@rise-maritime/keelson-js 0.5.1-rc.6 → 0.5.2

package/dist/interfaces/MavlinkCommand.d.ts

@@ -0,0 +1,83 @@
+import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
+import { CommandResult } from "./VehicleCommon";
+export declare const protobufPackage = "";
+export interface SetMessageIntervalRequest {
+    /**
+     * Either the symbolic MAVLink message name (e.g. "ATTITUDE") OR the
+     * numeric MAVLink message id. If `message_id` is non-zero it wins.
+     */
+    messageName: string;
+    messageId: number;
+    /** Desired publication rate in Hz. 0 = stop publishing the message. */
+    hz: number;
+}
+export interface SetMessageIntervalResponse {
+    result: CommandResult;
+    rawAutopilotResult: number;
+    detail: string;
+}
+/**
+ * Escape hatch: send an arbitrary MAVLink COMMAND_LONG. Use when a
+ * MAV_CMD_* operation doesn't have a typed subject yet.
+ */
+export interface CommandLongRequest {
+    /** MAV_CMD enum */
+    command: number;
+    param1: number;
+    param2: number;
+    param3: number;
+    param4: number;
+    param5: number;
+    param6: number;
+    param7: number;
+    /**
+     * Optional override of the target component (default = connector's
+     * configured --target-component).
+     */
+    targetComponent?: number | undefined;
+}
+export interface CommandLongResponse {
+    result: CommandResult;
+    rawAutopilotResult: number;
+    detail: string;
+}
+export declare const SetMessageIntervalRequest: MessageFns<SetMessageIntervalRequest>;
+export declare const SetMessageIntervalResponse: MessageFns<SetMessageIntervalResponse>;
+export declare const CommandLongRequest: MessageFns<CommandLongRequest>;
+export declare const CommandLongResponse: MessageFns<CommandLongResponse>;
+export interface MavlinkCommand {
+    set_message_interval(request: SetMessageIntervalRequest): Promise<SetMessageIntervalResponse>;
+    send_command_long(request: CommandLongRequest): Promise<CommandLongResponse>;
+}
+export declare const MavlinkCommandServiceName = "MavlinkCommand";
+export declare class MavlinkCommandClientImpl implements MavlinkCommand {
+    private readonly rpc;
+    private readonly service;
+    constructor(rpc: Rpc, opts?: {
+        service?: string;
+    });
+    set_message_interval(request: SetMessageIntervalRequest): Promise<SetMessageIntervalResponse>;
+    send_command_long(request: CommandLongRequest): Promise<CommandLongResponse>;
+}
+interface Rpc {
+    request(service: string, method: string, data: Uint8Array): Promise<Uint8Array>;
+}
+type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
+export 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]>;
+} : Partial<T>;
+type KeysOfUnion<T> = T extends T ? keyof T : never;
+export type Exact<P, I extends P> = P extends Builtin ? P : P & {
+    [K in keyof P]: Exact<P[K], I[K]>;
+} & {
+    [K in Exclude<keyof I, KeysOfUnion<P>>]: never;
+};
+export interface MessageFns<T> {
+    encode(message: T, writer?: BinaryWriter): BinaryWriter;
+    decode(input: BinaryReader | Uint8Array, length?: number): T;
+    fromJSON(object: any): T;
+    toJSON(message: T): unknown;
+    create<I extends Exact<DeepPartial<T>, I>>(base?: I): T;
+    fromPartial<I extends Exact<DeepPartial<T>, I>>(object: I): T;
+}
+export {};

package/dist/interfaces/MavlinkCommand.js

@@ -0,0 +1,467 @@
+"use strict";
+// Code generated by protoc-gen-ts_proto. DO NOT EDIT.
+// versions:
+//   protoc-gen-ts_proto  v2.6.1
+//   protoc               v6.30.2
+// source: MavlinkCommand.proto
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.MavlinkCommandClientImpl = exports.MavlinkCommandServiceName = exports.CommandLongResponse = exports.CommandLongRequest = exports.SetMessageIntervalResponse = exports.SetMessageIntervalRequest = exports.protobufPackage = void 0;
+/* eslint-disable */
+const wire_1 = require("@bufbuild/protobuf/wire");
+const VehicleCommon_1 = require("./VehicleCommon");
+exports.protobufPackage = "";
+function createBaseSetMessageIntervalRequest() {
+    return { messageName: "", messageId: 0, hz: 0 };
+}
+exports.SetMessageIntervalRequest = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.messageName !== "") {
+            writer.uint32(10).string(message.messageName);
+        }
+        if (message.messageId !== 0) {
+            writer.uint32(16).uint32(message.messageId);
+        }
+        if (message.hz !== 0) {
+            writer.uint32(29).float(message.hz);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        let end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseSetMessageIntervalRequest();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 10) {
+                        break;
+                    }
+                    message.messageName = reader.string();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.messageId = reader.uint32();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 29) {
+                        break;
+                    }
+                    message.hz = reader.float();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            messageName: isSet(object.messageName) ? globalThis.String(object.messageName) : "",
+            messageId: isSet(object.messageId) ? globalThis.Number(object.messageId) : 0,
+            hz: isSet(object.hz) ? globalThis.Number(object.hz) : 0,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.messageName !== "") {
+            obj.messageName = message.messageName;
+        }
+        if (message.messageId !== 0) {
+            obj.messageId = Math.round(message.messageId);
+        }
+        if (message.hz !== 0) {
+            obj.hz = message.hz;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.SetMessageIntervalRequest.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseSetMessageIntervalRequest();
+        message.messageName = object.messageName ?? "";
+        message.messageId = object.messageId ?? 0;
+        message.hz = object.hz ?? 0;
+        return message;
+    },
+};
+function createBaseSetMessageIntervalResponse() {
+    return { result: 0, rawAutopilotResult: 0, detail: "" };
+}
+exports.SetMessageIntervalResponse = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.result !== 0) {
+            writer.uint32(8).int32(message.result);
+        }
+        if (message.rawAutopilotResult !== 0) {
+            writer.uint32(16).int32(message.rawAutopilotResult);
+        }
+        if (message.detail !== "") {
+            writer.uint32(26).string(message.detail);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        let end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseSetMessageIntervalResponse();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.result = reader.int32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.rawAutopilotResult = reader.int32();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 26) {
+                        break;
+                    }
+                    message.detail = reader.string();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            result: isSet(object.result) ? (0, VehicleCommon_1.commandResultFromJSON)(object.result) : 0,
+            rawAutopilotResult: isSet(object.rawAutopilotResult) ? globalThis.Number(object.rawAutopilotResult) : 0,
+            detail: isSet(object.detail) ? globalThis.String(object.detail) : "",
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.result !== 0) {
+            obj.result = (0, VehicleCommon_1.commandResultToJSON)(message.result);
+        }
+        if (message.rawAutopilotResult !== 0) {
+            obj.rawAutopilotResult = Math.round(message.rawAutopilotResult);
+        }
+        if (message.detail !== "") {
+            obj.detail = message.detail;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.SetMessageIntervalResponse.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseSetMessageIntervalResponse();
+        message.result = object.result ?? 0;
+        message.rawAutopilotResult = object.rawAutopilotResult ?? 0;
+        message.detail = object.detail ?? "";
+        return message;
+    },
+};
+function createBaseCommandLongRequest() {
+    return {
+        command: 0,
+        param1: 0,
+        param2: 0,
+        param3: 0,
+        param4: 0,
+        param5: 0,
+        param6: 0,
+        param7: 0,
+        targetComponent: undefined,
+    };
+}
+exports.CommandLongRequest = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.command !== 0) {
+            writer.uint32(8).uint32(message.command);
+        }
+        if (message.param1 !== 0) {
+            writer.uint32(21).float(message.param1);
+        }
+        if (message.param2 !== 0) {
+            writer.uint32(29).float(message.param2);
+        }
+        if (message.param3 !== 0) {
+            writer.uint32(37).float(message.param3);
+        }
+        if (message.param4 !== 0) {
+            writer.uint32(45).float(message.param4);
+        }
+        if (message.param5 !== 0) {
+            writer.uint32(53).float(message.param5);
+        }
+        if (message.param6 !== 0) {
+            writer.uint32(61).float(message.param6);
+        }
+        if (message.param7 !== 0) {
+            writer.uint32(69).float(message.param7);
+        }
+        if (message.targetComponent !== undefined) {
+            writer.uint32(72).uint32(message.targetComponent);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        let end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseCommandLongRequest();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.command = reader.uint32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 21) {
+                        break;
+                    }
+                    message.param1 = reader.float();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 29) {
+                        break;
+                    }
+                    message.param2 = reader.float();
+                    continue;
+                }
+                case 4: {
+                    if (tag !== 37) {
+                        break;
+                    }
+                    message.param3 = reader.float();
+                    continue;
+                }
+                case 5: {
+                    if (tag !== 45) {
+                        break;
+                    }
+                    message.param4 = reader.float();
+                    continue;
+                }
+                case 6: {
+                    if (tag !== 53) {
+                        break;
+                    }
+                    message.param5 = reader.float();
+                    continue;
+                }
+                case 7: {
+                    if (tag !== 61) {
+                        break;
+                    }
+                    message.param6 = reader.float();
+                    continue;
+                }
+                case 8: {
+                    if (tag !== 69) {
+                        break;
+                    }
+                    message.param7 = reader.float();
+                    continue;
+                }
+                case 9: {
+                    if (tag !== 72) {
+                        break;
+                    }
+                    message.targetComponent = reader.uint32();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            command: isSet(object.command) ? globalThis.Number(object.command) : 0,
+            param1: isSet(object.param1) ? globalThis.Number(object.param1) : 0,
+            param2: isSet(object.param2) ? globalThis.Number(object.param2) : 0,
+            param3: isSet(object.param3) ? globalThis.Number(object.param3) : 0,
+            param4: isSet(object.param4) ? globalThis.Number(object.param4) : 0,
+            param5: isSet(object.param5) ? globalThis.Number(object.param5) : 0,
+            param6: isSet(object.param6) ? globalThis.Number(object.param6) : 0,
+            param7: isSet(object.param7) ? globalThis.Number(object.param7) : 0,
+            targetComponent: isSet(object.targetComponent) ? globalThis.Number(object.targetComponent) : undefined,
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.command !== 0) {
+            obj.command = Math.round(message.command);
+        }
+        if (message.param1 !== 0) {
+            obj.param1 = message.param1;
+        }
+        if (message.param2 !== 0) {
+            obj.param2 = message.param2;
+        }
+        if (message.param3 !== 0) {
+            obj.param3 = message.param3;
+        }
+        if (message.param4 !== 0) {
+            obj.param4 = message.param4;
+        }
+        if (message.param5 !== 0) {
+            obj.param5 = message.param5;
+        }
+        if (message.param6 !== 0) {
+            obj.param6 = message.param6;
+        }
+        if (message.param7 !== 0) {
+            obj.param7 = message.param7;
+        }
+        if (message.targetComponent !== undefined) {
+            obj.targetComponent = Math.round(message.targetComponent);
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.CommandLongRequest.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseCommandLongRequest();
+        message.command = object.command ?? 0;
+        message.param1 = object.param1 ?? 0;
+        message.param2 = object.param2 ?? 0;
+        message.param3 = object.param3 ?? 0;
+        message.param4 = object.param4 ?? 0;
+        message.param5 = object.param5 ?? 0;
+        message.param6 = object.param6 ?? 0;
+        message.param7 = object.param7 ?? 0;
+        message.targetComponent = object.targetComponent ?? undefined;
+        return message;
+    },
+};
+function createBaseCommandLongResponse() {
+    return { result: 0, rawAutopilotResult: 0, detail: "" };
+}
+exports.CommandLongResponse = {
+    encode(message, writer = new wire_1.BinaryWriter()) {
+        if (message.result !== 0) {
+            writer.uint32(8).int32(message.result);
+        }
+        if (message.rawAutopilotResult !== 0) {
+            writer.uint32(16).int32(message.rawAutopilotResult);
+        }
+        if (message.detail !== "") {
+            writer.uint32(26).string(message.detail);
+        }
+        return writer;
+    },
+    decode(input, length) {
+        const reader = input instanceof wire_1.BinaryReader ? input : new wire_1.BinaryReader(input);
+        let end = length === undefined ? reader.len : reader.pos + length;
+        const message = createBaseCommandLongResponse();
+        while (reader.pos < end) {
+            const tag = reader.uint32();
+            switch (tag >>> 3) {
+                case 1: {
+                    if (tag !== 8) {
+                        break;
+                    }
+                    message.result = reader.int32();
+                    continue;
+                }
+                case 2: {
+                    if (tag !== 16) {
+                        break;
+                    }
+                    message.rawAutopilotResult = reader.int32();
+                    continue;
+                }
+                case 3: {
+                    if (tag !== 26) {
+                        break;
+                    }
+                    message.detail = reader.string();
+                    continue;
+                }
+            }
+            if ((tag & 7) === 4 || tag === 0) {
+                break;
+            }
+            reader.skip(tag & 7);
+        }
+        return message;
+    },
+    fromJSON(object) {
+        return {
+            result: isSet(object.result) ? (0, VehicleCommon_1.commandResultFromJSON)(object.result) : 0,
+            rawAutopilotResult: isSet(object.rawAutopilotResult) ? globalThis.Number(object.rawAutopilotResult) : 0,
+            detail: isSet(object.detail) ? globalThis.String(object.detail) : "",
+        };
+    },
+    toJSON(message) {
+        const obj = {};
+        if (message.result !== 0) {
+            obj.result = (0, VehicleCommon_1.commandResultToJSON)(message.result);
+        }
+        if (message.rawAutopilotResult !== 0) {
+            obj.rawAutopilotResult = Math.round(message.rawAutopilotResult);
+        }
+        if (message.detail !== "") {
+            obj.detail = message.detail;
+        }
+        return obj;
+    },
+    create(base) {
+        return exports.CommandLongResponse.fromPartial(base ?? {});
+    },
+    fromPartial(object) {
+        const message = createBaseCommandLongResponse();
+        message.result = object.result ?? 0;
+        message.rawAutopilotResult = object.rawAutopilotResult ?? 0;
+        message.detail = object.detail ?? "";
+        return message;
+    },
+};
+exports.MavlinkCommandServiceName = "MavlinkCommand";
+class MavlinkCommandClientImpl {
+    constructor(rpc, opts) {
+        this.service = opts?.service || exports.MavlinkCommandServiceName;
+        this.rpc = rpc;
+        this.set_message_interval = this.set_message_interval.bind(this);
+        this.send_command_long = this.send_command_long.bind(this);
+    }
+    set_message_interval(request) {
+        const data = exports.SetMessageIntervalRequest.encode(request).finish();
+        const promise = this.rpc.request(this.service, "set_message_interval", data);
+        return promise.then((data) => exports.SetMessageIntervalResponse.decode(new wire_1.BinaryReader(data)));
+    }
+    send_command_long(request) {
+        const data = exports.CommandLongRequest.encode(request).finish();
+        const promise = this.rpc.request(this.service, "send_command_long", data);
+        return promise.then((data) => exports.CommandLongResponse.decode(new wire_1.BinaryReader(data)));
+    }
+}
+exports.MavlinkCommandClientImpl = MavlinkCommandClientImpl;
+function isSet(value) {
+    return value !== null && value !== undefined;
+}

package/dist/interfaces/VehicleCommon.d.ts

@@ -0,0 +1,65 @@
+import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
+export declare const protobufPackage = "";
+/**
+ * Outcome of a vehicle-side command. Values 1..7 mirror the MAVLink
+ * MAV_RESULT enum 1:1 by name (with renumbering so that the proto3
+ * default `UNSPECIFIED = 0` is a safe absent-field sentinel rather than
+ * an accidental ACCEPTED). Values 8 and 9 are connector-internal and
+ * have no MAVLink equivalent.
+ *
+ * For autopilots that expose richer or newer result codes than the ones
+ * modeled here, response messages should carry the raw integer
+ * alongside this enum so callers don't lose information.
+ */
+export declare enum CommandResult {
+    COMMAND_RESULT_UNSPECIFIED = 0,
+    COMMAND_RESULT_ACCEPTED = 1,
+    COMMAND_RESULT_TEMPORARILY_REJECTED = 2,
+    COMMAND_RESULT_DENIED = 3,
+    COMMAND_RESULT_UNSUPPORTED = 4,
+    COMMAND_RESULT_FAILED = 5,
+    COMMAND_RESULT_IN_PROGRESS = 6,
+    COMMAND_RESULT_CANCELLED = 7,
+    /** COMMAND_RESULT_TIMEOUT - The autopilot did not reply within the connector's wait window. */
+    COMMAND_RESULT_TIMEOUT = 8,
+    /**
+     * COMMAND_RESULT_NOT_OBSERVABLE - The MAVLink path used to deliver the command has no acknowledgement
+     * (e.g. SET_POSITION_TARGET_GLOBAL_INT). The command was sent on the
+     * wire but the autopilot's acceptance is not observable directly;
+     * callers must infer success from downstream telemetry.
+     */
+    COMMAND_RESULT_NOT_OBSERVABLE = 9,
+    UNRECOGNIZED = -1
+}
+export declare function commandResultFromJSON(object: any): CommandResult;
+export declare function commandResultToJSON(object: CommandResult): string;
+/**
+ * WGS84 latitude/longitude in plain degrees. Shared by Vehicle*
+ * interfaces that carry geographic positions (missions, geofences,
+ * navigation targets) so consumers see a single coordinate shape
+ * rather than each interface picking its own scaling / units.
+ */
+export interface Coordinate {
+    latitudeDeg: number;
+    longitudeDeg: number;
+}
+export declare const Coordinate: MessageFns<Coordinate>;
+type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
+export 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]>;
+} : Partial<T>;
+type KeysOfUnion<T> = T extends T ? keyof T : never;
+export type Exact<P, I extends P> = P extends Builtin ? P : P & {
+    [K in keyof P]: Exact<P[K], I[K]>;
+} & {
+    [K in Exclude<keyof I, KeysOfUnion<P>>]: never;
+};
+export interface MessageFns<T> {
+    encode(message: T, writer?: BinaryWriter): BinaryWriter;
+    decode(input: BinaryReader | Uint8Array, length?: number): T;
+    fromJSON(object: any): T;
+    toJSON(message: T): unknown;
+    create<I extends Exact<DeepPartial<T>, I>>(base?: I): T;
+    fromPartial<I extends Exact<DeepPartial<T>, I>>(object: I): T;
+}
+export {};