@blueyerobotics/protocol-definitions 3.2.0-18bcac11 → 3.2.0-2ad7db62

package/dist/control.d.ts

@@ -1,6 +1,6 @@
 import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
 import { SetAquaTrollConnectionStatus, SetAquaTrollParameterUnit } from "./aquatroll";
-import { AutoAltitudeState, AutoDepthState, AutoHeadingState, AutoPilotHeaveState, AutoPilotSurgeYawState, CameraPanTiltZoom, ConnectionDuration, FilterMessage, GenericServo, GripperVelocities, GuestPortRestartInfo, Laser, LatLongPosition, Lights, MotionInput, MultibeamConfig, MultibeamServo, OperatorInfo, PingerConfiguration, RecordOn, ResetPositionSettings, StationKeepingState, StorageLocation, SystemTime, TiltStabilizationState, TiltVelocity, WaterDensity, WeatherVaningState } from "./message_formats";
+import { AutoAltitudeState, AutoDepthState, AutoHeadingState, AutoPilotHeaveState, AutoPilotSurgeYawState, BoundingBox, CameraPanTiltZoom, ConnectionDuration, FilterMessage, GenericServo, GripperVelocities, GuestPortRestartInfo, Laser, LatLongPosition, Lights, MotionInput, MultibeamConfig, MultibeamServo, OperatorInfo, PingerConfiguration, RecordOn, ResetPositionSettings, StationKeepingState, StorageLocation, SystemTime, TiltStabilizationState, TiltVelocity, WaterDensity, WeatherVaningState } from "./message_formats";
 /**
  * Control
  *
@@ -241,6 +241,23 @@ export interface StartLogStreamingCtrl {
 /** Message sent to stop streaming log entries to the client. */
 export interface StopLogStreamingCtrl {
 }
+/**
+ * Issue a command to set the single-object tracking (SOT) target.
+ *
+ * Send a bounding box to start tracking a new target. The CV pipeline will
+ * initialize the SOT tracker on the specified region of the video frame.
+ */
+export interface SetSotTargetCtrl {
+    /** Target bounding box. */
+    boundingBox: BoundingBox | undefined;
+    /** Width of the frame the bounding box was drawn on. */
+    imageWidth: number;
+    /** Height of the frame the bounding box was drawn on. */
+    imageHeight: number;
+}
+/** Issue a command to clear the single-object tracking (SOT) target (stop tracking). */
+export interface ClearSotTargetCtrl {
+}
 export declare const MotionInputCtrl: MessageFns<MotionInputCtrl>;
 export declare const TiltVelocityCtrl: MessageFns<TiltVelocityCtrl>;
 export declare const LightsCtrl: MessageFns<LightsCtrl>;
@@ -288,6 +305,8 @@ export declare const SetTurbidityFilterCtrl: MessageFns<SetTurbidityFilterCtrl>;
 export declare const CameraPanTiltZoomCtrl: MessageFns<CameraPanTiltZoomCtrl>;
 export declare const StartLogStreamingCtrl: MessageFns<StartLogStreamingCtrl>;
 export declare const StopLogStreamingCtrl: MessageFns<StopLogStreamingCtrl>;
+export declare const SetSotTargetCtrl: MessageFns<SetSotTargetCtrl>;
+export declare const ClearSotTargetCtrl: MessageFns<ClearSotTargetCtrl>;
 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]>;

package/dist/control.js

@@ -5,7 +5,7 @@
 //   protoc               v3.21.12
 // source: control.proto
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.StopLogStreamingCtrl = exports.StartLogStreamingCtrl = exports.CameraPanTiltZoomCtrl = exports.SetTurbidityFilterCtrl = exports.FormatRemovableStorageDeviceCtrl = exports.EndDiveCtrl = exports.StartDiveCtrl = exports.DeactivateMultibeamCtrl = exports.ActivateMultibeamCtrl = exports.SetMultibeamConfigCtrl = exports.SetAquaTrollConnectionStatusCtrl = exports.SetAquaTrollParameterUnitCtrl = exports.RestartGuestPortsCtrl = exports.ActivateGuestPortsCtrl = exports.DeactivateGuestPortsCtrl = exports.MultibeamServoCtrl = exports.GenericServoCtrl = exports.GripperCtrl = exports.SystemTimeCtrl = exports.PingerConfigurationCtrl = exports.WaterDensityCtrl = exports.TiltStabilizationCtrl = exports.CalibrateDvlGyroCtrl = exports.ResetOdometerCtrl = exports.ResetPositionCtrl = exports.ClearMissionCtrl = exports.PauseMissionCtrl = exports.RunMissionCtrl = exports.AutoPilotHeaveCtrl = exports.AutoPilotSurgeYawCtrl = exports.WeatherVaningCtrl = exports.StationKeepingCtrl = exports.AutoAltitudeCtrl = exports.AutoDepthCtrl = exports.AutoHeadingCtrl = exports.FinishCalibrationCtrl = exports.CancelCalibrationCtrl = exports.StartCalibrationCtrl = exports.TakePictureCtrl = exports.RecordCtrl = exports.WatchdogCtrl = exports.PilotGPSPositionCtrl = exports.LaserCtrl = exports.GuestportLightsCtrl = exports.LightsCtrl = exports.TiltVelocityCtrl = exports.MotionInputCtrl = void 0;
+exports.ClearSotTargetCtrl = exports.SetSotTargetCtrl = exports.StopLogStreamingCtrl = exports.StartLogStreamingCtrl = exports.CameraPanTiltZoomCtrl = exports.SetTurbidityFilterCtrl = exports.FormatRemovableStorageDeviceCtrl = exports.EndDiveCtrl = exports.StartDiveCtrl = exports.DeactivateMultibeamCtrl = exports.ActivateMultibeamCtrl = exports.SetMultibeamConfigCtrl = exports.SetAquaTrollConnectionStatusCtrl = exports.SetAquaTrollParameterUnitCtrl = exports.RestartGuestPortsCtrl = exports.ActivateGuestPortsCtrl = exports.DeactivateGuestPortsCtrl = exports.MultibeamServoCtrl = exports.GenericServoCtrl = exports.GripperCtrl = exports.SystemTimeCtrl = exports.PingerConfigurationCtrl = exports.WaterDensityCtrl = exports.TiltStabilizationCtrl = exports.CalibrateDvlGyroCtrl = exports.ResetOdometerCtrl = exports.ResetPositionCtrl = exports.ClearMissionCtrl = exports.PauseMissionCtrl = exports.RunMissionCtrl = exports.AutoPilotHeaveCtrl = exports.AutoPilotSurgeYawCtrl = exports.WeatherVaningCtrl = exports.StationKeepingCtrl = exports.AutoAltitudeCtrl = exports.AutoDepthCtrl = exports.AutoHeadingCtrl = exports.FinishCalibrationCtrl = exports.CancelCalibrationCtrl = exports.StartCalibrationCtrl = exports.TakePictureCtrl = exports.RecordCtrl = exports.WatchdogCtrl = exports.PilotGPSPositionCtrl = exports.LaserCtrl = exports.GuestportLightsCtrl = exports.LightsCtrl = exports.TiltVelocityCtrl = exports.MotionInputCtrl = void 0;
 /* eslint-disable */
 const wire_1 = require("@bufbuild/protobuf/wire");
 const aquatroll_1 = require("./aquatroll");
@@ -2311,6 +2311,128 @@ exports.StopLogStreamingCtrl = {
         return message;
     },
 };
+function createBaseSetSotTargetCtrl() {
+    return { boundingBox: undefined, imageWidth: 0, imageHeight: 0 };
+}
+exports.SetSotTargetCtrl = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.boundingBox !== undefined) {
+            message_formats_1.BoundingBox.encode(message.boundingBox, writer.uint32(10).fork()).join();
+        }
+        if (message.imageWidth !== 0) {
+            writer.uint32(16).uint32(message.imageWidth);
+        }
+        if (message.imageHeight !== 0) {
+            writer.uint32(24).uint32(message.imageHeight);
+        }
+        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 = createBaseSetSotTargetCtrl();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.boundingBox = message_formats_1.BoundingBox.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.imageWidth = reader.uint32();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 24) {
+                        break;
+                    }
+                    message.imageHeight = reader.uint32();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            boundingBox: isSet(object.boundingBox) ? message_formats_1.BoundingBox.fromJSON(object.boundingBox) : undefined,
+            imageWidth: isSet(object.imageWidth) ? gt.Number(object.imageWidth) : 0,
+            imageHeight: isSet(object.imageHeight) ? gt.Number(object.imageHeight) : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.boundingBox !== undefined) {
+            obj.boundingBox = message_formats_1.BoundingBox.toJSON(message.boundingBox);
+        }
+        if (message.imageWidth !== 0) {
+            obj.imageWidth = Math.round(message.imageWidth);
+        }
+        if (message.imageHeight !== 0) {
+            obj.imageHeight = Math.round(message.imageHeight);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.SetSotTargetCtrl.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseSetSotTargetCtrl();
+        message.boundingBox = (object.boundingBox !== undefined && object.boundingBox !== null)
+            ? message_formats_1.BoundingBox.fromPartial(object.boundingBox)
+            : undefined;
+        message.imageWidth = object.imageWidth ?? 0;
+        message.imageHeight = object.imageHeight ?? 0;
+        return message;
+    },
+};
+function createBaseClearSotTargetCtrl() {
+    return {};
+}
+exports.ClearSotTargetCtrl = {
+    encode(_, writer = new wire_1.BinaryWriter()) {
+        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 = createBaseClearSotTargetCtrl();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(_) {
+        return {};
+    },
+    toJSON(_) {
+        const obj = {};
+        return obj;
+    },
+    create(base) {
+        return exports.ClearSotTargetCtrl.fromPartial(base ?? {});
+    },
+    fromPartial(_) {
+        const message = createBaseClearSotTargetCtrl();
+        return message;
+    },
+};
 const gt = (() => {
     if (typeof globalThis !== "undefined") {
         return globalThis;

package/dist/message_formats.d.ts

@@ -136,6 +136,8 @@ export declare enum NotificationType {
     NOTIFICATION_TYPE_DVL_HIGH_TEMPERATURE_DETECTED = 31,
     /** NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED - DVL thermal protection mode detected. */
     NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED = 32,
+    /** NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED - Video partition not mounted. */
+    NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED = 33,
     UNRECOGNIZED = -1
 }
 export declare function notificationTypeFromJSON(object: any): NotificationType;
@@ -682,6 +684,46 @@ export interface Lights {
 export interface Laser {
     /** Laser intensity, any value above 0 turns the laser on (0..1). */
     value: number;
+    /** Modulate the laser at 5Hz for tracking. Only available on Ultra. */
+    modulated: boolean;
+}
+/** Point in 2D space. */
+export interface Point2D {
+    /** X coordinate of the point (px). */
+    x: number;
+    /** Y coordinate of the point (px). */
+    y: number;
+}
+/**
+ * Message representing the detection of scaling lasers in the main camera.
+ *
+ * The message contains the centroids of the detected dots, the distance between them in pixels,
+ * and the confidence of the detection. The dots are detected through temporal DFT analysis of
+ * 5 Hz laser modulation, isolating flickering pixels from the static scene background.
+ *
+ * Only available on Ultra.
+ */
+export interface LaserDetection {
+    /** True if the laser is detected by the drone. */
+    detected: boolean;
+    /** First dot centroid (leftmost). */
+    dot1: Point2D | undefined;
+    /** Second dot centroid (rightmost). */
+    dot2: Point2D | undefined;
+    /** Distance between dots in pixels. */
+    pixelDistance: number;
+    /** Confidence of the detection (0..1). */
+    confidence: number;
+    /** Source frame width. */
+    imageWidth: number;
+    /** Source frame height. */
+    imageHeight: number;
+    /** Real world distance between the two laser dots (m). */
+    laserWidth: number;
+    /** Distance after lens undistortion (px). */
+    correctedPixelDistance: number;
+    /** Estimated subject distance (m). */
+    estimatedDistance: number;
 }
 /** Latitude and longitude position in WGS 84 decimal degrees format. */
 export interface LatLongPosition {
@@ -1441,6 +1483,31 @@ export interface TiltVelocity {
 /**
  * Information about the drone.
  *
+ * Information about a loaded computer vision model.
+ */
+export interface CvModelInfo {
+    /** Human-readable model name (from model_meta.json). */
+    name: string;
+    /** Type of CV model. */
+    type: CvModelInfo_ModelType;
+    /** Whether the model is currently running. */
+    running: boolean;
+    /** Execution provider (e.g. "cuda", "tensorrt"). */
+    device: string;
+    /** Package directory name (e.g. "tinyyolov2_package"). Stable identifier. */
+    packageId: string;
+    /** Class names the model can detect (indexed by class_id). */
+    labels: string[];
+}
+export declare enum CvModelInfo_ModelType {
+    MODEL_TYPE_UNSPECIFIED = 0,
+    MODEL_TYPE_DETECTION = 1,
+    MODEL_TYPE_SOT = 2,
+    UNRECOGNIZED = -1
+}
+export declare function cvModelInfo_ModelTypeFromJSON(object: any): CvModelInfo_ModelType;
+export declare function cvModelInfo_ModelTypeToJSON(object: CvModelInfo_ModelType): string;
+/**
  * This message contains serial numbers and version information for
  * internal components in the drone. Primarily used for diagnostics, or to
  * determine the origin of a logfile.
@@ -1468,6 +1535,8 @@ export interface DroneInfo {
     gp: GuestPortInfo | undefined;
     /** Type of depth sensor that is connected to the drone. */
     depthSensor: PressureSensorType;
+    /** List of loaded computer vision models. */
+    cvModels: CvModelInfo[];
 }
 /** Known error states for the drone. */
 export interface ErrorFlags {
@@ -2166,6 +2235,22 @@ export interface BoundingBox {
     /** Height of the bounding box (px). */
     height: number;
 }
+/**
+ * RLE-encoded binary segmentation mask relative to the bounding box.
+ *
+ * The mask bitmap has dimensions (mask_width x mask_height) covering the
+ * detection's bounding box area. The counts field stores run-length encoded
+ * data as packed uint16 little-endian: alternating background/foreground
+ * pixel runs starting with background.
+ */
+export interface SegmentationMask {
+    /** Width of the RLE bitmap. */
+    maskWidth: number;
+    /** Height of the RLE bitmap. */
+    maskHeight: number;
+    /** RLE counts as packed uint16 little-endian. */
+    counts: Uint8Array;
+}
 /** A single object detection from a computer vision model. */
 export interface ObjectDetection {
     /** Bounding box of the detected object. */
@@ -2178,6 +2263,8 @@ export interface ObjectDetection {
     className: string;
     /** Unique ID for tracking the same object across frames. */
     trackingId: number;
+    /** Instance segmentation mask (absent if model has no segmentation). */
+    mask: SegmentationMask | undefined;
 }
 /** A list of object detections from a single model for a single video frame. */
 export interface ModelDetections {
@@ -2224,6 +2311,31 @@ export interface OperatorInfo {
     /** E-mail address of the operator. */
     email: string;
 }
+/** Single-object tracking (SOT) state reported by the computer vision pipeline. */
+export interface SotState {
+    /** Current tracking state. */
+    state: SotState_State;
+    /** Current tracked bounding box (valid when TRACKING). */
+    boundingBox: BoundingBox | undefined;
+    /** Width of the source frame in pixels. */
+    imageWidth: number;
+    /** Height of the source frame in pixels. */
+    imageHeight: number;
+}
+/** Current state of the SOT tracker. */
+export declare enum SotState_State {
+    /** STATE_UNSPECIFIED - Unspecified state. */
+    STATE_UNSPECIFIED = 0,
+    /** STATE_IDLE - No target selected, waiting for a target bounding box. */
+    STATE_IDLE = 1,
+    /** STATE_TRACKING - Actively tracking a target. */
+    STATE_TRACKING = 2,
+    /** STATE_LOST - Target was lost (tracker failed to follow the object). */
+    STATE_LOST = 3,
+    UNRECOGNIZED = -1
+}
+export declare function sotState_StateFromJSON(object: any): SotState_State;
+export declare function sotState_StateToJSON(object: SotState_State): string;
 export declare const BinlogRecord: MessageFns<BinlogRecord>;
 export declare const LogEntry: MessageFns<LogEntry>;
 export declare const KernelLogEntry: MessageFns<KernelLogEntry>;
@@ -2231,6 +2343,8 @@ export declare const KernelLogEntry_KeyValuePair: MessageFns<KernelLogEntry_KeyV
 export declare const MotionInput: MessageFns<MotionInput>;
 export declare const Lights: MessageFns<Lights>;
 export declare const Laser: MessageFns<Laser>;
+export declare const Point2D: MessageFns<Point2D>;
+export declare const LaserDetection: MessageFns<LaserDetection>;
 export declare const LatLongPosition: MessageFns<LatLongPosition>;
 export declare const ConnectionDuration: MessageFns<ConnectionDuration>;
 export declare const AutoHeadingState: MessageFns<AutoHeadingState>;
@@ -2287,6 +2401,7 @@ export declare const IperfStatus: MessageFns<IperfStatus>;
 export declare const NStreamers: MessageFns<NStreamers>;
 export declare const TiltAngle: MessageFns<TiltAngle>;
 export declare const TiltVelocity: MessageFns<TiltVelocity>;
+export declare const CvModelInfo: MessageFns<CvModelInfo>;
 export declare const DroneInfo: MessageFns<DroneInfo>;
 export declare const ErrorFlags: MessageFns<ErrorFlags>;
 export declare const CameraParameters: MessageFns<CameraParameters>;
@@ -2323,11 +2438,13 @@ export declare const SystemPerformanceInfo: MessageFns<SystemPerformanceInfo>;
 export declare const SurfaceUnitBatteryInfo: MessageFns<SurfaceUnitBatteryInfo>;
 export declare const SurfaceUnitVersionInfo: MessageFns<SurfaceUnitVersionInfo>;
 export declare const BoundingBox: MessageFns<BoundingBox>;
+export declare const SegmentationMask: MessageFns<SegmentationMask>;
 export declare const ObjectDetection: MessageFns<ObjectDetection>;
 export declare const ModelDetections: MessageFns<ModelDetections>;
 export declare const FilterMessage: MessageFns<FilterMessage>;
 export declare const CameraPanTiltZoom: MessageFns<CameraPanTiltZoom>;
 export declare const OperatorInfo: MessageFns<OperatorInfo>;
+export declare const SotState: MessageFns<SotState>;
 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]>;