@deeptrekker/api-domain 1.0.41 → 1.0.43-x4-localization.0

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

@@ -1 +1 @@
-export declare const API_VERSION = "1.0.41";
+export declare const API_VERSION = "1.0.43-x4-localization.0";

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 = "1.0.41";
+exports.API_VERSION = "1.0.43-x4-localization.0";

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

@@ -55,7 +55,30 @@ export declare enum PositionSources {
     NONE = "NONE",
     SEATRAC_USBL = "SEATRAC_USBL",
     EXTERNAL_GPS = "EXTERNAL_GPS",
-    STATIC = "STATIC"
+    STATIC = "STATIC",
+    /**
+     * The vehicle's own onboard GPS, usable only at or near the surface. X4 only.
+     */
+    ROV_GPS = "ROV_GPS",
+    /**
+     * An acoustic USBL fix, without naming a vendor. Distinct from {@link PositionSources.SEATRAC_USBL},
+     * which names a specific device on the older vehicles. X4 only.
+     */
+    USBL = "USBL",
+    /**
+     * A NMEA position supplied over SOIP by an external device. X4 only.
+     */
+    EXTERNAL = "EXTERNAL",
+    /**
+     * An operator-supplied position, set by clicking the map. Holds until released, and
+     * suppresses every sensor source while active. X4 only.
+     */
+    MANUAL = "MANUAL",
+    /**
+     * Arbitration picks the highest-priority available source. This is the default, and is
+     * reported whenever the operator has not pinned a source. X4 only.
+     */
+    AUTOMATIC = "AUTOMATIC"
 }
 /**
  * Enumerates the possible topside location provider sources available to the Web App.
@@ -223,6 +246,72 @@ export type PositionNavigationOption = {
      * @readonly
      */
     rovGpsStatus?: GpsStatus;
+    /**
+     * Position of the controller, which is the surface end of the tether and the
+     * reference the USBL head is offset from.
+     *
+     * @remarks Reported by the vehicle whatever the source, so a client that did not
+     * issue the write still renders it. Settable only when {@link PositionNavigationOption.topSource}
+     * is `STATIC`. X4 only.
+     * @see {@link ControllerPosition | ControllerPosition}
+     */
+    topsidePosition?: ControllerPosition;
+    /**
+     * Fixed offset from the controller to the USBL head.
+     *
+     * @remarks Applies when the head is not co-located with the controller. X4 only.
+     * @see {@link UsblOffset | UsblOffset}
+     */
+    usblOffset?: UsblOffset;
+    /**
+     * Re-zeroes the position filter.
+     *
+     * @remarks Write-only trigger; accepts `true` only and always reads back empty.
+     * Clears an operator-pinned position, hands arbitration back to the sensors, and
+     * moves the local map frame. X4 only.
+     */
+    resetFilter?: boolean;
+};
+/**
+ * Controller position
+ *
+ * @remarks Latitude and longitude of the controller, in degrees.
+ * @group Devices
+ * @category Navigation
+ */
+export type ControllerPosition = {
+    /**
+     * Latitude of the controller, in degrees.
+     *
+     * @minimum -90
+     * @maximum 90
+     */
+    lat?: number;
+    /**
+     * Longitude of the controller, in degrees.
+     *
+     * @minimum -180
+     * @maximum 180
+     */
+    lng?: number;
+};
+/**
+ * USBL head offset
+ *
+ * @remarks Offset from the controller to the USBL head, in metres. Note these are
+ * compass-aligned rather than vehicle-relative: `x` is east and `y` is north.
+ * @group Devices
+ * @category Navigation
+ */
+export type UsblOffset = {
+    /**
+     * Distance east from the controller to the USBL head (in meters). Negative is west.
+     */
+    x?: number;
+    /**
+     * Distance north from the controller to the USBL head (in meters). Negative is south.
+     */
+    y?: number;
 };
 /**
  * Navigation Options type

package/dist/types/devices/vehicles/navigation/index.js

@@ -21,6 +21,29 @@ var PositionSources;
     PositionSources["SEATRAC_USBL"] = "SEATRAC_USBL";
     PositionSources["EXTERNAL_GPS"] = "EXTERNAL_GPS";
     PositionSources["STATIC"] = "STATIC";
+    /**
+     * The vehicle's own onboard GPS, usable only at or near the surface. X4 only.
+     */
+    PositionSources["ROV_GPS"] = "ROV_GPS";
+    /**
+     * An acoustic USBL fix, without naming a vendor. Distinct from {@link PositionSources.SEATRAC_USBL},
+     * which names a specific device on the older vehicles. X4 only.
+     */
+    PositionSources["USBL"] = "USBL";
+    /**
+     * A NMEA position supplied over SOIP by an external device. X4 only.
+     */
+    PositionSources["EXTERNAL"] = "EXTERNAL";
+    /**
+     * An operator-supplied position, set by clicking the map. Holds until released, and
+     * suppresses every sensor source while active. X4 only.
+     */
+    PositionSources["MANUAL"] = "MANUAL";
+    /**
+     * Arbitration picks the highest-priority available source. This is the default, and is
+     * reported whenever the operator has not pinned a source. X4 only.
+     */
+    PositionSources["AUTOMATIC"] = "AUTOMATIC";
 })(PositionSources || (exports.PositionSources = PositionSources = {}));
 /**
  * Enumerates the possible topside location provider sources available to the Web App.

package/dist/types/devices/vehicles/x4/index.d.ts

@@ -2,6 +2,7 @@ import { Movement } from "../../../core";
 import { DeviceModel, MotorDiagnostics, Sonar, StereoCamera, X4CameraHead } from "../../cameraHeads";
 import { ImpaqDriver, SensorPod, X4Light } from "../../peripherals";
 import { CygnusType } from "../..";
+import { NavigationOptions } from "../navigation";
 /**
  * The coordinate system used for navigation and positioning.
  * @internal
@@ -781,6 +782,19 @@ export type X4 = {
      * @readonly
      */
     vehiclePosition?: X4Position;
+    /**
+     * Navigation settings and options for the X4: which source supplies the global position,
+     * where the controller is, and the heading corrections.
+     *
+     * Only `navigationOptions` is taken from {@link Navigation | Navigation}, rather than
+     * intersecting the whole type as {@link RovVehicle | RovVehicle} does. The X4 reports
+     * its pose through its own flattened {@link X4Position | X4Position} on
+     * `vehiclePosition`, so `Navigation`'s `position`, `velocity` and
+     * `locationForwarderOptions` have no producer here and would read as available.
+     *
+     * @see {@link NavigationOptions | NavigationOptions}
+     */
+    navigationOptions?: NavigationOptions;
     /**
      * The tracked position of the X4 vehicle, which includes points of interest (POIs) and a snail trail.
      * It is used for tracking the vehicle's movement over time and for rendering in the frontend.

package/package.json

@@ -1,6 +1,6 @@
 {
     "name": "@deeptrekker/api-domain",
-    "version": "1.0.41",
+    "version": "1.0.43-x4-localization.0",
     "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"
     }
 }