    toJSON(message: T): unknown;
+    create(base?: DeepPartial<T>): T;
+    fromPartial(object: DeepPartial<T>): T;
+}
+export {};