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

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, TurbidityFilter, 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, LaserDetection, LatLongPosition, Lights, LogEntry, MagneticDeclination, MedusaSpectrometerData, ModelDetections, MultibeamConfig, MultibeamDiscovery, MultibeamPing, MultibeamServo, Notification, NStreamers, PositionEstimate, RecordState, Reference, RemovableStorageDevice, SotState, StorageSpace, SurfaceUnitBatteryInfo, SurfaceUnitVersionInfo, SystemPerformanceInfo, SystemTime, ThicknessGauge, TiltAngle, TiltStabilizationState, TimeLapseState, WaterTemperature } from "./message_formats";
 import { MissionStatus, ReferenceAutoPilot } from "./mission_planning";
 /**
  * Telemetry
@@ -86,6 +86,8 @@ export interface GuestPortLightsTel {
 export interface LaserTel {
     /** Laser status. */
     laser: Laser | undefined;
+    /** Detection of the laser by the computer vision pipeline. Only */
+    laserDetection: LaserDetection | undefined;
 }
 /** Pilot position (originating from device GPS) for logging. */
 export interface PilotGPSPositionTel {
@@ -300,11 +302,21 @@ 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 +331,11 @@ export interface LogEntryTel {
     /** Kernel log entry. */
     kernel?: KernelLogEntry | undefined;
 }
+/** Object detections from all active computer vision models. */
+export interface ObjectDetectionsTel {
+    /** Per-model detection results. */
+    modelDetections: ModelDetections[];
+}
 /**
  * Turbidity filter settings telemetry message.
  *
@@ -326,7 +343,27 @@ export interface LogEntryTel {
  */
 export interface TurbidityFilterTel {
     /** Turbidity filter settings. */
-    turbidityFilter: TurbidityFilter | undefined;
+    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;
+}
+/**
+ * Single-object tracking (SOT) state telemetry from the computer vision pipeline.
+ *
+ * Reports the current tracking state and the tracked bounding box when active.
+ * Published periodically while the SOT pipeline is running.
+ */
+export interface SotStateTel {
+    /** Current SOT state and bounding box. */
+    sotState: SotState | undefined;
 }
 export declare const AttitudeTel: MessageFns<AttitudeTel>;
 export declare const MagneticDeclinationTel: MessageFns<MagneticDeclinationTel>;
@@ -385,9 +422,13 @@ 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>;
+export declare const SotStateTel: MessageFns<SotStateTel>;
 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/telemetry.js

@@ -6,7 +6,7 @@
 // source: telemetry.proto
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.Imu2Tel = exports.Imu1Tel = exports.CalibratedImuTel = exports.GuestPortCurrentTel = exports.MultibeamServoTel = exports.GenericServoTel = exports.ConnectedClientsTel = exports.AquaTrollSensorParametersTel = exports.AquaTrollSensorMetadataTel = exports.AquaTrollProbeMetadataTel = exports.CpProbeTel = exports.ThicknessGaugeTel = exports.ControlModeTel = exports.ErrorFlagsTel = exports.DroneInfoTel = exports.TiltAngleTel = exports.NStreamersTel = exports.IperfTel = exports.TiltStabilizationTel = exports.CalibrationStateTel = exports.DataStorageSpaceTel = exports.RemovableStorageTel = exports.VideoStorageSpaceTel = exports.CanisterBottomHumidityTel = exports.CanisterBottomTemperatureTel = exports.CPUTemperatureTel = exports.WaterTemperatureTel = exports.DroneTimeTel = exports.DiveTimeTel = exports.BatteryBQ40Z50Tel = exports.BatteryTel = exports.TimeLapseStateTel = exports.RecordStateTel = exports.PilotGPSPositionTel = exports.LaserTel = exports.GuestPortLightsTel = exports.LightsTel = exports.ControllerHealthTel = exports.ControlForceTel = exports.NotificationTel = exports.MissionStatusTel = exports.ReferenceAutoPilotTel = exports.ReferenceTel = exports.DepthTel = exports.PositionEstimateTel = exports.DvlVelocityTel = exports.ForwardDistanceTel = exports.AltitudeTel = exports.MagneticDeclinationTel = exports.AttitudeTel = void 0;
-exports.TurbidityFilterTel = exports.LogEntryTel = exports.SurfaceUnitTel = exports.CPUInfoTel = exports.MultibeamDiscoveryTel = exports.MultibeamConfigTel = exports.MultibeamPingTel = exports.MedusaSpectrometerDataTel = exports.CalibratedImuHpTel = exports.ImuHpTel = void 0;
+exports.SotStateTel = exports.CameraPanTiltZoomTel = exports.TurbidityFilterTel = exports.ObjectDetectionsTel = exports.LogEntryTel = exports.SurfaceUnitTel = exports.SystemPerformanceInfoTel = exports.CPUInfoTel = exports.MultibeamDiscoveryTel = exports.MultibeamConfigTel = exports.MultibeamPingTel = exports.MedusaSpectrometerDataTel = exports.CalibratedImuHpTel = exports.ImuHpTel = void 0;
 /* eslint-disable */
 const wire_1 = require("@bufbuild/protobuf/wire");
 const aquatroll_1 = require("./aquatroll");
@@ -820,13 +820,16 @@ exports.GuestPortLightsTel = {
     },
 };
 function createBaseLaserTel() {
-    return { laser: undefined };
+    return { laser: undefined, laserDetection: undefined };
 }
 exports.LaserTel = {
     encode(message, writer = new wire_1.BinaryWriter()) {
         if (message.laser !== undefined) {
             message_formats_1.Laser.encode(message.laser, writer.uint32(10).fork()).join();
         }
+        if (message.laserDetection !== undefined) {
+            message_formats_1.LaserDetection.encode(message.laserDetection, writer.uint32(18).fork()).join();
+        }
         return writer;
     },
     decode(input, length) {
@@ -843,6 +846,13 @@ exports.LaserTel = {
                     message.laser = message_formats_1.Laser.decode(reader, reader.uint32());
                     continue;
                 }
+                case 2: {
+                    if (tag !== 18) {
+                        break;
+                    }
+                    message.laserDetection = message_formats_1.LaserDetection.decode(reader, reader.uint32());
+                    continue;
+                }
             }
             if ((tag & 7) === 4 || tag === 0) {
                 break;
@@ -852,13 +862,19 @@ exports.LaserTel = {
         return message;
     },
     fromJSON(object) {
-        return { laser: isSet(object.laser) ? message_formats_1.Laser.fromJSON(object.laser) : undefined };
+        return {
+            laser: isSet(object.laser) ? message_formats_1.Laser.fromJSON(object.laser) : undefined,
+            laserDetection: isSet(object.laserDetection) ? message_formats_1.LaserDetection.fromJSON(object.laserDetection) : undefined,
+        };
     },
     toJSON(message) {
         const obj = {};
         if (message.laser !== undefined) {
             obj.laser = message_formats_1.Laser.toJSON(message.laser);
         }
+        if (message.laserDetection !== undefined) {
+            obj.laserDetection = message_formats_1.LaserDetection.toJSON(message.laserDetection);
+        }
         return obj;
     },
     create(base) {
@@ -867,6 +883,9 @@ exports.LaserTel = {
     fromPartial(object) {
         const message = createBaseLaserTel();
         message.laser = (object.laser !== undefined && object.laser !== null) ? message_formats_1.Laser.fromPartial(object.laser) : undefined;
+        message.laserDetection = (object.laserDetection !== undefined && object.laserDetection !== null)
+            ? message_formats_1.LaserDetection.fromPartial(object.laserDetection)
+            : undefined;
         return message;
     },
 };
@@ -3130,6 +3149,64 @@ exports.CPUInfoTel = {
         return message;
     },
 };
+function createBaseSystemPerformanceInfoTel() {
+    return { systemPerformanceInfo: undefined };
+}
+exports.SystemPerformanceInfoTel = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.systemPerformanceInfo !== undefined) {
+            message_formats_1.SystemPerformanceInfo.encode(message.systemPerformanceInfo, writer.uint32(10).fork()).join();
+        }
+        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 = createBaseSystemPerformanceInfoTel();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.systemPerformanceInfo = message_formats_1.SystemPerformanceInfo.decode(reader, reader.uint32());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            systemPerformanceInfo: isSet(object.systemPerformanceInfo)
+                ? message_formats_1.SystemPerformanceInfo.fromJSON(object.systemPerformanceInfo)
+                : undefined,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.systemPerformanceInfo !== undefined) {
+            obj.systemPerformanceInfo = message_formats_1.SystemPerformanceInfo.toJSON(message.systemPerformanceInfo);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.SystemPerformanceInfoTel.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseSystemPerformanceInfoTel();
+        message.systemPerformanceInfo =
+            (object.systemPerformanceInfo !== undefined && object.systemPerformanceInfo !== null)
+                ? message_formats_1.SystemPerformanceInfo.fromPartial(object.systemPerformanceInfo)
+                : undefined;
+        return message;
+    },
+};
 function createBaseSurfaceUnitTel() {
     return { batteryInfo: undefined, versionInfo: undefined };
 }
@@ -3274,13 +3351,68 @@ exports.LogEntryTel = {
         return message;
     },
 };
+function createBaseObjectDetectionsTel() {
+    return { modelDetections: [] };
+}
+exports.ObjectDetectionsTel = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        for (const v of message.modelDetections) {
+            message_formats_1.ModelDetections.encode(v, writer.uint32(10).fork()).join();
+        }
+        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 = createBaseObjectDetectionsTel();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.modelDetections.push(message_formats_1.ModelDetections.decode(reader, reader.uint32()));
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            modelDetections: gt.Array.isArray(object?.modelDetections)
+                ? object.modelDetections.map((e) => message_formats_1.ModelDetections.fromJSON(e))
+                : [],
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.modelDetections?.length) {
+            obj.modelDetections = message.modelDetections.map((e) => message_formats_1.ModelDetections.toJSON(e));
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.ObjectDetectionsTel.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseObjectDetectionsTel();
+        message.modelDetections = object.modelDetections?.map((e) => message_formats_1.ModelDetections.fromPartial(e)) || [];
+        return message;
+    },
+};
 function createBaseTurbidityFilterTel() {
     return { turbidityFilter: undefined };
 }
 exports.TurbidityFilterTel = {
     encode(message, writer = new wire_1.BinaryWriter()) {
         if (message.turbidityFilter !== undefined) {
-            message_formats_1.TurbidityFilter.encode(message.turbidityFilter, writer.uint32(10).fork()).join();
+            message_formats_1.FilterMessage.encode(message.turbidityFilter, writer.uint32(10).fork()).join();
         }
         return writer;
     },
@@ -3295,7 +3427,7 @@ exports.TurbidityFilterTel = {
                     if (tag !== 10) {
                         break;
                     }
-                    message.turbidityFilter = message_formats_1.TurbidityFilter.decode(reader, reader.uint32());
+                    message.turbidityFilter = message_formats_1.FilterMessage.decode(reader, reader.uint32());
                     continue;
                 }
             }
@@ -3308,13 +3440,13 @@ exports.TurbidityFilterTel = {
     },
     fromJSON(object) {
         return {
-            turbidityFilter: isSet(object.turbidityFilter) ? message_formats_1.TurbidityFilter.fromJSON(object.turbidityFilter) : undefined,
+            turbidityFilter: isSet(object.turbidityFilter) ? message_formats_1.FilterMessage.fromJSON(object.turbidityFilter) : undefined,
         };
     },
     toJSON(message) {
         const obj = {};
         if (message.turbidityFilter !== undefined) {
-            obj.turbidityFilter = message_formats_1.TurbidityFilter.toJSON(message.turbidityFilter);
+            obj.turbidityFilter = message_formats_1.FilterMessage.toJSON(message.turbidityFilter);
         }
         return obj;
     },
@@ -3324,7 +3456,117 @@ exports.TurbidityFilterTel = {
     fromPartial(object) {
         const message = createBaseTurbidityFilterTel();
         message.turbidityFilter = (object.turbidityFilter !== undefined && object.turbidityFilter !== null)
-            ? message_formats_1.TurbidityFilter.fromPartial(object.turbidityFilter)
+            ? message_formats_1.FilterMessage.fromPartial(object.turbidityFilter)
+            : undefined;
+        return message;
+    },
+};
+function createBaseCameraPanTiltZoomTel() {
+    return { cameraPanTiltZoom: undefined };
+}
+exports.CameraPanTiltZoomTel = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.cameraPanTiltZoom !== undefined) {
+            message_formats_1.CameraPanTiltZoom.encode(message.cameraPanTiltZoom, writer.uint32(10).fork()).join();
+        }
+        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 = createBaseCameraPanTiltZoomTel();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.cameraPanTiltZoom = message_formats_1.CameraPanTiltZoom.decode(reader, reader.uint32());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            cameraPanTiltZoom: isSet(object.cameraPanTiltZoom)
+                ? message_formats_1.CameraPanTiltZoom.fromJSON(object.cameraPanTiltZoom)
+                : undefined,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.cameraPanTiltZoom !== undefined) {
+            obj.cameraPanTiltZoom = message_formats_1.CameraPanTiltZoom.toJSON(message.cameraPanTiltZoom);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.CameraPanTiltZoomTel.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseCameraPanTiltZoomTel();
+        message.cameraPanTiltZoom = (object.cameraPanTiltZoom !== undefined && object.cameraPanTiltZoom !== null)
+            ? message_formats_1.CameraPanTiltZoom.fromPartial(object.cameraPanTiltZoom)
+            : undefined;
+        return message;
+    },
+};
+function createBaseSotStateTel() {
+    return { sotState: undefined };
+}
+exports.SotStateTel = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.sotState !== undefined) {
+            message_formats_1.SotState.encode(message.sotState, writer.uint32(10).fork()).join();
+        }
+        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 = createBaseSotStateTel();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.sotState = message_formats_1.SotState.decode(reader, reader.uint32());
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return { sotState: isSet(object.sotState) ? message_formats_1.SotState.fromJSON(object.sotState) : undefined };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.sotState !== undefined) {
+            obj.sotState = message_formats_1.SotState.toJSON(message.sotState);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.SotStateTel.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseSotStateTel();
+        message.sotState = (object.sotState !== undefined && object.sotState !== null)
+            ? message_formats_1.SotState.fromPartial(object.sotState)
             : undefined;
         return message;
     },

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@blueyerobotics/protocol-definitions",
-  "version": "3.2.0-d9b151ea",
+  "version": "3.2.0-db84868b",
   "license": "LGPL-3.0-only",
   "description": "TypeScript definitions for Blueye Robotics protocols",
   "repository": {