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

package/dist/message_formats.js

@@ -5,9 +5,9 @@
 //   protoc               v3.21.12
 // source: message_formats.proto
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.WeatherVaningState = exports.StationKeepingState = exports.AutoAltitudeState = exports.AutoDepthState = exports.AutoHeadingState = exports.ConnectionDuration = exports.LatLongPosition = exports.Laser = exports.Lights = exports.MotionInput = exports.KernelLogEntry_KeyValuePair = exports.KernelLogEntry = exports.LogEntry = exports.BinlogRecord = exports.SurfaceUnitBatteryInfo_ChargeStatus = exports.MultibeamConfig_MaximumNumberOfBeams = exports.MultibeamConfig_PingRate = exports.CalibrationState_Status = exports.RemovableStorageDevice_Status = exports.BatteryBQ40Z50_BatteryStatus_BatteryError = exports.PingerConfiguration_MountingDirection = exports.KernelLogEntry_KernelLogLevel = exports.LogEntry_LogLevel = exports.ThermalZoneId = exports.MultibeamFrequencyMode = exports.GuestPortError = exports.GuestPortDetachStatus = exports.NavigationSensorID = exports.GuestPortNumber = exports.GuestPortDeviceID = exports.FontSize = exports.ThicknessUnit = exports.DepthUnit = exports.LogoType = exports.TemperatureUnit = exports.RecordingCodec = exports.StreamingProtocol = exports.Camera = exports.Framerate = exports.Resolution = exports.PressureSensorType = exports.Model = exports.StorageLocation = exports.NotificationLevel = exports.NotificationType = exports.ResetCoordinateSource = exports.HeadingMode = exports.HeadingSource = exports.LocationSource = exports.IntervalType = void 0;
-exports.DroneInfo = exports.TiltVelocity = exports.TiltAngle = exports.NStreamers = exports.IperfStatus = exports.CalibrationState = exports.RemovableStorageErrorFlags = exports.RemovableStorageDevice = exports.StoragePartition = exports.StorageSpace = exports.RecordOn = exports.DiveTime = exports.ControllerHealth = exports.ControlForce = exports.Notification = exports.Reference = exports.Depth = exports.DvlVelocity = exports.DvlTransducer = exports.ResetPositionSettings = exports.PositionEstimate = exports.ForwardDistance = exports.Altitude = exports.MagneticDeclination = exports.Attitude = exports.BatteryBQ40Z50_BatteryChargingEvents = exports.BatteryBQ40Z50_BatterySafetyEvents = exports.BatteryBQ40Z50_BatteryLifetimes_CellVoltages = exports.BatteryBQ40Z50_BatteryLifetimes = exports.BatteryBQ40Z50_BatteryStatus = exports.BatteryBQ40Z50_Temperature = exports.BatteryBQ40Z50_Voltage = exports.BatteryBQ40Z50 = exports.Battery = exports.CanisterHumidity = exports.CanisterTemperature = exports.CPUTemperature = exports.WaterTemperature = exports.PingerConfiguration = exports.WaterDensity = exports.TimeLapseState = exports.RecordState = exports.ConnectedClient = exports.ClientInfo = exports.GripperVelocities = exports.SystemTime = exports.TiltStabilizationState = exports.ControlMode = exports.AutoPilotHeaveState = exports.AutoPilotSurgeYawState = void 0;
-exports.OperatorInfo = exports.CameraPanTiltZoom = exports.FilterMessage = exports.ModelDetections = exports.ObjectDetection = exports.BoundingBox = exports.SurfaceUnitVersionInfo = exports.SurfaceUnitBatteryInfo = exports.SystemPerformanceInfo = exports.VideoCodecInfo = exports.ThermalZone = exports.MemoryInfo = exports.DlaInfo = exports.GpuInfo = exports.CpuCoreLoad = exports.CPUInfo = exports.PersistentStorageSettings = exports.MutltibeamRecordingIndex = exports.MultibeamFrameOffset = exports.MultibeamErrorFlags = exports.MultibeamDiscovery = exports.MultibeamConfig = exports.MultibeamPing = exports.MedusaSpectrometerData = exports.Imu = exports.Vector3 = exports.GuestPortCurrent = exports.MultibeamServo = exports.GenericServo = exports.CpProbe = exports.ThicknessGauge = exports.GuestPortRestartInfo = exports.GuestPortInfo = exports.GuestPortConnectorInfo = exports.GuestPortDeviceList = exports.GuestPortDevice = exports.NavigationSensorStatus = exports.OverlayParameters = exports.CameraParameters = exports.ErrorFlags = void 0;
+exports.AutoHeadingState = exports.ConnectionDuration = exports.LatLongPosition = exports.LaserDetection = exports.Point2D = exports.Laser = exports.Lights = exports.MotionInput = exports.KernelLogEntry_KeyValuePair = exports.KernelLogEntry = exports.LogEntry = exports.BinlogRecord = exports.SotState_State = exports.SurfaceUnitBatteryInfo_ChargeStatus = exports.MultibeamConfig_MaximumNumberOfBeams = exports.MultibeamConfig_PingRate = exports.CvModelInfo_ModelType = exports.CalibrationState_Status = exports.RemovableStorageDevice_Status = exports.BatteryBQ40Z50_BatteryStatus_BatteryError = exports.PingerConfiguration_MountingDirection = exports.KernelLogEntry_KernelLogLevel = exports.LogEntry_LogLevel = exports.ThermalZoneId = exports.MultibeamFrequencyMode = exports.GuestPortError = exports.GuestPortDetachStatus = exports.NavigationSensorID = exports.GuestPortNumber = exports.GuestPortDeviceID = exports.FontSize = exports.ThicknessUnit = exports.DepthUnit = exports.LogoType = exports.TemperatureUnit = exports.RecordingCodec = exports.StreamingProtocol = exports.Camera = exports.Framerate = exports.Resolution = exports.PressureSensorType = exports.Model = exports.StorageLocation = exports.NotificationLevel = exports.NotificationType = exports.ResetCoordinateSource = exports.HeadingMode = exports.HeadingSource = exports.LocationSource = exports.IntervalType = void 0;
+exports.IperfStatus = exports.CalibrationState = exports.RemovableStorageErrorFlags = exports.RemovableStorageDevice = exports.StoragePartition = exports.StorageSpace = exports.RecordOn = exports.DiveTime = exports.ControllerHealth = exports.ControlForce = exports.Notification = exports.Reference = exports.Depth = exports.DvlVelocity = exports.DvlTransducer = exports.ResetPositionSettings = exports.PositionEstimate = exports.ForwardDistance = exports.Altitude = exports.MagneticDeclination = exports.Attitude = exports.BatteryBQ40Z50_BatteryChargingEvents = exports.BatteryBQ40Z50_BatterySafetyEvents = exports.BatteryBQ40Z50_BatteryLifetimes_CellVoltages = exports.BatteryBQ40Z50_BatteryLifetimes = exports.BatteryBQ40Z50_BatteryStatus = exports.BatteryBQ40Z50_Temperature = exports.BatteryBQ40Z50_Voltage = exports.BatteryBQ40Z50 = exports.Battery = exports.CanisterHumidity = exports.CanisterTemperature = exports.CPUTemperature = exports.WaterTemperature = exports.PingerConfiguration = exports.WaterDensity = exports.TimeLapseState = exports.RecordState = exports.ConnectedClient = exports.ClientInfo = exports.GripperVelocities = exports.SystemTime = exports.TiltStabilizationState = exports.ControlMode = exports.AutoPilotHeaveState = exports.AutoPilotSurgeYawState = exports.WeatherVaningState = exports.StationKeepingState = exports.AutoAltitudeState = exports.AutoDepthState = void 0;
+exports.SotState = exports.OperatorInfo = exports.CameraPanTiltZoom = exports.FilterMessage = exports.ModelDetections = exports.ObjectDetection = exports.SegmentationMask = exports.BoundingBox = exports.SurfaceUnitVersionInfo = exports.SurfaceUnitBatteryInfo = exports.SystemPerformanceInfo = exports.VideoCodecInfo = exports.ThermalZone = exports.MemoryInfo = exports.DlaInfo = exports.GpuInfo = exports.CpuCoreLoad = exports.CPUInfo = exports.PersistentStorageSettings = exports.MutltibeamRecordingIndex = exports.MultibeamFrameOffset = exports.MultibeamErrorFlags = exports.MultibeamDiscovery = exports.MultibeamConfig = exports.MultibeamPing = exports.MedusaSpectrometerData = exports.Imu = exports.Vector3 = exports.GuestPortCurrent = exports.MultibeamServo = exports.GenericServo = exports.CpProbe = exports.ThicknessGauge = exports.GuestPortRestartInfo = exports.GuestPortInfo = exports.GuestPortConnectorInfo = exports.GuestPortDeviceList = exports.GuestPortDevice = exports.NavigationSensorStatus = exports.OverlayParameters = exports.CameraParameters = exports.ErrorFlags = exports.DroneInfo = exports.CvModelInfo = exports.TiltVelocity = exports.TiltAngle = exports.NStreamers = void 0;
 exports.intervalTypeFromJSON = intervalTypeFromJSON;
 exports.intervalTypeToJSON = intervalTypeToJSON;
 exports.locationSourceFromJSON = locationSourceFromJSON;
@@ -74,12 +74,16 @@ exports.removableStorageDevice_StatusFromJSON = removableStorageDevice_StatusFro
 exports.removableStorageDevice_StatusToJSON = removableStorageDevice_StatusToJSON;
 exports.calibrationState_StatusFromJSON = calibrationState_StatusFromJSON;
 exports.calibrationState_StatusToJSON = calibrationState_StatusToJSON;
+exports.cvModelInfo_ModelTypeFromJSON = cvModelInfo_ModelTypeFromJSON;
+exports.cvModelInfo_ModelTypeToJSON = cvModelInfo_ModelTypeToJSON;
 exports.multibeamConfig_PingRateFromJSON = multibeamConfig_PingRateFromJSON;
 exports.multibeamConfig_PingRateToJSON = multibeamConfig_PingRateToJSON;
 exports.multibeamConfig_MaximumNumberOfBeamsFromJSON = multibeamConfig_MaximumNumberOfBeamsFromJSON;
 exports.multibeamConfig_MaximumNumberOfBeamsToJSON = multibeamConfig_MaximumNumberOfBeamsToJSON;
 exports.surfaceUnitBatteryInfo_ChargeStatusFromJSON = surfaceUnitBatteryInfo_ChargeStatusFromJSON;
 exports.surfaceUnitBatteryInfo_ChargeStatusToJSON = surfaceUnitBatteryInfo_ChargeStatusToJSON;
+exports.sotState_StateFromJSON = sotState_StateFromJSON;
+exports.sotState_StateToJSON = sotState_StateToJSON;
 /* eslint-disable */
 const wire_1 = require("@bufbuild/protobuf/wire");
 const any_1 = require("./google/protobuf/any");
@@ -371,6 +375,8 @@ var NotificationType;
     NotificationType[NotificationType["NOTIFICATION_TYPE_DVL_HIGH_TEMPERATURE_DETECTED"] = 31] = "NOTIFICATION_TYPE_DVL_HIGH_TEMPERATURE_DETECTED";
     /** NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED - DVL thermal protection mode detected. */
     NotificationType[NotificationType["NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED"] = 32] = "NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED";
+    /** NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED - Video partition not mounted. */
+    NotificationType[NotificationType["NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED"] = 33] = "NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED";
     NotificationType[NotificationType["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
 })(NotificationType || (exports.NotificationType = NotificationType = {}));
 function notificationTypeFromJSON(object) {
@@ -474,6 +480,9 @@ function notificationTypeFromJSON(object) {
         case 32:
         case "NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED":
             return NotificationType.NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED;
+        case 33:
+        case "NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED":
+            return NotificationType.NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED;
         case -1:
         case "UNRECOGNIZED":
         default:
@@ -548,6 +557,8 @@ function notificationTypeToJSON(object) {
             return "NOTIFICATION_TYPE_DVL_HIGH_TEMPERATURE_DETECTED";
         case NotificationType.NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED:
             return "NOTIFICATION_TYPE_DVL_THERMAL_PROTECTION_MODE_DETECTED";
+        case NotificationType.NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED:
+            return "NOTIFICATION_TYPE_VIDEO_PARTITION_NOT_MOUNTED";
         case NotificationType.UNRECOGNIZED:
         default:
             return "UNRECOGNIZED";
@@ -2350,6 +2361,43 @@ function calibrationState_StatusToJSON(object) {
             return "UNRECOGNIZED";
     }
 }
+var CvModelInfo_ModelType;
+(function (CvModelInfo_ModelType) {
+    CvModelInfo_ModelType[CvModelInfo_ModelType["MODEL_TYPE_UNSPECIFIED"] = 0] = "MODEL_TYPE_UNSPECIFIED";
+    CvModelInfo_ModelType[CvModelInfo_ModelType["MODEL_TYPE_DETECTION"] = 1] = "MODEL_TYPE_DETECTION";
+    CvModelInfo_ModelType[CvModelInfo_ModelType["MODEL_TYPE_SOT"] = 2] = "MODEL_TYPE_SOT";
+    CvModelInfo_ModelType[CvModelInfo_ModelType["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
+})(CvModelInfo_ModelType || (exports.CvModelInfo_ModelType = CvModelInfo_ModelType = {}));
+function cvModelInfo_ModelTypeFromJSON(object) {
+    switch (object) {
+        case 0:
+        case "MODEL_TYPE_UNSPECIFIED":
+            return CvModelInfo_ModelType.MODEL_TYPE_UNSPECIFIED;
+        case 1:
+        case "MODEL_TYPE_DETECTION":
+            return CvModelInfo_ModelType.MODEL_TYPE_DETECTION;
+        case 2:
+        case "MODEL_TYPE_SOT":
+            return CvModelInfo_ModelType.MODEL_TYPE_SOT;
+        case -1:
+        case "UNRECOGNIZED":
+        default:
+            return CvModelInfo_ModelType.UNRECOGNIZED;
+    }
+}
+function cvModelInfo_ModelTypeToJSON(object) {
+    switch (object) {
+        case CvModelInfo_ModelType.MODEL_TYPE_UNSPECIFIED:
+            return "MODEL_TYPE_UNSPECIFIED";
+        case CvModelInfo_ModelType.MODEL_TYPE_DETECTION:
+            return "MODEL_TYPE_DETECTION";
+        case CvModelInfo_ModelType.MODEL_TYPE_SOT:
+            return "MODEL_TYPE_SOT";
+        case CvModelInfo_ModelType.UNRECOGNIZED:
+        default:
+            return "UNRECOGNIZED";
+    }
+}
 /** Defines the desired ping rate to use when capturing sonar data. */
 var MultibeamConfig_PingRate;
 (function (MultibeamConfig_PingRate) {
@@ -2515,6 +2563,54 @@ function surfaceUnitBatteryInfo_ChargeStatusToJSON(object) {
             return "UNRECOGNIZED";
     }
 }
+/** Current state of the SOT tracker. */
+var SotState_State;
+(function (SotState_State) {
+    /** STATE_UNSPECIFIED - Unspecified state. */
+    SotState_State[SotState_State["STATE_UNSPECIFIED"] = 0] = "STATE_UNSPECIFIED";
+    /** STATE_IDLE - No target selected, waiting for a target bounding box. */
+    SotState_State[SotState_State["STATE_IDLE"] = 1] = "STATE_IDLE";
+    /** STATE_TRACKING - Actively tracking a target. */
+    SotState_State[SotState_State["STATE_TRACKING"] = 2] = "STATE_TRACKING";
+    /** STATE_LOST - Target was lost (tracker failed to follow the object). */
+    SotState_State[SotState_State["STATE_LOST"] = 3] = "STATE_LOST";
+    SotState_State[SotState_State["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
+})(SotState_State || (exports.SotState_State = SotState_State = {}));
+function sotState_StateFromJSON(object) {
+    switch (object) {
+        case 0:
+        case "STATE_UNSPECIFIED":
+            return SotState_State.STATE_UNSPECIFIED;
+        case 1:
+        case "STATE_IDLE":
+            return SotState_State.STATE_IDLE;
+        case 2:
+        case "STATE_TRACKING":
+            return SotState_State.STATE_TRACKING;
+        case 3:
+        case "STATE_LOST":
+            return SotState_State.STATE_LOST;
+        case -1:
+        case "UNRECOGNIZED":
+        default:
+            return SotState_State.UNRECOGNIZED;
+    }
+}
+function sotState_StateToJSON(object) {
+    switch (object) {
+        case SotState_State.STATE_UNSPECIFIED:
+            return "STATE_UNSPECIFIED";
+        case SotState_State.STATE_IDLE:
+            return "STATE_IDLE";
+        case SotState_State.STATE_TRACKING:
+            return "STATE_TRACKING";
+        case SotState_State.STATE_LOST:
+            return "STATE_LOST";
+        case SotState_State.UNRECOGNIZED:
+        default:
+            return "UNRECOGNIZED";
+    }
+}
 function createBaseBinlogRecord() {
     return { payload: undefined, unixTimestamp: undefined, clockMonotonic: undefined };
 }
@@ -3136,13 +3232,16 @@ exports.Lights = {
     },
 };
 function createBaseLaser() {
-    return { value: 0 };
+    return { value: 0, modulated: false };
 }
 exports.Laser = {
     encode(message, writer = new wire_1.BinaryWriter()) {
         if (message.value !== 0) {
             writer.uint32(13).float(message.value);
         }
+        if (message.modulated !== false) {
+            writer.uint32(16).bool(message.modulated);
+        }
         return writer;
     },
     decode(input, length) {
@@ -3159,6 +3258,13 @@ exports.Laser = {
                     message.value = reader.float();
                     continue;
                 }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.modulated = reader.bool();
+                    continue;
+                }
             }
             if ((tag & 7) === 4 || tag === 0) {
                 break;
@@ -3168,13 +3274,19 @@ exports.Laser = {
         return message;
     },
     fromJSON(object) {
-        return { value: isSet(object.value) ? gt.Number(object.value) : 0 };
+        return {
+            value: isSet(object.value) ? gt.Number(object.value) : 0,
+            modulated: isSet(object.modulated) ? gt.Boolean(object.modulated) : false,
+        };
     },
     toJSON(message) {
         const obj = {};
         if (message.value !== 0) {
             obj.value = message.value;
         }
+        if (message.modulated !== false) {
+            obj.modulated = message.modulated;
+        }
         return obj;
     },
     create(base) {
@@ -3183,6 +3295,271 @@ exports.Laser = {
     fromPartial(object) {
         const message = createBaseLaser();
         message.value = object.value ?? 0;
+        message.modulated = object.modulated ?? false;
+        return message;
+    },
+};
+function createBasePoint2D() {
+    return { x: 0, y: 0 };
+}
+exports.Point2D = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.x !== 0) {
+            writer.uint32(13).float(message.x);
+        }
+        if (message.y !== 0) {
+            writer.uint32(21).float(message.y);
+        }
+        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 = createBasePoint2D();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 13) {
+                        break;
+                    }
+                    message.x = reader.float();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 21) {
+                        break;
+                    }
+                    message.y = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return { x: isSet(object.x) ? gt.Number(object.x) : 0, y: isSet(object.y) ? gt.Number(object.y) : 0 };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.x !== 0) {
+            obj.x = message.x;
+        }
+        if (message.y !== 0) {
+            obj.y = message.y;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.Point2D.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBasePoint2D();
+        message.x = object.x ?? 0;
+        message.y = object.y ?? 0;
+        return message;
+    },
+};
+function createBaseLaserDetection() {
+    return {
+        detected: false,
+        dot1: undefined,
+        dot2: undefined,
+        pixelDistance: 0,
+        confidence: 0,
+        imageWidth: 0,
+        imageHeight: 0,
+        laserWidth: 0,
+        correctedPixelDistance: 0,
+        estimatedDistance: 0,
+    };
+}
+exports.LaserDetection = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.detected !== false) {
+            writer.uint32(8).bool(message.detected);
+        }
+        if (message.dot1 !== undefined) {
+            exports.Point2D.encode(message.dot1, writer.uint32(18).fork()).join();
+        }
+        if (message.dot2 !== undefined) {
+            exports.Point2D.encode(message.dot2, writer.uint32(26).fork()).join();
+        }
+        if (message.pixelDistance !== 0) {
+            writer.uint32(37).float(message.pixelDistance);
+        }
+        if (message.confidence !== 0) {
+            writer.uint32(45).float(message.confidence);
+        }
+        if (message.imageWidth !== 0) {
+            writer.uint32(48).uint32(message.imageWidth);
+        }
+        if (message.imageHeight !== 0) {
+            writer.uint32(56).uint32(message.imageHeight);
+        }
+        if (message.laserWidth !== 0) {
+            writer.uint32(69).float(message.laserWidth);
+        }
+        if (message.correctedPixelDistance !== 0) {
+            writer.uint32(77).float(message.correctedPixelDistance);
+        }
+        if (message.estimatedDistance !== 0) {
+            writer.uint32(85).float(message.estimatedDistance);
+        }
+        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 = createBaseLaserDetection();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.detected = reader.bool();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 18) {
+                        break;
+                    }
+                    message.dot1 = exports.Point2D.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 26) {
+                        break;
+                    }
+                    message.dot2 = exports.Point2D.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 37) {
+                        break;
+                    }
+                    message.pixelDistance = reader.float();
+                    continue;
+                }
+                case 5: {
+                    if (tag !== 45) {
+                        break;
+                    }
+                    message.confidence = reader.float();
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 48) {
+                        break;
+                    }
+                    message.imageWidth = reader.uint32();
+                    continue;
+                }
+                case 7: {
+                    if (tag !== 56) {
+                        break;
+                    }
+                    message.imageHeight = reader.uint32();
+                    continue;
+                }
+                case 8: {
+                    if (tag !== 69) {
+                        break;
+                    }
+                    message.laserWidth = reader.float();
+                    continue;
+                }
+                case 9: {
+                    if (tag !== 77) {
+                        break;
+                    }
+                    message.correctedPixelDistance = reader.float();
+                    continue;
+                }
+                case 10: {
+                    if (tag !== 85) {
+                        break;
+                    }
+                    message.estimatedDistance = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            detected: isSet(object.detected) ? gt.Boolean(object.detected) : false,
+            dot1: isSet(object.dot1) ? exports.Point2D.fromJSON(object.dot1) : undefined,
+            dot2: isSet(object.dot2) ? exports.Point2D.fromJSON(object.dot2) : undefined,
+            pixelDistance: isSet(object.pixelDistance) ? gt.Number(object.pixelDistance) : 0,
+            confidence: isSet(object.confidence) ? gt.Number(object.confidence) : 0,
+            imageWidth: isSet(object.imageWidth) ? gt.Number(object.imageWidth) : 0,
+            imageHeight: isSet(object.imageHeight) ? gt.Number(object.imageHeight) : 0,
+            laserWidth: isSet(object.laserWidth) ? gt.Number(object.laserWidth) : 0,
+            correctedPixelDistance: isSet(object.correctedPixelDistance) ? gt.Number(object.correctedPixelDistance) : 0,
+            estimatedDistance: isSet(object.estimatedDistance) ? gt.Number(object.estimatedDistance) : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.detected !== false) {
+            obj.detected = message.detected;
+        }
+        if (message.dot1 !== undefined) {
+            obj.dot1 = exports.Point2D.toJSON(message.dot1);
+        }
+        if (message.dot2 !== undefined) {
+            obj.dot2 = exports.Point2D.toJSON(message.dot2);
+        }
+        if (message.pixelDistance !== 0) {
+            obj.pixelDistance = message.pixelDistance;
+        }
+        if (message.confidence !== 0) {
+            obj.confidence = message.confidence;
+        }
+        if (message.imageWidth !== 0) {
+            obj.imageWidth = Math.round(message.imageWidth);
+        }
+        if (message.imageHeight !== 0) {
+            obj.imageHeight = Math.round(message.imageHeight);
+        }
+        if (message.laserWidth !== 0) {
+            obj.laserWidth = message.laserWidth;
+        }
+        if (message.correctedPixelDistance !== 0) {
+            obj.correctedPixelDistance = message.correctedPixelDistance;
+        }
+        if (message.estimatedDistance !== 0) {
+            obj.estimatedDistance = message.estimatedDistance;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.LaserDetection.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseLaserDetection();
+        message.detected = object.detected ?? false;
+        message.dot1 = (object.dot1 !== undefined && object.dot1 !== null) ? exports.Point2D.fromPartial(object.dot1) : undefined;
+        message.dot2 = (object.dot2 !== undefined && object.dot2 !== null) ? exports.Point2D.fromPartial(object.dot2) : undefined;
+        message.pixelDistance = object.pixelDistance ?? 0;
+        message.confidence = object.confidence ?? 0;
+        message.imageWidth = object.imageWidth ?? 0;
+        message.imageHeight = object.imageHeight ?? 0;
+        message.laserWidth = object.laserWidth ?? 0;
+        message.correctedPixelDistance = object.correctedPixelDistance ?? 0;
+        message.estimatedDistance = object.estimatedDistance ?? 0;
         return message;
     },
 };
@@ -9123,6 +9500,134 @@ exports.TiltVelocity = {
         return message;
     },
 };
+function createBaseCvModelInfo() {
+    return { name: "", type: 0, running: false, device: "", packageId: "", labels: [] };
+}
+exports.CvModelInfo = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.name !== "") {
+            writer.uint32(10).string(message.name);
+        }
+        if (message.type !== 0) {
+            writer.uint32(16).int32(message.type);
+        }
+        if (message.running !== false) {
+            writer.uint32(24).bool(message.running);
+        }
+        if (message.device !== "") {
+            writer.uint32(34).string(message.device);
+        }
+        if (message.packageId !== "") {
+            writer.uint32(42).string(message.packageId);
+        }
+        for (const v of message.labels) {
+            writer.uint32(50).string(v);
+        }
+        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 = createBaseCvModelInfo();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.name = reader.string();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.type = reader.int32();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 24) {
+                        break;
+                    }
+                    message.running = reader.bool();
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 34) {
+                        break;
+                    }
+                    message.device = reader.string();
+                    continue;
+                }
+                case 5: {
+                    if (tag !== 42) {
+                        break;
+                    }
+                    message.packageId = reader.string();
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 50) {
+                        break;
+                    }
+                    message.labels.push(reader.string());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            name: isSet(object.name) ? gt.String(object.name) : "",
+            type: isSet(object.type) ? cvModelInfo_ModelTypeFromJSON(object.type) : 0,
+            running: isSet(object.running) ? gt.Boolean(object.running) : false,
+            device: isSet(object.device) ? gt.String(object.device) : "",
+            packageId: isSet(object.packageId) ? gt.String(object.packageId) : "",
+            labels: gt.Array.isArray(object?.labels) ? object.labels.map((e) => gt.String(e)) : [],
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.name !== "") {
+            obj.name = message.name;
+        }
+        if (message.type !== 0) {
+            obj.type = cvModelInfo_ModelTypeToJSON(message.type);
+        }
+        if (message.running !== false) {
+            obj.running = message.running;
+        }
+        if (message.device !== "") {
+            obj.device = message.device;
+        }
+        if (message.packageId !== "") {
+            obj.packageId = message.packageId;
+        }
+        if (message.labels?.length) {
+            obj.labels = message.labels;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.CvModelInfo.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseCvModelInfo();
+        message.name = object.name ?? "";
+        message.type = object.type ?? 0;
+        message.running = object.running ?? false;
+        message.device = object.device ?? "";
+        message.packageId = object.packageId ?? "";
+        message.labels = object.labels?.map((e) => e) || [];
+        return message;
+    },
+};
 function createBaseDroneInfo() {
     return {
         blunuxVersion: "",
@@ -9136,6 +9641,7 @@ function createBaseDroneInfo() {
         bbUid: new Uint8Array(0),
         gp: undefined,
         depthSensor: 0,
+        cvModels: [],
     };
 }
 exports.DroneInfo = {
@@ -9173,6 +9679,9 @@ exports.DroneInfo = {
         if (message.depthSensor !== 0) {
             writer.uint32(88).int32(message.depthSensor);
         }
+        for (const v of message.cvModels) {
+            exports.CvModelInfo.encode(v, writer.uint32(98).fork()).join();
+        }
         return writer;
     },
     decode(input, length) {
@@ -9259,6 +9768,13 @@ exports.DroneInfo = {
                     message.depthSensor = reader.int32();
                     continue;
                 }
+                case 12: {
+                    if (tag !== 98) {
+                        break;
+                    }
+                    message.cvModels.push(exports.CvModelInfo.decode(reader, reader.uint32()));
+                    continue;
+                }
             }
             if ((tag & 7) === 4 || tag === 0) {
                 break;
@@ -9280,6 +9796,7 @@ exports.DroneInfo = {
             bbUid: isSet(object.bbUid) ? bytesFromBase64(object.bbUid) : new Uint8Array(0),
             gp: isSet(object.gp) ? exports.GuestPortInfo.fromJSON(object.gp) : undefined,
             depthSensor: isSet(object.depthSensor) ? pressureSensorTypeFromJSON(object.depthSensor) : 0,
+            cvModels: gt.Array.isArray(object?.cvModels) ? object.cvModels.map((e) => exports.CvModelInfo.fromJSON(e)) : [],
         };
     },
     toJSON(message) {
@@ -9317,6 +9834,9 @@ exports.DroneInfo = {
         if (message.depthSensor !== 0) {
             obj.depthSensor = pressureSensorTypeToJSON(message.depthSensor);
         }
+        if (message.cvModels?.length) {
+            obj.cvModels = message.cvModels.map((e) => exports.CvModelInfo.toJSON(e));
+        }
         return obj;
     },
     create(base) {
@@ -9335,6 +9855,7 @@ exports.DroneInfo = {
         message.bbUid = object.bbUid ?? new Uint8Array(0);
         message.gp = (object.gp !== undefined && object.gp !== null) ? exports.GuestPortInfo.fromPartial(object.gp) : undefined;
         message.depthSensor = object.depthSensor ?? 0;
+        message.cvModels = object.cvModels?.map((e) => exports.CvModelInfo.fromPartial(e)) || [];
         return message;
     },
 };
@@ -14559,8 +15080,91 @@ exports.BoundingBox = {
         return message;
     },
 };
+function createBaseSegmentationMask() {
+    return { maskWidth: 0, maskHeight: 0, counts: new Uint8Array(0) };
+}
+exports.SegmentationMask = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.maskWidth !== 0) {
+            writer.uint32(8).uint32(message.maskWidth);
+        }
+        if (message.maskHeight !== 0) {
+            writer.uint32(16).uint32(message.maskHeight);
+        }
+        if (message.counts.length !== 0) {
+            writer.uint32(26).bytes(message.counts);
+        }
+        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 = createBaseSegmentationMask();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.maskWidth = reader.uint32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.maskHeight = reader.uint32();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 26) {
+                        break;
+                    }
+                    message.counts = reader.bytes();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            maskWidth: isSet(object.maskWidth) ? gt.Number(object.maskWidth) : 0,
+            maskHeight: isSet(object.maskHeight) ? gt.Number(object.maskHeight) : 0,
+            counts: isSet(object.counts) ? bytesFromBase64(object.counts) : new Uint8Array(0),
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.maskWidth !== 0) {
+            obj.maskWidth = Math.round(message.maskWidth);
+        }
+        if (message.maskHeight !== 0) {
+            obj.maskHeight = Math.round(message.maskHeight);
+        }
+        if (message.counts.length !== 0) {
+            obj.counts = base64FromBytes(message.counts);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.SegmentationMask.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseSegmentationMask();
+        message.maskWidth = object.maskWidth ?? 0;
+        message.maskHeight = object.maskHeight ?? 0;
+        message.counts = object.counts ?? new Uint8Array(0);
+        return message;
+    },
+};
 function createBaseObjectDetection() {
-    return { boundingBox: undefined, confidence: 0, classId: 0, className: "", trackingId: 0 };
+    return { boundingBox: undefined, confidence: 0, classId: 0, className: "", trackingId: 0, mask: undefined };
 }
 exports.ObjectDetection = {
     encode(message, writer = new wire_1.BinaryWriter()) {
@@ -14579,6 +15183,9 @@ exports.ObjectDetection = {
         if (message.trackingId !== 0) {
             writer.uint32(40).uint32(message.trackingId);
         }
+        if (message.mask !== undefined) {
+            exports.SegmentationMask.encode(message.mask, writer.uint32(50).fork()).join();
+        }
         return writer;
     },
     decode(input, length) {
@@ -14623,6 +15230,13 @@ exports.ObjectDetection = {
                     message.trackingId = reader.uint32();
                     continue;
                 }
+                case 6: {
+                    if (tag !== 50) {
+                        break;
+                    }
+                    message.mask = exports.SegmentationMask.decode(reader, reader.uint32());
+                    continue;
+                }
             }
             if ((tag & 7) === 4 || tag === 0) {
                 break;
@@ -14638,6 +15252,7 @@ exports.ObjectDetection = {
             classId: isSet(object.classId) ? gt.Number(object.classId) : 0,
             className: isSet(object.className) ? gt.String(object.className) : "",
             trackingId: isSet(object.trackingId) ? gt.Number(object.trackingId) : 0,
+            mask: isSet(object.mask) ? exports.SegmentationMask.fromJSON(object.mask) : undefined,
         };
     },
     toJSON(message) {
@@ -14657,6 +15272,9 @@ exports.ObjectDetection = {
         if (message.trackingId !== 0) {
             obj.trackingId = Math.round(message.trackingId);
         }
+        if (message.mask !== undefined) {
+            obj.mask = exports.SegmentationMask.toJSON(message.mask);
+        }
         return obj;
     },
     create(base) {
@@ -14671,6 +15289,9 @@ exports.ObjectDetection = {
         message.classId = object.classId ?? 0;
         message.className = object.className ?? "";
         message.trackingId = object.trackingId ?? 0;
+        message.mask = (object.mask !== undefined && object.mask !== null)
+            ? exports.SegmentationMask.fromPartial(object.mask)
+            : undefined;
         return message;
     },
 };
@@ -15008,6 +15629,106 @@ exports.OperatorInfo = {
         return message;
     },
 };
+function createBaseSotState() {
+    return { state: 0, boundingBox: undefined, imageWidth: 0, imageHeight: 0 };
+}
+exports.SotState = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.state !== 0) {
+            writer.uint32(8).int32(message.state);
+        }
+        if (message.boundingBox !== undefined) {
+            exports.BoundingBox.encode(message.boundingBox, writer.uint32(18).fork()).join();
+        }
+        if (message.imageWidth !== 0) {
+            writer.uint32(24).uint32(message.imageWidth);
+        }
+        if (message.imageHeight !== 0) {
+            writer.uint32(32).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 = createBaseSotState();
+        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 !== 18) {
+                        break;
+                    }
+                    message.boundingBox = exports.BoundingBox.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 24) {
+                        break;
+                    }
+                    message.imageWidth = reader.uint32();
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 32) {
+                        break;
+                    }
+                    message.imageHeight = reader.uint32();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            state: isSet(object.state) ? sotState_StateFromJSON(object.state) : 0,
+            boundingBox: isSet(object.boundingBox) ? exports.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.state !== 0) {
+            obj.state = sotState_StateToJSON(message.state);
+        }
+        if (message.boundingBox !== undefined) {
+            obj.boundingBox = exports.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.SotState.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseSotState();
+        message.state = object.state ?? 0;
+        message.boundingBox = (object.boundingBox !== undefined && object.boundingBox !== null)
+            ? exports.BoundingBox.fromPartial(object.boundingBox)
+            : undefined;
+        message.imageWidth = object.imageWidth ?? 0;
+        message.imageHeight = object.imageHeight ?? 0;
+        return message;
+    },
+};
 const gt = (() => {
     if (typeof globalThis !== "undefined") {
         return globalThis;