@blueyerobotics/protocol-definitions 3.2.0-28a7294b → 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
  *
@@ -235,6 +235,29 @@ export interface CameraPanTiltZoomCtrl {
     /** The desired pan, tilt, and zoom state. */
     cameraPanTiltZoom: CameraPanTiltZoom | undefined;
 }
+/** Message sent to start streaming log entries to the client. */
+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>;
@@ -280,6 +303,10 @@ export declare const EndDiveCtrl: MessageFns<EndDiveCtrl>;
 export declare const FormatRemovableStorageDeviceCtrl: MessageFns<FormatRemovableStorageDeviceCtrl>;
 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.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");
@@ -2237,6 +2237,202 @@ exports.CameraPanTiltZoomCtrl = {
         return message;
     },
 };
+function createBaseStartLogStreamingCtrl() {
+    return {};
+}
+exports.StartLogStreamingCtrl = {
+    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 = createBaseStartLogStreamingCtrl();
+        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.StartLogStreamingCtrl.fromPartial(base ?? {});
+    },
+    fromPartial(_) {
+        const message = createBaseStartLogStreamingCtrl();
+        return message;
+    },
+};
+function createBaseStopLogStreamingCtrl() {
+    return {};
+}
+exports.StopLogStreamingCtrl = {
+    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 = createBaseStopLogStreamingCtrl();
+        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.StopLogStreamingCtrl.fromPartial(base ?? {});
+    },
+    fromPartial(_) {
+        const message = createBaseStopLogStreamingCtrl();
+        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;
@@ -268,6 +270,18 @@ export declare enum StreamingProtocol {
 }
 export declare function streamingProtocolFromJSON(object: any): StreamingProtocol;
 export declare function streamingProtocolToJSON(object: StreamingProtocol): string;
+/** Recording video codec. */
+export declare enum RecordingCodec {
+    /** RECORDING_CODEC_UNSPECIFIED - Use platform default (H.264). */
+    RECORDING_CODEC_UNSPECIFIED = 0,
+    /** RECORDING_CODEC_H264 - H.264/AVC codec. Wider compatibility with players/editors. */
+    RECORDING_CODEC_H264 = 1,
+    /** RECORDING_CODEC_H265 - H.265/HEVC codec. Better compression, limited compatibility. Ultra only. */
+    RECORDING_CODEC_H265 = 2,
+    UNRECOGNIZED = -1
+}
+export declare function recordingCodecFromJSON(object: any): RecordingCodec;
+export declare function recordingCodecToJSON(object: RecordingCodec): string;
 /** Available temperature units. */
 export declare enum TemperatureUnit {
     /** TEMPERATURE_UNIT_UNSPECIFIED - Temperature unit not specified. */
@@ -334,6 +348,8 @@ export declare enum FontSize {
     FONT_SIZE_PX35 = 5,
     /** FONT_SIZE_PX40 - 40 px. */
     FONT_SIZE_PX40 = 6,
+    /** FONT_SIZE_PX50 - 50 px. */
+    FONT_SIZE_PX50 = 7,
     UNRECOGNIZED = -1
 }
 export declare function fontSizeFromJSON(object: any): FontSize;
@@ -436,6 +452,8 @@ export declare enum GuestPortDeviceID {
     GUEST_PORT_DEVICE_ID_BLUEYE_MULTIBEAM_SERVO_V2 = 46,
     /** GUEST_PORT_DEVICE_ID_CERULEAN_OMNISCAN_450_COMPACT - Cerulean Omniscan 450 Compact. */
     GUEST_PORT_DEVICE_ID_CERULEAN_OMNISCAN_450_COMPACT = 47,
+    /** GUEST_PORT_DEVICE_ID_BLUEYE_SCALING_LASER - Blueye Scaling Laser. */
+    GUEST_PORT_DEVICE_ID_BLUEYE_SCALING_LASER = 48,
     UNRECOGNIZED = -1
 }
 export declare function guestPortDeviceIDFromJSON(object: any): GuestPortDeviceID;
@@ -521,6 +539,18 @@ export declare enum MultibeamFrequencyMode {
 }
 export declare function multibeamFrequencyModeFromJSON(object: any): MultibeamFrequencyMode;
 export declare function multibeamFrequencyModeToJSON(object: MultibeamFrequencyMode): string;
+/** Thermal zone identifiers. */
+export declare enum ThermalZoneId {
+    /** THERMAL_ZONE_ID_UNSPECIFIED - Unspecified thermal zone. */
+    THERMAL_ZONE_ID_UNSPECIFIED = 0,
+    /** THERMAL_ZONE_ID_TJ - Junction temperature (Tj). */
+    THERMAL_ZONE_ID_TJ = 1,
+    /** THERMAL_ZONE_ID_CANISTER - Canister temperature. */
+    THERMAL_ZONE_ID_CANISTER = 2,
+    UNRECOGNIZED = -1
+}
+export declare function thermalZoneIdFromJSON(object: any): ThermalZoneId;
+export declare function thermalZoneIdToJSON(object: ThermalZoneId): string;
 /**
  * Wrapper message for each entry in the drone telemetry logfile.
  *
@@ -654,6 +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 {
@@ -840,7 +910,7 @@ export interface WaterTemperature {
     /** Water temperature (°C). */
     value: number;
 }
-/** CPU temperature. */
+/** CPU temperature (deprecated, use SystemPerformanceInfo.thermal_zones instead). */
 export interface CPUTemperature {
     /** CPU temperature (°C). */
     value: number;
@@ -1413,6 +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.
@@ -1440,6 +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 {
@@ -1590,6 +1687,13 @@ export interface CameraParameters {
      * The Blueye App allows users to set values between 500 and 1460.
      */
     mtuSize: number;
+    /** Recording video codec. If unset, uses platform default. */
+    recordingCodec: RecordingCodec;
+    /**
+     * Recording bitrate in bits/sec. If 0 or unset, a default is computed based
+     * on resolution, framerate, and encoding. Set explicitly to override.
+     */
+    recordingBitrate: number;
 }
 /**
  * Overlay parameters.
@@ -1955,7 +2059,7 @@ export interface PersistentStorageSettings {
     accCalibration: boolean;
 }
 /**
- * CPU information.
+ * CPU information (deprecated, use SystemPerformanceInfo instead).
  *
  * Contains information about the CPU load and memory usage of the drone.
  */
@@ -1971,6 +2075,119 @@ export interface CPUInfo {
     /** Communication queue load (0..1). */
     commQueueLoad: number;
 }
+/** Per-core CPU utilization. */
+export interface CpuCoreLoad {
+    /** Core index (0-based). */
+    coreIndex: number;
+    /** Core load (0..1). */
+    load: number;
+    /** Current clock frequency (MHz). */
+    frequencyMhz: number;
+}
+/** GPU utilization and status. */
+export interface GpuInfo {
+    /** GPU load (0..1). */
+    load: number;
+    /** Current GPU clock frequency (MHz). */
+    frequencyMhz: number;
+}
+/**
+ * Deep Learning Accelerator (DLA) utilization.
+ *
+ * Jetson Orin NX has two DLA engines used for inference offload.
+ */
+export interface DlaInfo {
+    /** DLA engine index (0-based). */
+    engineIndex: number;
+    /** DLA engine load (0..1). */
+    load: number;
+    /** Core clock frequency (MHz). 0 when disabled. */
+    frequencyMhz: number;
+    /** True when the DLA engine is actively processing. */
+    enabled: boolean;
+    /** Falcon microcontroller clock frequency (MHz). 0 when disabled. */
+    falconFrequencyMhz: number;
+}
+/** System memory information. */
+export interface MemoryInfo {
+    /** Total RAM (bytes). */
+    totalBytes: number;
+    /** Used RAM (bytes). */
+    usedBytes: number;
+    /** Cached RAM (bytes). */
+    cachedBytes: number;
+    /** Memory bus utilization (0..1). i.MX only. */
+    busLoad: number;
+}
+/** Thermal zone reading. */
+export interface ThermalZone {
+    /** Thermal zone identifier. */
+    zone: ThermalZoneId;
+    /** Temperature (°C). */
+    temperature: number;
+}
+/** Video codec engine status. */
+export interface VideoCodecInfo {
+    /** Jetson only (NVENC/NVDEC/NVJPG/VIC devfreq). */
+    encoderActive: boolean;
+    /** Video encoder clock frequency (MHz). */
+    encoderFrequencyMhz: number;
+    /** Video decoder (NVDEC) is active. */
+    decoderActive: boolean;
+    /** Video decoder clock frequency (MHz). */
+    decoderFrequencyMhz: number;
+    /** JPEG engine (NVJPG) is active. */
+    nvjpgActive: boolean;
+    /** JPEG engine clock frequency (MHz). */
+    nvjpgFrequencyMhz: number;
+    /** Video Image Compositor (VIC) is active. */
+    vicActive: boolean;
+    /** VIC clock frequency (MHz). */
+    vicFrequencyMhz: number;
+    /** i.MX only (CODA VPU). */
+    vpuActive: boolean;
+    /** VPU AXI clock frequency (MHz). */
+    vpuFrequencyMhz: number;
+    /** Cumulative VPU_CODEC_IRQ count. */
+    vpuCodecIrqCount: number;
+    /** Cumulative VPU_JPG_IRQ count. */
+    vpuJpgIrqCount: number;
+}
+/**
+ * System performance information.
+ *
+ * Comprehensive performance metrics for the drone's compute platform.
+ * Covers CPU, GPU, DLA, memory, thermals, and video codec utilization.
+ * Fields not applicable to a platform are left at their zero/empty defaults.
+ */
+export interface SystemPerformanceInfo {
+    /** Per-core CPU utilization. */
+    cpuCores: CpuCoreLoad[];
+    /** Mean CPU utilization across all cores (0..1). */
+    cpuUtilization: number;
+    /** GPU utilization. */
+    gpu: GpuInfo | undefined;
+    /** DLA engine utilization (Jetson only). */
+    dlaEngines: DlaInfo[];
+    /** RAM usage. */
+    memory: MemoryInfo | undefined;
+    /** All thermal zone readings. */
+    thermalZones: ThermalZone[];
+    /** Video encoder/decoder status. */
+    videoCodec: VideoCodecInfo | undefined;
+    /** Main queue load (0..1). */
+    mainQueueLoad: number;
+    /** Guestport queue load (0..1). */
+    guestportQueueLoad: number;
+    /** Communication queue load (0..1). */
+    commQueueLoad: number;
+    /** Camera queue load (0..1). */
+    cameraQueueLoad: number;
+    /** Overlay queue load (0..1). */
+    overlayQueueLoad: number;
+    /** Position observer queue load (0..1). */
+    positionObserverQueueLoad: number;
+}
 /**
  * Surface Unit battery information.
  *
@@ -2018,6 +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. */
@@ -2030,13 +2263,21 @@ 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 video frame. */
-export interface ObjectDetections {
+/** A list of object detections from a single model for a single video frame. */
+export interface ModelDetections {
     /** List of detections in the frame. */
     detections: ObjectDetection[];
     /** Which camera the detections are from. */
     camera: Camera;
+    /** Width of the source image (px). */
+    imageWidth: number;
+    /** Height of the source image (px). */
+    imageHeight: number;
+    /** Name of the computer vision model that produced the detections. */
+    modelName: string;
 }
 /** Generic filter settings. */
 export interface FilterMessage {
@@ -2070,6 +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>;
@@ -2077,6 +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>;
@@ -2133,6 +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>;
@@ -2159,14 +2428,23 @@ export declare const MultibeamFrameOffset: MessageFns<MultibeamFrameOffset>;
 export declare const MutltibeamRecordingIndex: MessageFns<MutltibeamRecordingIndex>;
 export declare const PersistentStorageSettings: MessageFns<PersistentStorageSettings>;
 export declare const CPUInfo: MessageFns<CPUInfo>;
+export declare const CpuCoreLoad: MessageFns<CpuCoreLoad>;
+export declare const GpuInfo: MessageFns<GpuInfo>;
+export declare const DlaInfo: MessageFns<DlaInfo>;
+export declare const MemoryInfo: MessageFns<MemoryInfo>;
+export declare const ThermalZone: MessageFns<ThermalZone>;
+export declare const VideoCodecInfo: MessageFns<VideoCodecInfo>;
+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 ObjectDetections: MessageFns<ObjectDetections>;
+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]>;