@deeptrekker/api-domain 1.0.37 → 1.0.38-collisionavoidanceprototype.1

package/dist/constants/schema/schema.json

@@ -766,6 +766,34 @@
             },
             "type": "object"
         },
+        "CollisionAvoidance": {
+            "additionalProperties": false,
+            "description": "Collision Avoidance",
+            "properties": {
+                "active": {
+                    "type": "boolean"
+                },
+                "downError": {
+                    "type": "string"
+                },
+                "downState": {
+                    "description": "\"unknown\" | \"outside\" | \"inside\"",
+                    "type": "string"
+                },
+                "forceUnlock": {
+                    "description": "Write-only. Set true to force any axis currently latched INSIDE (holding that state through stale/unusable sensor data) back to unknown, so the next sensor reading re-determines its real state. Has no effect on an axis that is not latched. Never reported back by the backend.",
+                    "type": "boolean"
+                },
+                "fwdError": {
+                    "type": "string"
+                },
+                "fwdState": {
+                    "description": "\"unknown\" | \"outside\" | \"inside\"",
+                    "type": "string"
+                }
+            },
+            "type": "object"
+        },
         "CrawlerDrive": {
             "additionalProperties": false,
             "description": "Crawler drive",
@@ -2891,6 +2919,9 @@
                         "autoStabilization": {
                             "type": "boolean"
                         },
+                        "collisionAvoidance": {
+                            "$ref": "#/definitions/CollisionAvoidance"
+                        },
                         "depthLock": {
                             "type": "boolean"
                         },

package/dist/constants/versions/index.d.ts

@@ -1 +1 @@
-export declare const API_VERSION = "1.0.37";
+export declare const API_VERSION = "1.0.38-collisionavoidanceprototype.1";

package/dist/constants/versions/index.js

@@ -2,4 +2,4 @@
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.API_VERSION = void 0;
 /* AUTO GENERATED FILE */
-exports.API_VERSION = "1.0.37";
+exports.API_VERSION = "1.0.38-collisionavoidanceprototype.1";

package/dist/types/devices/peripherals/echosounder/index.d.ts

@@ -11,7 +11,8 @@ export declare enum EchosounderError {
     JUMP_IN_DISTANCE = "Distance Lock disabled. Large jump in distance",
     ECHOSOUNDER_DISABLED = "Echosounder is disabled",
     ECHOSOUNDER_REQUIRED = "Distance Lock requires Echosounder",
-    SENSOR_MISSING = "Distance Lock requires DVL and SensorPod"
+    SENSOR_MISSING = "Distance Lock requires DVL and SensorPod",
+    COLLISION_AVOIDANCE_ACTIVE = "Turn off Collision Avoidance to use Distance Lock"
 }
 /**
  *

package/dist/types/devices/peripherals/echosounder/index.js

@@ -16,4 +16,5 @@ var EchosounderError;
     EchosounderError["ECHOSOUNDER_DISABLED"] = "Echosounder is disabled";
     EchosounderError["ECHOSOUNDER_REQUIRED"] = "Distance Lock requires Echosounder";
     EchosounderError["SENSOR_MISSING"] = "Distance Lock requires DVL and SensorPod";
+    EchosounderError["COLLISION_AVOIDANCE_ACTIVE"] = "Turn off Collision Avoidance to use Distance Lock";
 })(EchosounderError || (exports.EchosounderError = EchosounderError = {}));

package/dist/types/devices/vehicles/rovDrive/index.d.ts

@@ -34,6 +34,7 @@ export type RovDrive = {
         motorsDisabled?: boolean;
         stationHolding?: boolean;
         distanceLock?: DistanceLock;
+        collisionAvoidance?: CollisionAvoidance;
     };
 };
 /**
@@ -46,3 +47,36 @@ export type DistanceLock = {
     setPoint?: number;
     error?: string;
 };
+/**
+ * Collision Avoidance
+ *
+ * @remarks Toggling this mode toggles both forward and downward collision avoidance together,
+ * though the two axes are tracked and reported independently. Cannot be active at the same
+ * time as Distance Lock.
+ * @group Devices
+ * @category ROV
+ */
+export type CollisionAvoidance = {
+    active?: boolean;
+    /** "unknown" | "outside" | "inside" */
+    fwdState?: string;
+    fwdError?: string;
+    /**
+     * True when the axis reports "inside" because it latched - it saw an obstacle in the
+     * keep-out zone and has held that state through sensor data it cannot use - rather
+     * than because it can currently see the obstacle. Only a latched axis responds to
+     * forceUnlock.
+     */
+    fwdLatched?: boolean;
+    /** "unknown" | "outside" | "inside" */
+    downState?: string;
+    downError?: string;
+    downLatched?: boolean;
+    /**
+     * Write-only. Set true to force any axis currently latched INSIDE (holding that
+     * state through stale/unusable sensor data) back to unknown, so the next sensor
+     * reading re-determines its real state. Has no effect on an axis that is not
+     * latched. Never reported back by the backend.
+     */
+    forceUnlock?: boolean;
+};

package/package.json

@@ -1,6 +1,6 @@
 {
     "name": "@deeptrekker/api-domain",
-    "version": "1.0.37",
+    "version": "1.0.38-collisionavoidanceprototype.1",
     "description": "A business domain of types and schemas that the Deep Trekker topside communicates with via an API.",
     "main": "dist/index.js",
     "engines": {
@@ -37,16 +37,16 @@
         "@knodes/typedoc-plugin-code-blocks": "^0.22.7",
         "@types/lodash": "^4.14.182",
         "@types/node": "^22.0.0",
-        "@typescript-eslint/eslint-plugin": "^6.1.0",
-        "@typescript-eslint/parser": "^6.1.0",
         "@zamiell/typedoc-plugin-not-exported": "^0.2.0",
-        "eslint": "^8.45.0",
-        "eslint-config-prettier": "^8.8.0",
-        "eslint-plugin-unused-imports": "^3.0.0",
         "prettier": "3.0.3",
         "rimraf": "^3.0.2",
         "semver-compare-cli": "^2.0.0",
         "ts-json-schema-generator": "2.4.0",
+        "eslint": "^8.45.0",
+        "@typescript-eslint/eslint-plugin": "^6.1.0",
+        "@typescript-eslint/parser": "^6.1.0",
+        "eslint-plugin-unused-imports": "^3.0.0",
+        "eslint-config-prettier": "^8.8.0",
         "ts-node": "^10.8.1",
         "tslib": "^2.4.0",
         "typedoc": "^0.28.9",
@@ -62,7 +62,6 @@
         "mkdirp": "^1.0.4",
         "ts-pattern": "^4.3.0",
         "ts-toolbelt": "^9.6.0",
-        "type-zoo": "^3.4.1",
-        "yarn": "^1.22.22"
+        "type-zoo": "^3.4.1"
     }
 }