@rings-webgpu/core 1.0.6 → 1.0.7

package/dist/types/loader/parser/kmz/dataDef/action.d.ts

@@ -0,0 +1,564 @@
+interface ActionBaseType {
+    /**
+     * Action ID
+     * - [0, 65535]
+     * - Note: This ID must be unique within an action group. It is recommended to start from 0 and increment monotonically.
+     */
+    actionId: string;
+}
+/**
+ * Action - Take Photo
+ * @memberof wpml:action
+ */
+export interface TakePhoto extends ActionBaseType {
+    actionActuatorFunc: 'takePhoto';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * Photo file suffix. This suffix will be added when naming generated media files.
+         */
+        fileSuffix: string;
+        /**
+         * Photo storage type
+         * - `zoom`: Store zoom lens photos
+         * - `wide`: Store wide-angle lens photos
+         * - `ir`: Store infrared lens photos
+         * - `narrow_band`: Store narrow-band lens photos
+         * - `visable`: Visible light photos
+         * - Note: To store multiple lens photos, format like `<wpml:payloadLensIndex>wide,ir,narrow_band</wpml:payloadLensIndex>` means using wide-angle, infrared and narrow-band lenses simultaneously
+         */
+        payloadLensIndex: string;
+        /**
+         * Whether to use global storage type
+         * - `0`: Do not use global settings
+         * - `1`: Use global settings
+         */
+        useGlobalPayloadLensIndex: '0' | '1';
+    };
+}
+/**
+ * Action - Start Recording
+ * @memberof wpml:action
+ */
+export interface StartRecord extends ActionBaseType {
+    actionActuatorFunc: 'startRecord';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * Photo file suffix. This suffix will be added when naming generated media files.
+         */
+        fileSuffix: string;
+        /**
+         * Photo storage type
+         * - `zoom`: Store zoom lens photos
+         * - `wide`: Store wide-angle lens photos
+         * - `ir`: Store infrared lens photos
+         * - `narrow_band`: Store narrow-band lens photos
+         * - `visable`: Visible light photos
+         * - Note: To store multiple lens photos, format like `<wpml:payloadLensIndex>wide,ir,narrow_band</wpml:payloadLensIndex>` means using wide-angle, infrared and narrow-band lenses simultaneously
+         */
+        payloadLensIndex: string;
+        /**
+         * Whether to use global storage type
+         * - `0`: Do not use global settings
+         * - `1`: Use global settings
+         */
+        useGlobalPayloadLensIndex: '0' | '1';
+    };
+}
+/**
+ * Action - Stop Recording
+ * @memberof wpml:action
+ */
+export interface StopRecord extends ActionBaseType {
+    actionActuatorFunc: 'stopRecord';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * Photo storage type
+         * - `zoom`: Store zoom lens photos
+         * - `wide`: Store wide-angle lens photos
+         * - `ir`: Store infrared lens photos
+         * - `narrow_band`: Store narrow-band lens photos
+         * - `visable`: Visible light photos
+         * - Note: To store multiple lens photos, format like `<wpml:payloadLensIndex>wide,ir,narrow_band</wpml:payloadLensIndex>` means using wide-angle, infrared and narrow-band lenses simultaneously
+         */
+        payloadLensIndex: string;
+    };
+}
+/**
+ * Action - Focus
+ * @memberof wpml:action
+ */
+export interface Focus extends ActionBaseType {
+    actionActuatorFunc: 'focus';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * Whether to use point focus
+         * - `0`: Area focus
+         * - `1`: Point focus
+         */
+        isPointFocus: '0' | '1';
+        /**
+         * Focus point position
+         * - [0, 1]
+         * - Note: X-axis (width) coordinate of focus point or focus area top-left corner in the frame. 0 is leftmost, 1 is rightmost.
+         */
+        focusX: string;
+        /**
+         * Focus point position
+         * - [0, 1]
+         * - Note: Y-axis (height) coordinate of focus point or focus area top-left corner in the frame. 0 is topmost, 1 is bottommost.
+         */
+        focusY: string;
+        /**
+         * Focus area width ratio
+         * - [0, 1]
+         * - Note: Ratio of focus area size to entire frame, this is width ratio
+         * - Note: Required only when `isPointFocus` is `0` (i.e., area focus).
+         */
+        focusRegionWidth: string;
+        /**
+         * Focus area height ratio
+         * - [0, 1]
+         * - Note: Ratio of focus area size to entire frame, this is height ratio
+         * - Note: Required only when `isPointFocus` is `0` (i.e., area focus).
+         */
+        focusRegionHeight: string;
+    };
+}
+/**
+ * Action - Zoom
+ * @memberof wpml:action
+ */
+export interface Zoom extends ActionBaseType {
+    actionActuatorFunc: 'zoom';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * Zoom focal length
+         * - mm
+         * - Greater than 0
+         */
+        focalLength: string;
+    };
+}
+/**
+ * Action - Create New Folder
+ * @memberof wpml:action
+ */
+export interface CustomDirName extends ActionBaseType {
+    actionActuatorFunc: 'customDirName';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * New folder name
+         */
+        directoryName: string;
+    };
+}
+/**
+ * Action - Rotate Gimbal
+ * @memberof wpml:action
+ */
+export interface GimbalRotate extends ActionBaseType {
+    actionActuatorFunc: 'gimbalRotate';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * Gimbal yaw angle rotation coordinate system
+         * - `north`: Relative to geographic north
+         */
+        gimbalHeadingYawBase: 'north';
+        /**
+         * Gimbal rotation mode
+         * - `absoluteAngle`: Absolute angle, relative to true north
+         */
+        gimbalRotateMode: 'absoluteAngle';
+        /**
+         * Whether to enable gimbal Pitch rotation
+         * - `0`: Disabled
+         * - `1`: Enabled
+         */
+        gimbalPitchRotateEnable: '0' | '1';
+        /**
+         * Gimbal Pitch rotation angle
+         * - Note: Different gimbals have different rotation ranges
+         */
+        gimbalPitchRotateAngle: string;
+        /**
+         * Whether to enable gimbal Roll rotation
+         * - `0`: Disabled
+         * - `1`: Enabled
+         */
+        gimbalRollRotateEnable: '0' | '1';
+        /**
+         * Gimbal Roll rotation angle
+         * - Note: Different gimbals have different rotation ranges
+         */
+        gimbalRollRotateAngle: string;
+        /**
+         * Whether to enable gimbal Yaw rotation
+         * - `0`: Disabled
+         * - `1`: Enabled
+         */
+        gimbalYawRotateEnable: '0' | '1';
+        /**
+         * Gimbal Yaw rotation angle
+         * - Note: Different gimbals have different rotation ranges
+         */
+        gimbalYawRotateAngle: string;
+        /**
+         * Whether to enable gimbal rotation time
+         * - `0`: Disabled
+         * - `1`: Enabled
+         */
+        gimbalRotateTimeEnable: '0' | '1';
+        /**
+         * Time for gimbal to complete rotation
+         * - s
+         */
+        gimbalRotateTime: string;
+    };
+}
+/**
+ * Action - Aircraft Yaw
+ * @memberof wpml:action
+ */
+export interface RotateYaw extends ActionBaseType {
+    actionActuatorFunc: 'rotateYaw';
+    actionActuatorFuncParam: {
+        /**
+         * Aircraft target yaw angle (relative to geographic north)
+         * - °
+         * - [-180, 180]
+         * - Note: Aircraft rotates to this target yaw angle. 0° is true north, 90° is true east, -90° is true west, -180°/180° is true south.
+         */
+        aircraftHeading: string;
+        /**
+         * Aircraft yaw angle rotation mode
+         * - `clockwise`: Clockwise rotation
+         * - `counterClockwise`: Counter-clockwise rotation
+         */
+        aircraftPathMode: 'clockwise' | 'counterClockwise';
+    };
+}
+/**
+ * Action - Hover
+ * @memberof wpml:action
+ */
+export interface Hover extends ActionBaseType {
+    actionActuatorFunc: 'hover';
+    actionActuatorFuncParam: {
+        /**
+         * Aircraft hover wait time
+         * - s
+         * - Greater than 0
+         */
+        hoverTime: string;
+    };
+}
+/**
+ * Action - Evenly Rotate Gimbal Pitch Angle Between Segments
+ * @memberof wpml:action
+ * - Note: `gimbalEvenlyRotate` action evenly rotates gimbal pitch angle between segments, its trigger type must be `betweenAdjacentPoints`.
+ */
+export interface GimbalEvenlyRotate extends ActionBaseType {
+    actionActuatorFunc: 'gimbalEvenlyRotate';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * Gimbal Pitch rotation angle
+         * - Note: Different gimbals have different rotation ranges
+         */
+        gimbalPitchRotateAngle: string;
+    };
+}
+/**
+ * Action - Oriented Shoot/Precise Re-shoot
+ * @memberof wpml:action
+ */
+export interface OrientedShoot extends ActionBaseType {
+    actionActuatorFunc: 'orientedShoot';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * Gimbal Pitch rotation angle
+         * - °
+         * - M30/M30T: [-120, 45]
+         * - M3E/M3T: [-90, 35]
+         * - M3D/M3TD: [-90, 30]
+         */
+        gimbalPitchRotateAngle: string;
+        /**
+         * Gimbal Yaw rotation angle
+         * - °
+         * - [-180, 180]
+         * - Note: For M3E/M3T, M3D/M3TD models, `wpml:gimbalYawRotateAngle` must be consistent with `wpml:aircraftHeading`
+         */
+        gimbalYawRotateAngle: string;
+        /**
+         * Target selection box center horizontal coordinate
+         * - px
+         * - [0, 960]
+         * - Note: Photo top-left corner is coordinate origin, horizontal direction is X-axis, vertical direction is Y-axis
+         */
+        focusX: '0';
+        /**
+         * Target selection box center vertical coordinate
+         * - px
+         * - [0, 720]
+         */
+        focusY: '0';
+        /**
+         * Target selection box width
+         * - px
+         * - [0, 960]
+         */
+        focusRegionWidth: '0';
+        /**
+         * Target selection box height
+         * - px
+         * - [0, 720]
+         */
+        focusRegionHeight: '0';
+        /**
+         * Zoom focal length
+         * - mm
+         * - Greater than 0
+         */
+        focalLength: string;
+        /**
+         * Aircraft target yaw angle (relative to geographic north)
+         * - [-180, 180]
+         * - Note: Aircraft rotates to this target yaw angle. 0° is true north, 90° is true east, -90° is true west, -180°/180° is true south.
+         */
+        aircraftHeading: string;
+        /**
+         * Whether to frame precise re-shoot target
+         * - `1`: Target object has been framed
+         * - `0`: Target object has not been framed
+         * - Note: When set to 1, aircraft will autonomously search for target during re-shoot. When set to 0, aircraft will only repeat actions according to aircraft attitude and payload attitude during re-shoot, without autonomous target search.
+         */
+        accurateFrameValid: '0' | '1';
+        /**
+         * Target frame angle
+         * - [0, 360]
+         * - Note: Rotation angle of target frame (clockwise rotation with Y-axis as reference)
+         */
+        targetAngle: string;
+        /**
+         * Action unique identifier
+         * - Note: When taking photos, this value will be written into photo files to associate actions with photo files.
+         */
+        actionUUID: string;
+        /**
+         * Photo width
+         * - px
+         */
+        imageWidth: '0';
+        /**
+         * Photo height
+         * - px
+         */
+        imageHeight: '0';
+        /**
+         * AF motor position
+         */
+        AFPos: '0';
+        /**
+         * Gimbal port number
+         * - Camera installation position for taking photos
+         * - Note: For M30/M30T models, this value is fixed at 0
+         */
+        gimbalPort: '0';
+        /**
+         * Camera type
+         * - `52` (Model: M30 dual camera),
+         * - `53` (Model: M30T triple camera)
+         * - `66` (Model: Mavic 3E camera)
+         * - `67` (Model: Mavic 3T camera)
+         * - `80` (Model: Matrice 3D camera)
+         * - `81` (Model: Matrice 3TD camera)
+         */
+        orientedCameraType: '52' | '53' | '66' | '67' | '80' | '81';
+        /**
+         * Photo file path
+         */
+        orientedFilePath: string;
+        /**
+         * Photo file size
+         * - Byte
+         */
+        orientedFileSize: '0';
+        /**
+         * Photo file suffix
+         * - This suffix will be added when naming generated media files
+         */
+        orientedFileSuffix: string;
+        /**
+         * Aperture size
+         */
+        orientedCameraApertue?: string;
+        /**
+         * Ambient brightness
+         */
+        orientedCameraLuminance?: string;
+        /**
+         * Shutter time
+         */
+        orientedCameraShutterTime?: string;
+        /**
+         * ISO
+         */
+        orientedCameraISO?: string;
+        /**
+         * Photo mode
+         * - `normalPhoto`: Normal photo
+         * - `lowLightSmartShooting`: Low light smart shooting
+         */
+        orientedPhotoMode: 'normalPhoto' | 'lowLightSmartShooting';
+        /**
+         * Photo storage type
+         * - `zoom`: Store zoom lens photos
+         * - `wide`: Store wide-angle lens photos
+         * - `ir`: Store infrared lens photos
+         * - `narrow_band`: Store narrow-band lens photos
+         * - `visable`: Visible light photos
+         * - Note: To store multiple lens photos, format like `<wpml:payloadLensIndex>wide,ir,narrow_band</wpml:payloadLensIndex>` means using wide-angle, infrared and narrow-band lenses simultaneously
+         */
+        payloadLensIndex: string;
+        /**
+         * Whether to use global storage type
+         * - `0`: Do not use global settings
+         * - `1`: Use global settings
+         */
+        useGlobalPayloadLensIndex: string;
+    };
+}
+/**
+ * Action - Panoramic Shot
+ * @memberof wpml:action
+ */
+export interface PanoShot extends ActionBaseType {
+    actionActuatorFunc: 'panoShot';
+    actionActuatorFuncParam: {
+        /**
+         * Payload mounting position, default main gimbal
+         */
+        payloadPositionIndex: '0';
+        /**
+         * Photo storage type
+         * - `zoom`: Store zoom lens photos
+         * - `wide`: Store wide-angle lens photos
+         * - `ir`: Store infrared lens photos
+         * - `narrow_band`: Store narrow-band lens photos
+         * - `visable`: Visible light photos
+         * - Note: To store multiple lens photos, format like `<wpml:payloadLensIndex>wide,ir,narrow_band</wpml:payloadLensIndex>` means using wide-angle, infrared and narrow-band lenses simultaneously
+         */
+        payloadLensIndex: string;
+        /**
+         * Whether to use global storage type
+         * - `0`: Do not use global settings
+         * - `1`: Use global settings
+         */
+        useGlobalPayloadLensIndex: string;
+        /**
+         * Panoramic photo mode
+         * - `panoShot_360`: Panoramic mode
+         */
+        panoShotSubMode: 'panoShot_360';
+    };
+}
+/**
+ * Action information
+ * @memberof wpml:action
+ */
+export type ActionType = TakePhoto | StartRecord | StopRecord | Focus | Zoom | CustomDirName | GimbalRotate | RotateYaw | Hover | GimbalEvenlyRotate | OrientedShoot | PanoShot;
+/**
+ * Action group information
+ * @memberof wpml:actionGroup
+ */
+export interface ActionGroupType {
+    /**
+     * Action list
+     */
+    action: Array<ActionType>;
+    /**
+     * Waypoint where action group ends taking effect
+     * - [0, 65535]
+     * - Note: This element must be greater than or equal to `actionGroupStartIndex`.
+     * - Note: When "waypoint where action group ends taking effect" is the same as "waypoint where action group starts taking effect", it means the action group only takes effect at that waypoint.
+     */
+    actionGroupEndIndex: string;
+    /**
+     * Action group ID
+     * - [0, 65535]
+     * - Note: This ID must be unique within a kmz file. It is recommended to start from 0 and increment monotonically.
+     */
+    actionGroupId: string;
+    /**
+     * Action execution mode
+     * - `sequence`: Sequential execution. Actions in the action group are executed in order.
+     */
+    actionGroupMode: 'sequence';
+    /**
+     * Waypoint where action group starts taking effect
+     * - [0, 65535]
+     */
+    actionGroupStartIndex: string;
+    /**
+     * Action group trigger
+     */
+    actionTrigger: {
+        /**
+         * Action trigger type
+         */
+        actionTriggerType: ActionTriggerType;
+        /**
+         * Action trigger parameter
+         * - s or m
+         * - Greater than 0
+         * Note: When `actionTriggerType` is `multipleTiming`, this element represents interval time in seconds. When `actionTriggerType` is `multipleDistance`, this element represents interval distance in meters.
+         */
+        actionTriggerParam: string;
+    };
+}
+/**
+ * Action trigger type
+ * - `reachPoint` Execute when reaching waypoint
+ * - `betweenAdjacentPoints` Segment trigger, evenly rotate gimbal
+ * - `multipleTiming` Equal time interval trigger
+ * - `multipleDistance` Equal distance interval trigger
+ * - Note: `betweenAdjacentPoints` needs to be used with `gimbalEvenlyRotate` action, `multipleTiming` with `takePhoto` action can achieve equal time interval photography, `multipleDistance` with `takePhoto` action can achieve equal distance interval photography.
+ */
+export type ActionTriggerType = 'reachPoint' | 'betweenAdjacentPoints' | 'multipleTiming' | 'multipleDistance';
+export {};

package/dist/types/loader/parser/kmz/dataDef/global.d.ts

@@ -0,0 +1,58 @@
+/**
+ * Aircraft yaw angle mode
+ * - `followWayline` Follow wayline direction. Aircraft nose follows wayline direction to next waypoint
+ * - `manually` Manual control. User can manually control aircraft nose orientation during flight to next waypoint
+ * - `fixed` Lock current yaw angle. Aircraft nose maintains the yaw angle after completing waypoint actions to next waypoint
+ * - `smoothTransition` Custom. Set target yaw angle for waypoint via `wpml:waypointHeadingAngle` and smoothly transition to next waypoint's target yaw angle during flight
+ * - `towardPOI` Point of interest orientation
+ */
+export type WaypointHeadingMode = 'followWayline' | 'manually' | 'fixed' | 'smoothTransition';
+/**
+ * Aircraft yaw angle rotation direction
+ * - `clockwise` Rotate aircraft yaw angle clockwise
+ * - `counterClockwise` Rotate aircraft yaw angle counter-clockwise
+ * - `followBadArc` Rotate aircraft yaw angle along shortest path
+ */
+export type WaypointHeadingPathMode = 'clockwise' | 'counterClockwise' | 'followBadArc';
+/**
+ * Waypoint type (waypoint turn mode)
+ * - `coordinateTurn` Coordinated turn, no waypoint passing, early turn
+ * - `toPointAndStopWithDiscontinuityCurvature` Straight flight, aircraft stops at waypoint
+ * - `toPointAndStopWithContinuityCurvature` Curved flight, aircraft stops at waypoint
+ * - `toPointAndPassWithContinuityCurvature` Curved flight, aircraft passes waypoint without stopping
+ * - Note: For "smooth waypoint passing, early turn" mode in DJI Pilot 2/司空 2:
+ *   1. Set `wpml:waypointTurnMode` to `toPointAndPassWithContinuityCurvature`
+ *   2. Set `wpml:useStraightLine` to `1`
+ */
+export type WaypointTurnMode = 'coordinateTurn' | 'toPointAndStopWithDiscontinuityCurvature' | 'toPointAndStopWithContinuityCurvature' | 'toPointAndPassWithContinuityCurvature';
+/**
+ * Fly to first waypoint mode
+ * - `safely` Safe mode.
+ *   - (M300) Aircraft takes off, climbs to first waypoint height, then flies horizontally to first waypoint. If first waypoint is lower than takeoff point, fly horizontally to above first waypoint then descend after takeoff.
+ *   - (M30) Aircraft takes off, climbs to first waypoint height, then flies horizontally to first waypoint. If first waypoint is lower than "safe takeoff height", take off to "safe takeoff height" first, then fly horizontally to above first waypoint and descend. Note: "safe takeoff height" only takes effect when aircraft has not taken off.
+ * - `pointToPoint` Inclined flight mode.
+ *   - (M300) Aircraft takes off and flies inclined to first waypoint.
+ *   - (M30) Aircraft takes off to "safe takeoff height", then climbs inclined to first waypoint. If first waypoint height is lower than "safe takeoff height", fly horizontally first then descend.
+ */
+export type FlyToWaypointType = 'safely' | 'pointToPoint';
+/**
+ * Wayline end action
+ * - `goHome` After aircraft completes wayline mission, exit wayline mode and return home.
+ * - `noAction` After aircraft completes wayline mission, exit wayline mode.
+ * - `autoLand` After aircraft completes wayline mission, exit wayline mode and land in place.
+ * - `gotoFirstWaypoint` After aircraft completes wayline mission, immediately fly to wayline starting point, exit wayline mode after arrival. * Note: During execution of above actions, if aircraft exits wayline mode and enters lost control state, lost control actions will be executed with priority.
+ */
+export type FinishAction = 'goHome' | 'noAction' | 'autoLand' | 'gotoFirstWaypoint';
+/**
+ * Whether to continue wayline execution when lost control
+ * - `goContinue` Continue wayline execution
+ * - `executeLostAction` Exit wayline, execute lost control action
+ */
+export type ExitOnRCLost = 'goContinue' | 'executeLostAction';
+/**
+ * Lost control action type
+ * - `goBack` Return home. Aircraft flies from lost control position to takeoff point
+ * - `landing` Land. Aircraft lands in place from lost control position
+ * - `hover` Hover. Aircraft hovers from lost control position
+ */
+export type ExecuteRCLostAction = 'goBack' | 'landing' | 'hover';

package/dist/types/loader/parser/kmz/dataDef/index.d.ts

@@ -0,0 +1,12 @@
+import { TemplateFile } from './template';
+import { WaylineFile } from './wayline';
+export interface KmzFile {
+    /**
+     * Wayline template file
+     */
+    template: TemplateFile;
+    /**
+     * Wayline execution file
+     */
+    waylines: WaylineFile;
+}