@blueyerobotics/protocol-definitions 3.2.0-c75f3166 → 3.2.0-d3c78945

package/dist/mission_planning.d.ts

@@ -90,6 +90,8 @@ export declare enum InstructionType {
     INSTRUCTION_TYPE_GO_TO_SEABED = 11,
     /** INSTRUCTION_TYPE_GO_TO_HOME - Returning to home. */
     INSTRUCTION_TYPE_GO_TO_HOME = 12,
+    /** INSTRUCTION_TYPE_SURVEY - Execute a survey pattern over a polygon area. */
+    INSTRUCTION_TYPE_SURVEY = 13,
     UNRECOGNIZED = -1
 }
 export declare function instructionTypeFromJSON(object: any): InstructionType;
@@ -166,6 +168,8 @@ export interface Instruction {
     goToSeabedCommand?: GoToSeabedCommand | undefined;
     /** Go to home position. */
     goToHomeCommand?: GoToHomeCommand | undefined;
+    /** Execute a survey pattern over a polygon area. */
+    surveyCommand?: SurveyCommand | undefined;
 }
 /** Depth set point is used to describe a depth set-point relative to the surface or the seabed. */
 export interface DepthSetPoint {
@@ -245,6 +249,55 @@ export interface GoToHomeCommand {
     /** Desired speed to home (m/s). */
     desiredSpeed: number;
 }
+/**
+ * A SurveyCommand defines a survey (lawn-mower) pattern over a polygon area.
+ * The planner generates waypoints from the polygon + parameters and stores them
+ * in the waypoints field. The drone executes these pre-computed waypoints directly
+ * without re-running the survey algorithm. The polygon and parameters remain
+ * editable in the planner — regenerate waypoints when they change.
+ * Planners SHOULD validate that the polygon is simple (non-self-intersecting)
+ * before generating waypoints, as behavior is undefined for invalid polygons.
+ */
+export interface SurveyCommand {
+    /**
+     * Polygon vertices defining the survey area boundary (decimal degrees).
+     * The polygon is implicitly closed: the last vertex connects back to the first.
+     * Clients MUST NOT repeat the first vertex at the end of the list.
+     * Vertices should be ordered clockwise when viewed from above.
+     * The boundary must form a simple polygon (no self-intersections).
+     * At least three distinct vertices are required.
+     */
+    vertices: LatLongPosition[];
+    /**
+     * Survey line heading relative to north in degrees (0-360).
+     * NOTE: Unlike PathSegment.course_to_target (which uses radians), this field
+     * uses degrees to match compass convention. Convert radians before assigning.
+     */
+    surveyLineHeading: number;
+    /** Distance between parallel scan lines (m). */
+    laneSpacing: number;
+    /** Overshoot distance past polygon boundary at each turn (m). */
+    turnaroundDistance: number;
+    /** Desired speed over ground during survey (m/s). */
+    cruiseSpeed: number;
+    /** Radius of acceptance circle for generated waypoints (m). */
+    circleOfAcceptance: number;
+    /** Optional depth set point for all generated waypoints. */
+    depthSetPoint: DepthSetPoint | undefined;
+    /** If true, reverse the scan line order (swap start and end points). */
+    reverse: boolean;
+    /**
+     * Pre-computed waypoints generated by the planner from the polygon and parameters.
+     * The drone executes these directly. Individual waypoint parameters (speed, CoA,
+     * depth) can be tweaked after generation without modifying the survey shape.
+     * Regenerated automatically when polygon or survey parameters change.
+     */
+    waypoints: Waypoint[];
+    /** Sensor swath width (m). When set with overlap_percent, overrides lane_spacing. */
+    swathWidth: number;
+    /** Desired overlap between adjacent scan lines (0-100%). Used with swath_width. */
+    overlapPercent: number;
+}
 /** Path segment used to describe segments of a mission as a line between to waypoints. */
 export interface PathSegment {
     /** Path segment id starting at 0, -1 for inactive. */
@@ -328,6 +381,7 @@ export declare const CameraCommand: MessageFns<CameraCommand>;
 export declare const GoToSurfaceCommand: MessageFns<GoToSurfaceCommand>;
 export declare const GoToSeabedCommand: MessageFns<GoToSeabedCommand>;
 export declare const GoToHomeCommand: MessageFns<GoToHomeCommand>;
+export declare const SurveyCommand: MessageFns<SurveyCommand>;
 export declare const PathSegment: MessageFns<PathSegment>;
 export declare const ReferenceAutoPilot: MessageFns<ReferenceAutoPilot>;
 export declare const MissionStatus: MessageFns<MissionStatus>;

package/dist/mission_planning.js

@@ -5,7 +5,7 @@
 //   protoc               v3.21.12
 // source: mission_planning.proto
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.MissionStatus = exports.ReferenceAutoPilot = exports.PathSegment = exports.GoToHomeCommand = exports.GoToSeabedCommand = exports.GoToSurfaceCommand = exports.CameraCommand = exports.WaitForCommand = exports.TiltMultibeamCommand = exports.TiltMainCameraCommand = exports.DepthSetPointCommand = exports.WaypointCommand = exports.ControlModeCommand = exports.Waypoint = exports.DepthSetPoint = exports.Instruction = exports.Mission = exports.MissionState = exports.InstructionType = exports.CameraAction = exports.ControlModeHorizontal = exports.ControlModeVertical = exports.DepthZeroReference = void 0;
+exports.MissionStatus = exports.ReferenceAutoPilot = exports.PathSegment = exports.SurveyCommand = exports.GoToHomeCommand = exports.GoToSeabedCommand = exports.GoToSurfaceCommand = exports.CameraCommand = exports.WaitForCommand = exports.TiltMultibeamCommand = exports.TiltMainCameraCommand = exports.DepthSetPointCommand = exports.WaypointCommand = exports.ControlModeCommand = exports.Waypoint = exports.DepthSetPoint = exports.Instruction = exports.Mission = exports.MissionState = exports.InstructionType = exports.CameraAction = exports.ControlModeHorizontal = exports.ControlModeVertical = exports.DepthZeroReference = void 0;
 exports.depthZeroReferenceFromJSON = depthZeroReferenceFromJSON;
 exports.depthZeroReferenceToJSON = depthZeroReferenceToJSON;
 exports.controlModeVerticalFromJSON = controlModeVerticalFromJSON;
@@ -258,6 +258,8 @@ var InstructionType;
     InstructionType[InstructionType["INSTRUCTION_TYPE_GO_TO_SEABED"] = 11] = "INSTRUCTION_TYPE_GO_TO_SEABED";
     /** INSTRUCTION_TYPE_GO_TO_HOME - Returning to home. */
     InstructionType[InstructionType["INSTRUCTION_TYPE_GO_TO_HOME"] = 12] = "INSTRUCTION_TYPE_GO_TO_HOME";
+    /** INSTRUCTION_TYPE_SURVEY - Execute a survey pattern over a polygon area. */
+    InstructionType[InstructionType["INSTRUCTION_TYPE_SURVEY"] = 13] = "INSTRUCTION_TYPE_SURVEY";
     InstructionType[InstructionType["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
 })(InstructionType || (exports.InstructionType = InstructionType = {}));
 function instructionTypeFromJSON(object) {
@@ -301,6 +303,9 @@ function instructionTypeFromJSON(object) {
         case 12:
         case "INSTRUCTION_TYPE_GO_TO_HOME":
             return InstructionType.INSTRUCTION_TYPE_GO_TO_HOME;
+        case 13:
+        case "INSTRUCTION_TYPE_SURVEY":
+            return InstructionType.INSTRUCTION_TYPE_SURVEY;
         case -1:
         case "UNRECOGNIZED":
         default:
@@ -335,6 +340,8 @@ function instructionTypeToJSON(object) {
             return "INSTRUCTION_TYPE_GO_TO_SEABED";
         case InstructionType.INSTRUCTION_TYPE_GO_TO_HOME:
             return "INSTRUCTION_TYPE_GO_TO_HOME";
+        case InstructionType.INSTRUCTION_TYPE_SURVEY:
+            return "INSTRUCTION_TYPE_SURVEY";
         case InstructionType.UNRECOGNIZED:
         default:
             return "UNRECOGNIZED";
@@ -627,6 +634,7 @@ function createBaseInstruction() {
         goToSurfaceCommand: undefined,
         goToSeabedCommand: undefined,
         goToHomeCommand: undefined,
+        surveyCommand: undefined,
     };
 }
 exports.Instruction = {
@@ -670,6 +678,9 @@ exports.Instruction = {
         if (message.goToHomeCommand !== undefined) {
             exports.GoToHomeCommand.encode(message.goToHomeCommand, writer.uint32(106).fork()).join();
         }
+        if (message.surveyCommand !== undefined) {
+            exports.SurveyCommand.encode(message.surveyCommand, writer.uint32(114).fork()).join();
+        }
         return writer;
     },
     decode(input, length) {
@@ -770,6 +781,13 @@ exports.Instruction = {
                     message.goToHomeCommand = exports.GoToHomeCommand.decode(reader, reader.uint32());
                     continue;
                 }
+                case 14: {
+                    if (tag !== 114) {
+                        break;
+                    }
+                    message.surveyCommand = exports.SurveyCommand.decode(reader, reader.uint32());
+                    continue;
+                }
             }
             if ((tag & 7) === 4 || tag === 0) {
                 break;
@@ -805,6 +823,7 @@ exports.Instruction = {
                 ? exports.GoToSeabedCommand.fromJSON(object.goToSeabedCommand)
                 : undefined,
             goToHomeCommand: isSet(object.goToHomeCommand) ? exports.GoToHomeCommand.fromJSON(object.goToHomeCommand) : undefined,
+            surveyCommand: isSet(object.surveyCommand) ? exports.SurveyCommand.fromJSON(object.surveyCommand) : undefined,
         };
     },
     toJSON(message) {
@@ -848,6 +867,9 @@ exports.Instruction = {
         if (message.goToHomeCommand !== undefined) {
             obj.goToHomeCommand = exports.GoToHomeCommand.toJSON(message.goToHomeCommand);
         }
+        if (message.surveyCommand !== undefined) {
+            obj.surveyCommand = exports.SurveyCommand.toJSON(message.surveyCommand);
+        }
         return obj;
     },
     create(base) {
@@ -889,6 +911,9 @@ exports.Instruction = {
         message.goToHomeCommand = (object.goToHomeCommand !== undefined && object.goToHomeCommand !== null)
             ? exports.GoToHomeCommand.fromPartial(object.goToHomeCommand)
             : undefined;
+        message.surveyCommand = (object.surveyCommand !== undefined && object.surveyCommand !== null)
+            ? exports.SurveyCommand.fromPartial(object.surveyCommand)
+            : undefined;
         return message;
     },
 };
@@ -1672,6 +1697,223 @@ exports.GoToHomeCommand = {
         return message;
     },
 };
+function createBaseSurveyCommand() {
+    return {
+        vertices: [],
+        surveyLineHeading: 0,
+        laneSpacing: 0,
+        turnaroundDistance: 0,
+        cruiseSpeed: 0,
+        circleOfAcceptance: 0,
+        depthSetPoint: undefined,
+        reverse: false,
+        waypoints: [],
+        swathWidth: 0,
+        overlapPercent: 0,
+    };
+}
+exports.SurveyCommand = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        for (const v of message.vertices) {
+            message_formats_1.LatLongPosition.encode(v, writer.uint32(10).fork()).join();
+        }
+        if (message.surveyLineHeading !== 0) {
+            writer.uint32(21).float(message.surveyLineHeading);
+        }
+        if (message.laneSpacing !== 0) {
+            writer.uint32(29).float(message.laneSpacing);
+        }
+        if (message.turnaroundDistance !== 0) {
+            writer.uint32(37).float(message.turnaroundDistance);
+        }
+        if (message.cruiseSpeed !== 0) {
+            writer.uint32(45).float(message.cruiseSpeed);
+        }
+        if (message.circleOfAcceptance !== 0) {
+            writer.uint32(53).float(message.circleOfAcceptance);
+        }
+        if (message.depthSetPoint !== undefined) {
+            exports.DepthSetPoint.encode(message.depthSetPoint, writer.uint32(58).fork()).join();
+        }
+        if (message.reverse !== false) {
+            writer.uint32(64).bool(message.reverse);
+        }
+        for (const v of message.waypoints) {
+            exports.Waypoint.encode(v, writer.uint32(74).fork()).join();
+        }
+        if (message.swathWidth !== 0) {
+            writer.uint32(85).float(message.swathWidth);
+        }
+        if (message.overlapPercent !== 0) {
+            writer.uint32(93).float(message.overlapPercent);
+        }
+        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 = createBaseSurveyCommand();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.vertices.push(message_formats_1.LatLongPosition.decode(reader, reader.uint32()));
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 21) {
+                        break;
+                    }
+                    message.surveyLineHeading = reader.float();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 29) {
+                        break;
+                    }
+                    message.laneSpacing = reader.float();
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 37) {
+                        break;
+                    }
+                    message.turnaroundDistance = reader.float();
+                    continue;
+                }
+                case 5: {
+                    if (tag !== 45) {
+                        break;
+                    }
+                    message.cruiseSpeed = reader.float();
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 53) {
+                        break;
+                    }
+                    message.circleOfAcceptance = reader.float();
+                    continue;
+                }
+                case 7: {
+                    if (tag !== 58) {
+                        break;
+                    }
+                    message.depthSetPoint = exports.DepthSetPoint.decode(reader, reader.uint32());
+                    continue;
+                }
+                case 8: {
+                    if (tag !== 64) {
+                        break;
+                    }
+                    message.reverse = reader.bool();
+                    continue;
+                }
+                case 9: {
+                    if (tag !== 74) {
+                        break;
+                    }
+                    message.waypoints.push(exports.Waypoint.decode(reader, reader.uint32()));
+                    continue;
+                }
+                case 10: {
+                    if (tag !== 85) {
+                        break;
+                    }
+                    message.swathWidth = reader.float();
+                    continue;
+                }
+                case 11: {
+                    if (tag !== 93) {
+                        break;
+                    }
+                    message.overlapPercent = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            vertices: gt.Array.isArray(object?.vertices) ? object.vertices.map((e) => message_formats_1.LatLongPosition.fromJSON(e)) : [],
+            surveyLineHeading: isSet(object.surveyLineHeading) ? gt.Number(object.surveyLineHeading) : 0,
+            laneSpacing: isSet(object.laneSpacing) ? gt.Number(object.laneSpacing) : 0,
+            turnaroundDistance: isSet(object.turnaroundDistance) ? gt.Number(object.turnaroundDistance) : 0,
+            cruiseSpeed: isSet(object.cruiseSpeed) ? gt.Number(object.cruiseSpeed) : 0,
+            circleOfAcceptance: isSet(object.circleOfAcceptance) ? gt.Number(object.circleOfAcceptance) : 0,
+            depthSetPoint: isSet(object.depthSetPoint) ? exports.DepthSetPoint.fromJSON(object.depthSetPoint) : undefined,
+            reverse: isSet(object.reverse) ? gt.Boolean(object.reverse) : false,
+            waypoints: gt.Array.isArray(object?.waypoints) ? object.waypoints.map((e) => exports.Waypoint.fromJSON(e)) : [],
+            swathWidth: isSet(object.swathWidth) ? gt.Number(object.swathWidth) : 0,
+            overlapPercent: isSet(object.overlapPercent) ? gt.Number(object.overlapPercent) : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.vertices?.length) {
+            obj.vertices = message.vertices.map((e) => message_formats_1.LatLongPosition.toJSON(e));
+        }
+        if (message.surveyLineHeading !== 0) {
+            obj.surveyLineHeading = message.surveyLineHeading;
+        }
+        if (message.laneSpacing !== 0) {
+            obj.laneSpacing = message.laneSpacing;
+        }
+        if (message.turnaroundDistance !== 0) {
+            obj.turnaroundDistance = message.turnaroundDistance;
+        }
+        if (message.cruiseSpeed !== 0) {
+            obj.cruiseSpeed = message.cruiseSpeed;
+        }
+        if (message.circleOfAcceptance !== 0) {
+            obj.circleOfAcceptance = message.circleOfAcceptance;
+        }
+        if (message.depthSetPoint !== undefined) {
+            obj.depthSetPoint = exports.DepthSetPoint.toJSON(message.depthSetPoint);
+        }
+        if (message.reverse !== false) {
+            obj.reverse = message.reverse;
+        }
+        if (message.waypoints?.length) {
+            obj.waypoints = message.waypoints.map((e) => exports.Waypoint.toJSON(e));
+        }
+        if (message.swathWidth !== 0) {
+            obj.swathWidth = message.swathWidth;
+        }
+        if (message.overlapPercent !== 0) {
+            obj.overlapPercent = message.overlapPercent;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.SurveyCommand.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseSurveyCommand();
+        message.vertices = object.vertices?.map((e) => message_formats_1.LatLongPosition.fromPartial(e)) || [];
+        message.surveyLineHeading = object.surveyLineHeading ?? 0;
+        message.laneSpacing = object.laneSpacing ?? 0;
+        message.turnaroundDistance = object.turnaroundDistance ?? 0;
+        message.cruiseSpeed = object.cruiseSpeed ?? 0;
+        message.circleOfAcceptance = object.circleOfAcceptance ?? 0;
+        message.depthSetPoint = (object.depthSetPoint !== undefined && object.depthSetPoint !== null)
+            ? exports.DepthSetPoint.fromPartial(object.depthSetPoint)
+            : undefined;
+        message.reverse = object.reverse ?? false;
+        message.waypoints = object.waypoints?.map((e) => exports.Waypoint.fromPartial(e)) || [];
+        message.swathWidth = object.swathWidth ?? 0;
+        message.overlapPercent = object.overlapPercent ?? 0;
+        return message;
+    },
+};
 function createBasePathSegment() {
     return {
         id: 0,

package/dist/telemetry.d.ts

@@ -1,6 +1,6 @@
 import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
 import { AquaTrollProbeMetadata, AquaTrollSensorMetadataArray, AquaTrollSensorParametersArray } from "./aquatroll";
-import { Altitude, Attitude, Battery, BatteryBQ40Z50, CalibrationState, CanisterHumidity, CanisterTemperature, ConnectedClient, ControlForce, ControllerHealth, ControlMode, CpProbe, CPUInfo, CPUTemperature, Depth, DiveTime, DroneInfo, DvlVelocity, ErrorFlags, ForwardDistance, GenericServo, GuestPortCurrent, Imu, IperfStatus, KernelLogEntry, Laser, LatLongPosition, Lights, LogEntry, MagneticDeclination, MedusaSpectrometerData, MultibeamConfig, MultibeamDiscovery, MultibeamPing, MultibeamServo, Notification, NStreamers, PositionEstimate, RecordState, Reference, RemovableStorageDevice, StorageSpace, SurfaceUnitBatteryInfo, SurfaceUnitVersionInfo, SystemTime, ThicknessGauge, TiltAngle, TiltStabilizationState, TimeLapseState, WaterTemperature } from "./message_formats";
+import { Altitude, Attitude, Battery, BatteryBQ40Z50, CalibrationState, CameraPanTiltZoom, CanisterHumidity, CanisterTemperature, ConnectedClient, ControlForce, ControllerHealth, ControlMode, CpProbe, CPUInfo, CPUTemperature, Depth, DiveTime, DroneInfo, DvlVelocity, ErrorFlags, FilterMessage, ForwardDistance, GenericServo, GuestPortCurrent, Imu, IperfStatus, KernelLogEntry, Laser, LatLongPosition, Lights, LogEntry, MagneticDeclination, MedusaSpectrometerData, MultibeamConfig, MultibeamDiscovery, MultibeamPing, MultibeamServo, Notification, NStreamers, ObjectDetections, PositionEstimate, RecordState, Reference, RemovableStorageDevice, StorageSpace, SurfaceUnitBatteryInfo, SurfaceUnitVersionInfo, SystemPerformanceInfo, SystemTime, ThicknessGauge, TiltAngle, TiltStabilizationState, TimeLapseState, WaterTemperature } from "./message_formats";
 import { MissionStatus, ReferenceAutoPilot } from "./mission_planning";
 /**
  * Telemetry
@@ -300,11 +300,21 @@ export interface MultibeamDiscoveryTel {
     /** Discovery data from a multibeam sonar. */
     discovery: MultibeamDiscovery | undefined;
 }
-/** Information about cpu and memory usage. */
+/** Information about CPU and memory usage (deprecated, use SystemPerformanceInfoTel instead). */
 export interface CPUInfoTel {
     /** CPU information. */
     cpuInfo: CPUInfo | undefined;
 }
+/**
+ * System performance telemetry message.
+ *
+ * Comprehensive performance metrics including per-core CPU, GPU, DLA,
+ * memory, thermals, and video codec utilization.
+ */
+export interface SystemPerformanceInfoTel {
+    /** System performance information. */
+    systemPerformanceInfo: SystemPerformanceInfo | undefined;
+}
 /** Surface Unit telemetry message. */
 export interface SurfaceUnitTel {
     /** Battery information. */
@@ -319,6 +329,30 @@ export interface LogEntryTel {
     /** Kernel log entry. */
     kernel?: KernelLogEntry | undefined;
 }
+/** Object detections from a computer vision model. */
+export interface ObjectDetectionsTel {
+    /** List of object detections from a video frame. */
+    objectDetections: ObjectDetections | undefined;
+}
+/**
+ * Turbidity filter settings telemetry message.
+ *
+ * Message is published when the filter settings are changed.
+ */
+export interface TurbidityFilterTel {
+    /** Turbidity filter settings. */
+    turbidityFilter: FilterMessage | undefined;
+}
+/**
+ * Digital pan, tilt, and zoom telemetry from the main camera.
+ *
+ * Reports the actual pan, tilt, and zoom state of the camera.
+ * Only supported on X3 Ultra.
+ */
+export interface CameraPanTiltZoomTel {
+    /** Current pan, tilt, and zoom state. */
+    cameraPanTiltZoom: CameraPanTiltZoom | undefined;
+}
 export declare const AttitudeTel: MessageFns<AttitudeTel>;
 export declare const MagneticDeclinationTel: MessageFns<MagneticDeclinationTel>;
 export declare const AltitudeTel: MessageFns<AltitudeTel>;
@@ -376,8 +410,12 @@ export declare const MultibeamPingTel: MessageFns<MultibeamPingTel>;
 export declare const MultibeamConfigTel: MessageFns<MultibeamConfigTel>;
 export declare const MultibeamDiscoveryTel: MessageFns<MultibeamDiscoveryTel>;
 export declare const CPUInfoTel: MessageFns<CPUInfoTel>;
+export declare const SystemPerformanceInfoTel: MessageFns<SystemPerformanceInfoTel>;
 export declare const SurfaceUnitTel: MessageFns<SurfaceUnitTel>;
 export declare const LogEntryTel: MessageFns<LogEntryTel>;
+export declare const ObjectDetectionsTel: MessageFns<ObjectDetectionsTel>;
+export declare const TurbidityFilterTel: MessageFns<TurbidityFilterTel>;
+export declare const CameraPanTiltZoomTel: MessageFns<CameraPanTiltZoomTel>;
 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]>;