@blueyerobotics/protocol-definitions 3.2.0-28a7294b → 3.2.0-2bcfe527

package/dist/control.d.ts

@@ -235,6 +235,12 @@ 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 {
+}
 export declare const MotionInputCtrl: MessageFns<MotionInputCtrl>;
 export declare const TiltVelocityCtrl: MessageFns<TiltVelocityCtrl>;
 export declare const LightsCtrl: MessageFns<LightsCtrl>;
@@ -280,6 +286,8 @@ 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>;
 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.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 +2237,80 @@ 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;
+    },
+};
 const gt = (() => {
     if (typeof globalThis !== "undefined") {
         return globalThis;

package/dist/message_formats.d.ts

@@ -268,6 +268,18 @@ 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 +346,8 @@ 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 +450,8 @@ 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 +537,18 @@ 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.
  *
@@ -840,7 +868,7 @@ 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;
@@ -1590,6 +1618,13 @@ 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 +1990,7 @@ 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 +2006,119 @@ 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.
  *
@@ -2031,12 +2179,18 @@ export interface ObjectDetection {
     /** Unique ID for tracking the same object across frames. */
     trackingId: number;
 }
-/** 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 {
@@ -2159,11 +2313,18 @@ 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 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>;