spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
1,127 lines (1,126 loc) • 51.9 kB
JavaScript
"use strict";
var __importDefault = (this && this.__importDefault) || function (mod) {
return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
exports.GetDockingStateResponse = exports.GetDockingStateRequest = exports.DockState = exports.GetDockingConfigResponse = exports.GetDockingConfigRequest = exports.ConfigRange = exports.DockingCommandFeedbackResponse = exports.DockingCommandFeedbackRequest = exports.DockingCommandResponse = exports.DockingCommandRequest = exports.dockState_LinkStatusToJSON = exports.dockState_LinkStatusFromJSON = exports.DockState_LinkStatus = exports.dockState_DockedStatusToJSON = exports.dockState_DockedStatusFromJSON = exports.DockState_DockedStatus = exports.dockingCommandFeedbackResponse_StatusToJSON = exports.dockingCommandFeedbackResponse_StatusFromJSON = exports.DockingCommandFeedbackResponse_Status = exports.dockingCommandResponse_StatusToJSON = exports.dockingCommandResponse_StatusFromJSON = exports.DockingCommandResponse_Status = exports.prepPoseBehaviorToJSON = exports.prepPoseBehaviorFromJSON = exports.PrepPoseBehavior = exports.dockTypeToJSON = exports.dockTypeFromJSON = exports.DockType = exports.protobufPackage = void 0;
/* eslint-disable */
const timestamp_1 = require("../../../google/protobuf/timestamp");
const header_1 = require("../header");
const lease_1 = require("../lease");
const minimal_1 = __importDefault(require("protobufjs/minimal"));
exports.protobufPackage = "bosdyn.api.docking";
/** Type of dock */
var DockType;
(function (DockType) {
/** DOCK_TYPE_UNKNOWN - Unknown type of dock */
DockType[DockType["DOCK_TYPE_UNKNOWN"] = 0] = "DOCK_TYPE_UNKNOWN";
/** DOCK_TYPE_CONTACT_PROTOTYPE - Prototype version SpotDock */
DockType[DockType["DOCK_TYPE_CONTACT_PROTOTYPE"] = 2] = "DOCK_TYPE_CONTACT_PROTOTYPE";
/** DOCK_TYPE_SPOT_DOCK - Production version SpotDock */
DockType[DockType["DOCK_TYPE_SPOT_DOCK"] = 3] = "DOCK_TYPE_SPOT_DOCK";
DockType[DockType["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(DockType = exports.DockType || (exports.DockType = {}));
function dockTypeFromJSON(object) {
switch (object) {
case 0:
case "DOCK_TYPE_UNKNOWN":
return DockType.DOCK_TYPE_UNKNOWN;
case 2:
case "DOCK_TYPE_CONTACT_PROTOTYPE":
return DockType.DOCK_TYPE_CONTACT_PROTOTYPE;
case 3:
case "DOCK_TYPE_SPOT_DOCK":
return DockType.DOCK_TYPE_SPOT_DOCK;
case -1:
case "UNRECOGNIZED":
default:
return DockType.UNRECOGNIZED;
}
}
exports.dockTypeFromJSON = dockTypeFromJSON;
function dockTypeToJSON(object) {
switch (object) {
case DockType.DOCK_TYPE_UNKNOWN:
return "DOCK_TYPE_UNKNOWN";
case DockType.DOCK_TYPE_CONTACT_PROTOTYPE:
return "DOCK_TYPE_CONTACT_PROTOTYPE";
case DockType.DOCK_TYPE_SPOT_DOCK:
return "DOCK_TYPE_SPOT_DOCK";
case DockType.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.dockTypeToJSON = dockTypeToJSON;
/** Defines how and whether we use the "pre-docking" pose. */
var PrepPoseBehavior;
(function (PrepPoseBehavior) {
/** PREP_POSE_UNKNOWN - Default behavior, equivalent to PREP_POSE_USE_POSE. */
PrepPoseBehavior[PrepPoseBehavior["PREP_POSE_UNKNOWN"] = 0] = "PREP_POSE_UNKNOWN";
/** PREP_POSE_USE_POSE - Goes to the pre-docking pose before docking. */
PrepPoseBehavior[PrepPoseBehavior["PREP_POSE_USE_POSE"] = 1] = "PREP_POSE_USE_POSE";
/** PREP_POSE_SKIP_POSE - Docks before going to the pre-docking pose. */
PrepPoseBehavior[PrepPoseBehavior["PREP_POSE_SKIP_POSE"] = 2] = "PREP_POSE_SKIP_POSE";
/** PREP_POSE_ONLY_POSE - Goes to the pre-docking pose, and then returns SUCCESS without docking. */
PrepPoseBehavior[PrepPoseBehavior["PREP_POSE_ONLY_POSE"] = 3] = "PREP_POSE_ONLY_POSE";
/** PREP_POSE_UNDOCK - Use this enum to undock a currently docked robot. */
PrepPoseBehavior[PrepPoseBehavior["PREP_POSE_UNDOCK"] = 4] = "PREP_POSE_UNDOCK";
PrepPoseBehavior[PrepPoseBehavior["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(PrepPoseBehavior = exports.PrepPoseBehavior || (exports.PrepPoseBehavior = {}));
function prepPoseBehaviorFromJSON(object) {
switch (object) {
case 0:
case "PREP_POSE_UNKNOWN":
return PrepPoseBehavior.PREP_POSE_UNKNOWN;
case 1:
case "PREP_POSE_USE_POSE":
return PrepPoseBehavior.PREP_POSE_USE_POSE;
case 2:
case "PREP_POSE_SKIP_POSE":
return PrepPoseBehavior.PREP_POSE_SKIP_POSE;
case 3:
case "PREP_POSE_ONLY_POSE":
return PrepPoseBehavior.PREP_POSE_ONLY_POSE;
case 4:
case "PREP_POSE_UNDOCK":
return PrepPoseBehavior.PREP_POSE_UNDOCK;
case -1:
case "UNRECOGNIZED":
default:
return PrepPoseBehavior.UNRECOGNIZED;
}
}
exports.prepPoseBehaviorFromJSON = prepPoseBehaviorFromJSON;
function prepPoseBehaviorToJSON(object) {
switch (object) {
case PrepPoseBehavior.PREP_POSE_UNKNOWN:
return "PREP_POSE_UNKNOWN";
case PrepPoseBehavior.PREP_POSE_USE_POSE:
return "PREP_POSE_USE_POSE";
case PrepPoseBehavior.PREP_POSE_SKIP_POSE:
return "PREP_POSE_SKIP_POSE";
case PrepPoseBehavior.PREP_POSE_ONLY_POSE:
return "PREP_POSE_ONLY_POSE";
case PrepPoseBehavior.PREP_POSE_UNDOCK:
return "PREP_POSE_UNDOCK";
case PrepPoseBehavior.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.prepPoseBehaviorToJSON = prepPoseBehaviorToJSON;
var DockingCommandResponse_Status;
(function (DockingCommandResponse_Status) {
/** STATUS_UNKNOWN - Status is not specified. */
DockingCommandResponse_Status[DockingCommandResponse_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_OK - Docking command accepted */
DockingCommandResponse_Status[DockingCommandResponse_Status["STATUS_OK"] = 1] = "STATUS_OK";
/** STATUS_ERROR_LEASE - ERROR: Lease rejected */
DockingCommandResponse_Status[DockingCommandResponse_Status["STATUS_ERROR_LEASE"] = 4] = "STATUS_ERROR_LEASE";
/** STATUS_ERROR_DOCK_NOT_FOUND - ERROR: Dock fiducial not found. */
DockingCommandResponse_Status[DockingCommandResponse_Status["STATUS_ERROR_DOCK_NOT_FOUND"] = 5] = "STATUS_ERROR_DOCK_NOT_FOUND";
/** STATUS_ERROR_NOT_DOCKED - ERROR: Trying to undock while not docked */
DockingCommandResponse_Status[DockingCommandResponse_Status["STATUS_ERROR_NOT_DOCKED"] = 6] = "STATUS_ERROR_NOT_DOCKED";
/** STATUS_ERROR_GRIPPER_HOLDING_ITEM - ERROR: Trying to dock when the arm is holding an object. */
DockingCommandResponse_Status[DockingCommandResponse_Status["STATUS_ERROR_GRIPPER_HOLDING_ITEM"] = 8] = "STATUS_ERROR_GRIPPER_HOLDING_ITEM";
/** STATUS_ERROR_NOT_AVAILABLE - ERROR: The dock is not available for docking. */
DockingCommandResponse_Status[DockingCommandResponse_Status["STATUS_ERROR_NOT_AVAILABLE"] = 9] = "STATUS_ERROR_NOT_AVAILABLE";
/**
* STATUS_ERROR_SYSTEM - ERROR: Internal system error during execution
* This error cannot be resolved by issuing a new DockingCommand
* Check the returned message for details
*/
DockingCommandResponse_Status[DockingCommandResponse_Status["STATUS_ERROR_SYSTEM"] = 7] = "STATUS_ERROR_SYSTEM";
DockingCommandResponse_Status[DockingCommandResponse_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(DockingCommandResponse_Status = exports.DockingCommandResponse_Status || (exports.DockingCommandResponse_Status = {}));
function dockingCommandResponse_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return DockingCommandResponse_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_OK":
return DockingCommandResponse_Status.STATUS_OK;
case 4:
case "STATUS_ERROR_LEASE":
return DockingCommandResponse_Status.STATUS_ERROR_LEASE;
case 5:
case "STATUS_ERROR_DOCK_NOT_FOUND":
return DockingCommandResponse_Status.STATUS_ERROR_DOCK_NOT_FOUND;
case 6:
case "STATUS_ERROR_NOT_DOCKED":
return DockingCommandResponse_Status.STATUS_ERROR_NOT_DOCKED;
case 8:
case "STATUS_ERROR_GRIPPER_HOLDING_ITEM":
return DockingCommandResponse_Status.STATUS_ERROR_GRIPPER_HOLDING_ITEM;
case 9:
case "STATUS_ERROR_NOT_AVAILABLE":
return DockingCommandResponse_Status.STATUS_ERROR_NOT_AVAILABLE;
case 7:
case "STATUS_ERROR_SYSTEM":
return DockingCommandResponse_Status.STATUS_ERROR_SYSTEM;
case -1:
case "UNRECOGNIZED":
default:
return DockingCommandResponse_Status.UNRECOGNIZED;
}
}
exports.dockingCommandResponse_StatusFromJSON = dockingCommandResponse_StatusFromJSON;
function dockingCommandResponse_StatusToJSON(object) {
switch (object) {
case DockingCommandResponse_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case DockingCommandResponse_Status.STATUS_OK:
return "STATUS_OK";
case DockingCommandResponse_Status.STATUS_ERROR_LEASE:
return "STATUS_ERROR_LEASE";
case DockingCommandResponse_Status.STATUS_ERROR_DOCK_NOT_FOUND:
return "STATUS_ERROR_DOCK_NOT_FOUND";
case DockingCommandResponse_Status.STATUS_ERROR_NOT_DOCKED:
return "STATUS_ERROR_NOT_DOCKED";
case DockingCommandResponse_Status.STATUS_ERROR_GRIPPER_HOLDING_ITEM:
return "STATUS_ERROR_GRIPPER_HOLDING_ITEM";
case DockingCommandResponse_Status.STATUS_ERROR_NOT_AVAILABLE:
return "STATUS_ERROR_NOT_AVAILABLE";
case DockingCommandResponse_Status.STATUS_ERROR_SYSTEM:
return "STATUS_ERROR_SYSTEM";
case DockingCommandResponse_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.dockingCommandResponse_StatusToJSON = dockingCommandResponse_StatusToJSON;
var DockingCommandFeedbackResponse_Status;
(function (DockingCommandFeedbackResponse_Status) {
/** STATUS_UNKNOWN - Status is not specified. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_IN_PROGRESS - Docking command is executing. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_IN_PROGRESS"] = 1] = "STATUS_IN_PROGRESS";
/** STATUS_DOCKED - Docking command succeeded, the robot is docked. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_DOCKED"] = 2] = "STATUS_DOCKED";
/** STATUS_AT_PREP_POSE - Final success state for `PREP_POSE_ONLY_POSE` or `PREP_POSE_UNDOCK`. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_AT_PREP_POSE"] = 11] = "STATUS_AT_PREP_POSE";
/**
* STATUS_MISALIGNED - Misaligned was detected between the robot and the dock.
* The docking command was aborted to save an ending up in an unrecoverable state, please try again.
*/
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_MISALIGNED"] = 10] = "STATUS_MISALIGNED";
/** STATUS_OLD_DOCKING_COMMAND - This DockingCommand overridden by new docking command. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_OLD_DOCKING_COMMAND"] = 3] = "STATUS_OLD_DOCKING_COMMAND";
/** STATUS_ERROR_DOCK_LOST - ERROR: The sensed dock has been lost and is no longer found. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_ERROR_DOCK_LOST"] = 4] = "STATUS_ERROR_DOCK_LOST";
/** STATUS_ERROR_LEASE - ERROR: Lease rejected. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_ERROR_LEASE"] = 5] = "STATUS_ERROR_LEASE";
/** STATUS_ERROR_COMMAND_TIMED_OUT - ERROR: End time has been reached. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_ERROR_COMMAND_TIMED_OUT"] = 6] = "STATUS_ERROR_COMMAND_TIMED_OUT";
/** STATUS_ERROR_NO_TIMESYNC - ERROR: No Timesync with system. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_ERROR_NO_TIMESYNC"] = 7] = "STATUS_ERROR_NO_TIMESYNC";
/** STATUS_ERROR_TOO_DISTANT - ERROR: Provided end time too far in the future. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_ERROR_TOO_DISTANT"] = 8] = "STATUS_ERROR_TOO_DISTANT";
/** STATUS_ERROR_NOT_AVAILABLE - ERROR: The dock is not available for docking. */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_ERROR_NOT_AVAILABLE"] = 12] = "STATUS_ERROR_NOT_AVAILABLE";
/** STATUS_ERROR_UNREFINED_PRIOR - ERROR: The prior could not be confirmed as a real dock */
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_ERROR_UNREFINED_PRIOR"] = 13] = "STATUS_ERROR_UNREFINED_PRIOR";
/**
* STATUS_ERROR_SYSTEM - ERROR: Internal system error during execution
* This error cannot be resolved by issuing a new DockingCommand
* Check the returned message for details
*/
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["STATUS_ERROR_SYSTEM"] = 9] = "STATUS_ERROR_SYSTEM";
DockingCommandFeedbackResponse_Status[DockingCommandFeedbackResponse_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(DockingCommandFeedbackResponse_Status = exports.DockingCommandFeedbackResponse_Status || (exports.DockingCommandFeedbackResponse_Status = {}));
function dockingCommandFeedbackResponse_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return DockingCommandFeedbackResponse_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_IN_PROGRESS":
return DockingCommandFeedbackResponse_Status.STATUS_IN_PROGRESS;
case 2:
case "STATUS_DOCKED":
return DockingCommandFeedbackResponse_Status.STATUS_DOCKED;
case 11:
case "STATUS_AT_PREP_POSE":
return DockingCommandFeedbackResponse_Status.STATUS_AT_PREP_POSE;
case 10:
case "STATUS_MISALIGNED":
return DockingCommandFeedbackResponse_Status.STATUS_MISALIGNED;
case 3:
case "STATUS_OLD_DOCKING_COMMAND":
return DockingCommandFeedbackResponse_Status.STATUS_OLD_DOCKING_COMMAND;
case 4:
case "STATUS_ERROR_DOCK_LOST":
return DockingCommandFeedbackResponse_Status.STATUS_ERROR_DOCK_LOST;
case 5:
case "STATUS_ERROR_LEASE":
return DockingCommandFeedbackResponse_Status.STATUS_ERROR_LEASE;
case 6:
case "STATUS_ERROR_COMMAND_TIMED_OUT":
return DockingCommandFeedbackResponse_Status.STATUS_ERROR_COMMAND_TIMED_OUT;
case 7:
case "STATUS_ERROR_NO_TIMESYNC":
return DockingCommandFeedbackResponse_Status.STATUS_ERROR_NO_TIMESYNC;
case 8:
case "STATUS_ERROR_TOO_DISTANT":
return DockingCommandFeedbackResponse_Status.STATUS_ERROR_TOO_DISTANT;
case 12:
case "STATUS_ERROR_NOT_AVAILABLE":
return DockingCommandFeedbackResponse_Status.STATUS_ERROR_NOT_AVAILABLE;
case 13:
case "STATUS_ERROR_UNREFINED_PRIOR":
return DockingCommandFeedbackResponse_Status.STATUS_ERROR_UNREFINED_PRIOR;
case 9:
case "STATUS_ERROR_SYSTEM":
return DockingCommandFeedbackResponse_Status.STATUS_ERROR_SYSTEM;
case -1:
case "UNRECOGNIZED":
default:
return DockingCommandFeedbackResponse_Status.UNRECOGNIZED;
}
}
exports.dockingCommandFeedbackResponse_StatusFromJSON = dockingCommandFeedbackResponse_StatusFromJSON;
function dockingCommandFeedbackResponse_StatusToJSON(object) {
switch (object) {
case DockingCommandFeedbackResponse_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case DockingCommandFeedbackResponse_Status.STATUS_IN_PROGRESS:
return "STATUS_IN_PROGRESS";
case DockingCommandFeedbackResponse_Status.STATUS_DOCKED:
return "STATUS_DOCKED";
case DockingCommandFeedbackResponse_Status.STATUS_AT_PREP_POSE:
return "STATUS_AT_PREP_POSE";
case DockingCommandFeedbackResponse_Status.STATUS_MISALIGNED:
return "STATUS_MISALIGNED";
case DockingCommandFeedbackResponse_Status.STATUS_OLD_DOCKING_COMMAND:
return "STATUS_OLD_DOCKING_COMMAND";
case DockingCommandFeedbackResponse_Status.STATUS_ERROR_DOCK_LOST:
return "STATUS_ERROR_DOCK_LOST";
case DockingCommandFeedbackResponse_Status.STATUS_ERROR_LEASE:
return "STATUS_ERROR_LEASE";
case DockingCommandFeedbackResponse_Status.STATUS_ERROR_COMMAND_TIMED_OUT:
return "STATUS_ERROR_COMMAND_TIMED_OUT";
case DockingCommandFeedbackResponse_Status.STATUS_ERROR_NO_TIMESYNC:
return "STATUS_ERROR_NO_TIMESYNC";
case DockingCommandFeedbackResponse_Status.STATUS_ERROR_TOO_DISTANT:
return "STATUS_ERROR_TOO_DISTANT";
case DockingCommandFeedbackResponse_Status.STATUS_ERROR_NOT_AVAILABLE:
return "STATUS_ERROR_NOT_AVAILABLE";
case DockingCommandFeedbackResponse_Status.STATUS_ERROR_UNREFINED_PRIOR:
return "STATUS_ERROR_UNREFINED_PRIOR";
case DockingCommandFeedbackResponse_Status.STATUS_ERROR_SYSTEM:
return "STATUS_ERROR_SYSTEM";
case DockingCommandFeedbackResponse_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.dockingCommandFeedbackResponse_StatusToJSON = dockingCommandFeedbackResponse_StatusToJSON;
var DockState_DockedStatus;
(function (DockState_DockedStatus) {
/** DOCK_STATUS_UNKNOWN - Unknown */
DockState_DockedStatus[DockState_DockedStatus["DOCK_STATUS_UNKNOWN"] = 0] = "DOCK_STATUS_UNKNOWN";
/** DOCK_STATUS_DOCKED - Robot is detected as on a dock */
DockState_DockedStatus[DockState_DockedStatus["DOCK_STATUS_DOCKED"] = 1] = "DOCK_STATUS_DOCKED";
/** DOCK_STATUS_DOCKING - Robot is currently running a docking command */
DockState_DockedStatus[DockState_DockedStatus["DOCK_STATUS_DOCKING"] = 2] = "DOCK_STATUS_DOCKING";
/** DOCK_STATUS_UNDOCKED - Robot is not detected as on dock */
DockState_DockedStatus[DockState_DockedStatus["DOCK_STATUS_UNDOCKED"] = 3] = "DOCK_STATUS_UNDOCKED";
/** DOCK_STATUS_UNDOCKING - Robot is currently running an undocking command */
DockState_DockedStatus[DockState_DockedStatus["DOCK_STATUS_UNDOCKING"] = 4] = "DOCK_STATUS_UNDOCKING";
DockState_DockedStatus[DockState_DockedStatus["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(DockState_DockedStatus = exports.DockState_DockedStatus || (exports.DockState_DockedStatus = {}));
function dockState_DockedStatusFromJSON(object) {
switch (object) {
case 0:
case "DOCK_STATUS_UNKNOWN":
return DockState_DockedStatus.DOCK_STATUS_UNKNOWN;
case 1:
case "DOCK_STATUS_DOCKED":
return DockState_DockedStatus.DOCK_STATUS_DOCKED;
case 2:
case "DOCK_STATUS_DOCKING":
return DockState_DockedStatus.DOCK_STATUS_DOCKING;
case 3:
case "DOCK_STATUS_UNDOCKED":
return DockState_DockedStatus.DOCK_STATUS_UNDOCKED;
case 4:
case "DOCK_STATUS_UNDOCKING":
return DockState_DockedStatus.DOCK_STATUS_UNDOCKING;
case -1:
case "UNRECOGNIZED":
default:
return DockState_DockedStatus.UNRECOGNIZED;
}
}
exports.dockState_DockedStatusFromJSON = dockState_DockedStatusFromJSON;
function dockState_DockedStatusToJSON(object) {
switch (object) {
case DockState_DockedStatus.DOCK_STATUS_UNKNOWN:
return "DOCK_STATUS_UNKNOWN";
case DockState_DockedStatus.DOCK_STATUS_DOCKED:
return "DOCK_STATUS_DOCKED";
case DockState_DockedStatus.DOCK_STATUS_DOCKING:
return "DOCK_STATUS_DOCKING";
case DockState_DockedStatus.DOCK_STATUS_UNDOCKED:
return "DOCK_STATUS_UNDOCKED";
case DockState_DockedStatus.DOCK_STATUS_UNDOCKING:
return "DOCK_STATUS_UNDOCKING";
case DockState_DockedStatus.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.dockState_DockedStatusToJSON = dockState_DockedStatusToJSON;
var DockState_LinkStatus;
(function (DockState_LinkStatus) {
/** LINK_STATUS_UNKNOWN - Unknown or Not applicable */
DockState_LinkStatus[DockState_LinkStatus["LINK_STATUS_UNKNOWN"] = 0] = "LINK_STATUS_UNKNOWN";
/** LINK_STATUS_DETECTING - The link status is being detected */
DockState_LinkStatus[DockState_LinkStatus["LINK_STATUS_DETECTING"] = 3] = "LINK_STATUS_DETECTING";
/** LINK_STATUS_CONNECTED - The link is detected as connected */
DockState_LinkStatus[DockState_LinkStatus["LINK_STATUS_CONNECTED"] = 1] = "LINK_STATUS_CONNECTED";
/** LINK_STATUS_ERROR - The link could not be detected */
DockState_LinkStatus[DockState_LinkStatus["LINK_STATUS_ERROR"] = 2] = "LINK_STATUS_ERROR";
DockState_LinkStatus[DockState_LinkStatus["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(DockState_LinkStatus = exports.DockState_LinkStatus || (exports.DockState_LinkStatus = {}));
function dockState_LinkStatusFromJSON(object) {
switch (object) {
case 0:
case "LINK_STATUS_UNKNOWN":
return DockState_LinkStatus.LINK_STATUS_UNKNOWN;
case 3:
case "LINK_STATUS_DETECTING":
return DockState_LinkStatus.LINK_STATUS_DETECTING;
case 1:
case "LINK_STATUS_CONNECTED":
return DockState_LinkStatus.LINK_STATUS_CONNECTED;
case 2:
case "LINK_STATUS_ERROR":
return DockState_LinkStatus.LINK_STATUS_ERROR;
case -1:
case "UNRECOGNIZED":
default:
return DockState_LinkStatus.UNRECOGNIZED;
}
}
exports.dockState_LinkStatusFromJSON = dockState_LinkStatusFromJSON;
function dockState_LinkStatusToJSON(object) {
switch (object) {
case DockState_LinkStatus.LINK_STATUS_UNKNOWN:
return "LINK_STATUS_UNKNOWN";
case DockState_LinkStatus.LINK_STATUS_DETECTING:
return "LINK_STATUS_DETECTING";
case DockState_LinkStatus.LINK_STATUS_CONNECTED:
return "LINK_STATUS_CONNECTED";
case DockState_LinkStatus.LINK_STATUS_ERROR:
return "LINK_STATUS_ERROR";
case DockState_LinkStatus.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.dockState_LinkStatusToJSON = dockState_LinkStatusToJSON;
function createBaseDockingCommandRequest() {
return {
header: undefined,
lease: undefined,
dockingStationId: 0,
clockIdentifier: "",
endTime: undefined,
prepPoseBehavior: 0,
};
}
exports.DockingCommandRequest = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.header !== undefined) {
header_1.RequestHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
if (message.lease !== undefined) {
lease_1.Lease.encode(message.lease, writer.uint32(18).fork()).ldelim();
}
if (message.dockingStationId !== 0) {
writer.uint32(24).uint32(message.dockingStationId);
}
if (message.clockIdentifier !== "") {
writer.uint32(34).string(message.clockIdentifier);
}
if (message.endTime !== undefined) {
timestamp_1.Timestamp.encode(toTimestamp(message.endTime), writer.uint32(42).fork()).ldelim();
}
if (message.prepPoseBehavior !== 0) {
writer.uint32(72).int32(message.prepPoseBehavior);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseDockingCommandRequest();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = header_1.RequestHeader.decode(reader, reader.uint32());
break;
case 2:
message.lease = lease_1.Lease.decode(reader, reader.uint32());
break;
case 3:
message.dockingStationId = reader.uint32();
break;
case 4:
message.clockIdentifier = reader.string();
break;
case 5:
message.endTime = fromTimestamp(timestamp_1.Timestamp.decode(reader, reader.uint32()));
break;
case 9:
message.prepPoseBehavior = reader.int32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
header: isSet(object.header)
? header_1.RequestHeader.fromJSON(object.header)
: undefined,
lease: isSet(object.lease) ? lease_1.Lease.fromJSON(object.lease) : undefined,
dockingStationId: isSet(object.dockingStationId)
? Number(object.dockingStationId)
: 0,
clockIdentifier: isSet(object.clockIdentifier)
? String(object.clockIdentifier)
: "",
endTime: isSet(object.endTime)
? fromJsonTimestamp(object.endTime)
: undefined,
prepPoseBehavior: isSet(object.prepPoseBehavior)
? prepPoseBehaviorFromJSON(object.prepPoseBehavior)
: 0,
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.RequestHeader.toJSON(message.header)
: undefined);
message.lease !== undefined &&
(obj.lease = message.lease ? lease_1.Lease.toJSON(message.lease) : undefined);
message.dockingStationId !== undefined &&
(obj.dockingStationId = Math.round(message.dockingStationId));
message.clockIdentifier !== undefined &&
(obj.clockIdentifier = message.clockIdentifier);
message.endTime !== undefined &&
(obj.endTime = message.endTime.toISOString());
message.prepPoseBehavior !== undefined &&
(obj.prepPoseBehavior = prepPoseBehaviorToJSON(message.prepPoseBehavior));
return obj;
},
fromPartial(object) {
const message = createBaseDockingCommandRequest();
message.header =
object.header !== undefined && object.header !== null
? header_1.RequestHeader.fromPartial(object.header)
: undefined;
message.lease =
object.lease !== undefined && object.lease !== null
? lease_1.Lease.fromPartial(object.lease)
: undefined;
message.dockingStationId = object.dockingStationId ?? 0;
message.clockIdentifier = object.clockIdentifier ?? "";
message.endTime = object.endTime ?? undefined;
message.prepPoseBehavior = object.prepPoseBehavior ?? 0;
return message;
},
};
function createBaseDockingCommandResponse() {
return {
header: undefined,
leaseUseResult: undefined,
status: 0,
dockingCommandId: 0,
};
}
exports.DockingCommandResponse = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.header !== undefined) {
header_1.ResponseHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
if (message.leaseUseResult !== undefined) {
lease_1.LeaseUseResult.encode(message.leaseUseResult, writer.uint32(18).fork()).ldelim();
}
if (message.status !== 0) {
writer.uint32(24).int32(message.status);
}
if (message.dockingCommandId !== 0) {
writer.uint32(40).uint32(message.dockingCommandId);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseDockingCommandResponse();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = header_1.ResponseHeader.decode(reader, reader.uint32());
break;
case 2:
message.leaseUseResult = lease_1.LeaseUseResult.decode(reader, reader.uint32());
break;
case 3:
message.status = reader.int32();
break;
case 5:
message.dockingCommandId = reader.uint32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
header: isSet(object.header)
? header_1.ResponseHeader.fromJSON(object.header)
: undefined,
leaseUseResult: isSet(object.leaseUseResult)
? lease_1.LeaseUseResult.fromJSON(object.leaseUseResult)
: undefined,
status: isSet(object.status)
? dockingCommandResponse_StatusFromJSON(object.status)
: 0,
dockingCommandId: isSet(object.dockingCommandId)
? Number(object.dockingCommandId)
: 0,
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.ResponseHeader.toJSON(message.header)
: undefined);
message.leaseUseResult !== undefined &&
(obj.leaseUseResult = message.leaseUseResult
? lease_1.LeaseUseResult.toJSON(message.leaseUseResult)
: undefined);
message.status !== undefined &&
(obj.status = dockingCommandResponse_StatusToJSON(message.status));
message.dockingCommandId !== undefined &&
(obj.dockingCommandId = Math.round(message.dockingCommandId));
return obj;
},
fromPartial(object) {
const message = createBaseDockingCommandResponse();
message.header =
object.header !== undefined && object.header !== null
? header_1.ResponseHeader.fromPartial(object.header)
: undefined;
message.leaseUseResult =
object.leaseUseResult !== undefined && object.leaseUseResult !== null
? lease_1.LeaseUseResult.fromPartial(object.leaseUseResult)
: undefined;
message.status = object.status ?? 0;
message.dockingCommandId = object.dockingCommandId ?? 0;
return message;
},
};
function createBaseDockingCommandFeedbackRequest() {
return { header: undefined, dockingCommandId: 0 };
}
exports.DockingCommandFeedbackRequest = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.header !== undefined) {
header_1.RequestHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
if (message.dockingCommandId !== 0) {
writer.uint32(16).uint32(message.dockingCommandId);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseDockingCommandFeedbackRequest();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = header_1.RequestHeader.decode(reader, reader.uint32());
break;
case 2:
message.dockingCommandId = reader.uint32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
header: isSet(object.header)
? header_1.RequestHeader.fromJSON(object.header)
: undefined,
dockingCommandId: isSet(object.dockingCommandId)
? Number(object.dockingCommandId)
: 0,
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.RequestHeader.toJSON(message.header)
: undefined);
message.dockingCommandId !== undefined &&
(obj.dockingCommandId = Math.round(message.dockingCommandId));
return obj;
},
fromPartial(object) {
const message = createBaseDockingCommandFeedbackRequest();
message.header =
object.header !== undefined && object.header !== null
? header_1.RequestHeader.fromPartial(object.header)
: undefined;
message.dockingCommandId = object.dockingCommandId ?? 0;
return message;
},
};
function createBaseDockingCommandFeedbackResponse() {
return { header: undefined, leaseUseResult: undefined, status: 0 };
}
exports.DockingCommandFeedbackResponse = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.header !== undefined) {
header_1.ResponseHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
if (message.leaseUseResult !== undefined) {
lease_1.LeaseUseResult.encode(message.leaseUseResult, writer.uint32(18).fork()).ldelim();
}
if (message.status !== 0) {
writer.uint32(24).int32(message.status);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseDockingCommandFeedbackResponse();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = header_1.ResponseHeader.decode(reader, reader.uint32());
break;
case 2:
message.leaseUseResult = lease_1.LeaseUseResult.decode(reader, reader.uint32());
break;
case 3:
message.status = reader.int32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
header: isSet(object.header)
? header_1.ResponseHeader.fromJSON(object.header)
: undefined,
leaseUseResult: isSet(object.leaseUseResult)
? lease_1.LeaseUseResult.fromJSON(object.leaseUseResult)
: undefined,
status: isSet(object.status)
? dockingCommandFeedbackResponse_StatusFromJSON(object.status)
: 0,
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.ResponseHeader.toJSON(message.header)
: undefined);
message.leaseUseResult !== undefined &&
(obj.leaseUseResult = message.leaseUseResult
? lease_1.LeaseUseResult.toJSON(message.leaseUseResult)
: undefined);
message.status !== undefined &&
(obj.status = dockingCommandFeedbackResponse_StatusToJSON(message.status));
return obj;
},
fromPartial(object) {
const message = createBaseDockingCommandFeedbackResponse();
message.header =
object.header !== undefined && object.header !== null
? header_1.ResponseHeader.fromPartial(object.header)
: undefined;
message.leaseUseResult =
object.leaseUseResult !== undefined && object.leaseUseResult !== null
? lease_1.LeaseUseResult.fromPartial(object.leaseUseResult)
: undefined;
message.status = object.status ?? 0;
return message;
},
};
function createBaseConfigRange() {
return { idStart: 0, idEnd: 0, type: 0 };
}
exports.ConfigRange = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.idStart !== 0) {
writer.uint32(8).uint32(message.idStart);
}
if (message.idEnd !== 0) {
writer.uint32(16).uint32(message.idEnd);
}
if (message.type !== 0) {
writer.uint32(24).int32(message.type);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseConfigRange();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.idStart = reader.uint32();
break;
case 2:
message.idEnd = reader.uint32();
break;
case 3:
message.type = reader.int32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
idStart: isSet(object.idStart) ? Number(object.idStart) : 0,
idEnd: isSet(object.idEnd) ? Number(object.idEnd) : 0,
type: isSet(object.type) ? dockTypeFromJSON(object.type) : 0,
};
},
toJSON(message) {
const obj = {};
message.idStart !== undefined &&
(obj.idStart = Math.round(message.idStart));
message.idEnd !== undefined && (obj.idEnd = Math.round(message.idEnd));
message.type !== undefined && (obj.type = dockTypeToJSON(message.type));
return obj;
},
fromPartial(object) {
const message = createBaseConfigRange();
message.idStart = object.idStart ?? 0;
message.idEnd = object.idEnd ?? 0;
message.type = object.type ?? 0;
return message;
},
};
function createBaseGetDockingConfigRequest() {
return { header: undefined };
}
exports.GetDockingConfigRequest = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.header !== undefined) {
header_1.RequestHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGetDockingConfigRequest();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = header_1.RequestHeader.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
header: isSet(object.header)
? header_1.RequestHeader.fromJSON(object.header)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.RequestHeader.toJSON(message.header)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseGetDockingConfigRequest();
message.header =
object.header !== undefined && object.header !== null
? header_1.RequestHeader.fromPartial(object.header)
: undefined;
return message;
},
};
function createBaseGetDockingConfigResponse() {
return { header: undefined, dockConfigs: [] };
}
exports.GetDockingConfigResponse = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.header !== undefined) {
header_1.ResponseHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
for (const v of message.dockConfigs) {
exports.ConfigRange.encode(v, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGetDockingConfigResponse();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = header_1.ResponseHeader.decode(reader, reader.uint32());
break;
case 2:
message.dockConfigs.push(exports.ConfigRange.decode(reader, reader.uint32()));
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
header: isSet(object.header)
? header_1.ResponseHeader.fromJSON(object.header)
: undefined,
dockConfigs: Array.isArray(object?.dockConfigs)
? object.dockConfigs.map((e) => exports.ConfigRange.fromJSON(e))
: [],
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.ResponseHeader.toJSON(message.header)
: undefined);
if (message.dockConfigs) {
obj.dockConfigs = message.dockConfigs.map((e) => e ? exports.ConfigRange.toJSON(e) : undefined);
}
else {
obj.dockConfigs = [];
}
return obj;
},
fromPartial(object) {
const message = createBaseGetDockingConfigResponse();
message.header =
object.header !== undefined && object.header !== null
? header_1.ResponseHeader.fromPartial(object.header)
: undefined;
message.dockConfigs =
object.dockConfigs?.map((e) => exports.ConfigRange.fromPartial(e)) || [];
return message;
},
};
function createBaseDockState() {
return { status: 0, dockType: 0, dockId: 0, powerStatus: 0 };
}
exports.DockState = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.status !== 0) {
writer.uint32(8).int32(message.status);
}
if (message.dockType !== 0) {
writer.uint32(16).int32(message.dockType);
}
if (message.dockId !== 0) {
writer.uint32(24).uint32(message.dockId);
}
if (message.powerStatus !== 0) {
writer.uint32(32).int32(message.powerStatus);
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseDockState();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.status = reader.int32();
break;
case 2:
message.dockType = reader.int32();
break;
case 3:
message.dockId = reader.uint32();
break;
case 4:
message.powerStatus = reader.int32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
status: isSet(object.status)
? dockState_DockedStatusFromJSON(object.status)
: 0,
dockType: isSet(object.dockType) ? dockTypeFromJSON(object.dockType) : 0,
dockId: isSet(object.dockId) ? Number(object.dockId) : 0,
powerStatus: isSet(object.powerStatus)
? dockState_LinkStatusFromJSON(object.powerStatus)
: 0,
};
},
toJSON(message) {
const obj = {};
message.status !== undefined &&
(obj.status = dockState_DockedStatusToJSON(message.status));
message.dockType !== undefined &&
(obj.dockType = dockTypeToJSON(message.dockType));
message.dockId !== undefined && (obj.dockId = Math.round(message.dockId));
message.powerStatus !== undefined &&
(obj.powerStatus = dockState_LinkStatusToJSON(message.powerStatus));
return obj;
},
fromPartial(object) {
const message = createBaseDockState();
message.status = object.status ?? 0;
message.dockType = object.dockType ?? 0;
message.dockId = object.dockId ?? 0;
message.powerStatus = object.powerStatus ?? 0;
return message;
},
};
function createBaseGetDockingStateRequest() {
return { header: undefined };
}
exports.GetDockingStateRequest = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.header !== undefined) {
header_1.RequestHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGetDockingStateRequest();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = header_1.RequestHeader.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
header: isSet(object.header)
? header_1.RequestHeader.fromJSON(object.header)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.RequestHeader.toJSON(message.header)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseGetDockingStateRequest();
message.header =
object.header !== undefined && object.header !== null
? header_1.RequestHeader.fromPartial(object.header)
: undefined;
return message;
},
};
function createBaseGetDockingStateResponse() {
return { header: undefined, dockState: undefined };
}
exports.GetDockingStateResponse = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.header !== undefined) {
header_1.ResponseHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
if (message.dockState !== undefined) {
exports.DockState.encode(message.dockState, writer.uint32(18).fork()).ldelim();
}
return writer;
},
decode(input, length) {
const reader = input instanceof minimal_1.default.Reader ? input : new minimal_1.default.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGetDockingStateResponse();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = header_1.ResponseHeader.decode(reader, reader.uint32());
break;
case 2:
message.dockState = exports.DockState.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {