@blueyerobotics/protocol-definitions 3.2.0-d9b151ea → 3.2.0-db84868b

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;
@@ -184,6 +186,8 @@ export declare enum Model {
     MODEL_X3 = 3,
     /** MODEL_X3_ULTRA - Blueye X3 Ultra. */
     MODEL_X3_ULTRA = 6,
+    /** MODEL_X7 - Blueye X7. */
+    MODEL_X7 = 7,
     /** MODEL_NEXT - Blueye ? */
     MODEL_NEXT = 5,
     UNRECOGNIZED = -1
@@ -218,11 +222,18 @@ export declare enum Resolution {
     RESOLUTION_FULLHD_1080P = 1,
     /** RESOLUTION_UHD_4K - 4K Ultra HD (3840x2160, Only supported on X3 Ultra). */
     RESOLUTION_UHD_4K = 3,
+    /** RESOLUTION_QHD_2K - 2K QHD (2560x1440, Only supported on X3 Ultra). */
+    RESOLUTION_QHD_2K = 5,
     UNRECOGNIZED = -1
 }
 export declare function resolutionFromJSON(object: any): Resolution;
 export declare function resolutionToJSON(object: Resolution): string;
-/** Available camera frame rates. */
+/**
+ * Available camera frame rates.
+ *
+ * If the requested frame rate is higher than what is supported at the current resolution,
+ * the frame rate will be reduced while the resolution is respected.
+ */
 export declare enum Framerate {
     /** FRAMERATE_UNSPECIFIED - Framerate not specified. */
     FRAMERATE_UNSPECIFIED = 0,
@@ -230,6 +241,8 @@ export declare enum Framerate {
     FRAMERATE_FPS_30 = 1,
     /** FRAMERATE_FPS_25 - 25 frames per second. (Only supported on Pioneer/Pro/X1/X3) */
     FRAMERATE_FPS_25 = 2,
+    /** FRAMERATE_FPS_60 - 60 frames per second. (Only supported on X3 Ultra at QHD, 1080p and 720p) */
+    FRAMERATE_FPS_60 = 3,
     UNRECOGNIZED = -1
 }
 export declare function framerateFromJSON(object: any): Framerate;
@@ -257,6 +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. */
@@ -323,6 +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;
@@ -425,6 +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;
@@ -510,6 +539,34 @@ 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,
+    /** THERMAL_ZONE_ID_CPU - CPU thermal zone. */
+    THERMAL_ZONE_ID_CPU = 3,
+    /** THERMAL_ZONE_ID_GPU - GPU thermal zone. */
+    THERMAL_ZONE_ID_GPU = 4,
+    /** THERMAL_ZONE_ID_CV0 - Vision accelerator 0 thermal zone. */
+    THERMAL_ZONE_ID_CV0 = 5,
+    /** THERMAL_ZONE_ID_CV1 - Vision accelerator 1 thermal zone. */
+    THERMAL_ZONE_ID_CV1 = 6,
+    /** THERMAL_ZONE_ID_CV2 - Vision accelerator 2 thermal zone. */
+    THERMAL_ZONE_ID_CV2 = 7,
+    /** THERMAL_ZONE_ID_SOC0 - SoC 0 thermal zone. */
+    THERMAL_ZONE_ID_SOC0 = 8,
+    /** THERMAL_ZONE_ID_SOC1 - SoC 1 thermal zone. */
+    THERMAL_ZONE_ID_SOC1 = 9,
+    /** THERMAL_ZONE_ID_SOC2 - SoC 2 thermal zone. */
+    THERMAL_ZONE_ID_SOC2 = 10,
+    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.
  *
@@ -643,6 +700,46 @@ 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 {
@@ -829,7 +926,7 @@ 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;
@@ -1402,6 +1499,31 @@ 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.
@@ -1429,6 +1551,8 @@ 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 {
@@ -1579,6 +1703,13 @@ 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.
@@ -1944,7 +2075,7 @@ 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.
  */
@@ -1960,6 +2091,127 @@ 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;
+    /** Jetson only (host1x actmon engine utilization, 0..1). */
+    encoderLoad: number;
+    /** Video decoder (NVDEC) utilization (0..1). */
+    decoderLoad: number;
+    /** JPEG engine (NVJPG) utilization (0..1). */
+    nvjpgLoad: number;
+    /** Video Image Compositor (VIC) utilization (0..1). */
+    vicLoad: 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.
  *
@@ -1991,13 +2243,123 @@ export interface SurfaceUnitVersionInfo {
     /** Surface Unit firmware version (x.y.z). */
     version: string;
 }
-/** Turbidity filter settings. */
-export interface TurbidityFilter {
-    /** If the turbidity filter is enabled. */
+/**
+ * Bounding box for object detection.
+ *
+ * Coordinates are in pixels relative to the camera image,
+ * where (x, y) is the top-left corner of the bounding box.
+ */
+export interface BoundingBox {
+    /** Horizontal offset of the top-left corner (px). */
+    x: number;
+    /** Vertical offset of the top-left corner (px). */
+    y: number;
+    /** Width of the bounding box (px). */
+    width: number;
+    /** 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. */
+    boundingBox: BoundingBox | undefined;
+    /** Detection confidence score (0..1). */
+    confidence: number;
+    /** Numeric class identifier from the model. */
+    classId: number;
+    /** Human-readable class name. */
+    className: string;
+    /** Unique ID for tracking the same object across frames. */
+    trackingId: number;
+    /** Instance segmentation mask (absent if model has no segmentation). */
+    mask: SegmentationMask | undefined;
+}
+/** A list of object detections from a single model for a single video frame. */
+export interface ModelDetections {
+    /** 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 {
+    /** If the filter is enabled. */
     enabled: boolean;
-    /** Intensity of the turbidity filter (0..1). */
+    /** Intensity of the filter (0..1). */
     intensity: number;
 }
+/**
+ * Digital pan, tilt, and zoom state for the main camera.
+ *
+ * Only supported on X3 Ultra. Controls digital (not mechanical) zoom.
+ */
+export interface CameraPanTiltZoom {
+    /** Horizontal pan (-1.0..1.0), where 0.0 is center. */
+    pan: number;
+    /** Vertical tilt (-1.0..1.0), where 0.0 is center. */
+    tilt: number;
+    /** Zoom level (0.0..1.0), where 0.0 is no zoom and 1.0 is maximum zoom. */
+    zoom: number;
+}
+/**
+ * Information about the operator controlling the drone.
+ *
+ * Used to identify who started a dive, for reporting and when importing
+ * dives to Blueye Cloud.
+ */
+export interface OperatorInfo {
+    /** Full name of the operator. */
+    name: string;
+    /** 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>;
@@ -2005,6 +2367,8 @@ 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>;
@@ -2061,6 +2425,7 @@ 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>;
@@ -2087,9 +2452,23 @@ 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 TurbidityFilter: MessageFns<TurbidityFilter>;
+export declare const BoundingBox: MessageFns<BoundingBox>;
+export declare const SegmentationMask: MessageFns<SegmentationMask>;
+export declare const ObjectDetection: MessageFns<ObjectDetection>;
+export declare const ModelDetections: MessageFns<ModelDetections>;
+export declare const FilterMessage: MessageFns<FilterMessage>;
+export declare const CameraPanTiltZoom: MessageFns<CameraPanTiltZoom>;
+export declare const OperatorInfo: MessageFns<OperatorInfo>;
+export declare const SotState: MessageFns<SotState>;
 type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
 type DeepPartial<T> = T extends Builtin ? T : T extends globalThis.Array<infer U> ? globalThis.Array<DeepPartial<U>> : T extends ReadonlyArray<infer U> ? ReadonlyArray<DeepPartial<U>> : T extends {} ? {
     [K in keyof T]?: DeepPartial<T[K]>;