spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
415 lines • 21.3 kB
JavaScript
;
var __importDefault = (this && this.__importDefault) || function (mod) {
return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
exports.FullBodyCommand_Feedback = exports.FullBodyCommand_Request = exports.FullBodyCommand = exports.protobufPackage = void 0;
/* eslint-disable */
const basic_command_1 = require("./basic_command");
const payload_estimation_1 = require("./payload_estimation");
const any_1 = require("../../google/protobuf/any");
const minimal_1 = __importDefault(require("protobufjs/minimal"));
exports.protobufPackage = "bosdyn.api";
function createBaseFullBodyCommand() {
return {};
}
exports.FullBodyCommand = {
encode(_, writer = minimal_1.default.Writer.create()) {
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 = createBaseFullBodyCommand();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(_) {
return {};
},
toJSON(_) {
const obj = {};
return obj;
},
fromPartial(_) {
const message = createBaseFullBodyCommand();
return message;
},
};
function createBaseFullBodyCommand_Request() {
return {
stopRequest: undefined,
freezeRequest: undefined,
selfrightRequest: undefined,
safePowerOffRequest: undefined,
batteryChangePoseRequest: undefined,
payloadEstimationRequest: undefined,
constrainedManipulationRequest: undefined,
params: undefined,
};
}
exports.FullBodyCommand_Request = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.stopRequest !== undefined) {
basic_command_1.StopCommand_Request.encode(message.stopRequest, writer.uint32(10).fork()).ldelim();
}
if (message.freezeRequest !== undefined) {
basic_command_1.FreezeCommand_Request.encode(message.freezeRequest, writer.uint32(18).fork()).ldelim();
}
if (message.selfrightRequest !== undefined) {
basic_command_1.SelfRightCommand_Request.encode(message.selfrightRequest, writer.uint32(26).fork()).ldelim();
}
if (message.safePowerOffRequest !== undefined) {
basic_command_1.SafePowerOffCommand_Request.encode(message.safePowerOffRequest, writer.uint32(34).fork()).ldelim();
}
if (message.batteryChangePoseRequest !== undefined) {
basic_command_1.BatteryChangePoseCommand_Request.encode(message.batteryChangePoseRequest, writer.uint32(42).fork()).ldelim();
}
if (message.payloadEstimationRequest !== undefined) {
payload_estimation_1.PayloadEstimationCommand_Request.encode(message.payloadEstimationRequest, writer.uint32(50).fork()).ldelim();
}
if (message.constrainedManipulationRequest !== undefined) {
basic_command_1.ConstrainedManipulationCommand_Request.encode(message.constrainedManipulationRequest, writer.uint32(58).fork()).ldelim();
}
if (message.params !== undefined) {
any_1.Any.encode(message.params, writer.uint32(802).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 = createBaseFullBodyCommand_Request();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.stopRequest = basic_command_1.StopCommand_Request.decode(reader, reader.uint32());
break;
case 2:
message.freezeRequest = basic_command_1.FreezeCommand_Request.decode(reader, reader.uint32());
break;
case 3:
message.selfrightRequest = basic_command_1.SelfRightCommand_Request.decode(reader, reader.uint32());
break;
case 4:
message.safePowerOffRequest = basic_command_1.SafePowerOffCommand_Request.decode(reader, reader.uint32());
break;
case 5:
message.batteryChangePoseRequest =
basic_command_1.BatteryChangePoseCommand_Request.decode(reader, reader.uint32());
break;
case 6:
message.payloadEstimationRequest =
payload_estimation_1.PayloadEstimationCommand_Request.decode(reader, reader.uint32());
break;
case 7:
message.constrainedManipulationRequest =
basic_command_1.ConstrainedManipulationCommand_Request.decode(reader, reader.uint32());
break;
case 100:
message.params = any_1.Any.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
stopRequest: isSet(object.stopRequest)
? basic_command_1.StopCommand_Request.fromJSON(object.stopRequest)
: undefined,
freezeRequest: isSet(object.freezeRequest)
? basic_command_1.FreezeCommand_Request.fromJSON(object.freezeRequest)
: undefined,
selfrightRequest: isSet(object.selfrightRequest)
? basic_command_1.SelfRightCommand_Request.fromJSON(object.selfrightRequest)
: undefined,
safePowerOffRequest: isSet(object.safePowerOffRequest)
? basic_command_1.SafePowerOffCommand_Request.fromJSON(object.safePowerOffRequest)
: undefined,
batteryChangePoseRequest: isSet(object.batteryChangePoseRequest)
? basic_command_1.BatteryChangePoseCommand_Request.fromJSON(object.batteryChangePoseRequest)
: undefined,
payloadEstimationRequest: isSet(object.payloadEstimationRequest)
? payload_estimation_1.PayloadEstimationCommand_Request.fromJSON(object.payloadEstimationRequest)
: undefined,
constrainedManipulationRequest: isSet(object.constrainedManipulationRequest)
? basic_command_1.ConstrainedManipulationCommand_Request.fromJSON(object.constrainedManipulationRequest)
: undefined,
params: isSet(object.params) ? any_1.Any.fromJSON(object.params) : undefined,
};
},
toJSON(message) {
const obj = {};
message.stopRequest !== undefined &&
(obj.stopRequest = message.stopRequest
? basic_command_1.StopCommand_Request.toJSON(message.stopRequest)
: undefined);
message.freezeRequest !== undefined &&
(obj.freezeRequest = message.freezeRequest
? basic_command_1.FreezeCommand_Request.toJSON(message.freezeRequest)
: undefined);
message.selfrightRequest !== undefined &&
(obj.selfrightRequest = message.selfrightRequest
? basic_command_1.SelfRightCommand_Request.toJSON(message.selfrightRequest)
: undefined);
message.safePowerOffRequest !== undefined &&
(obj.safePowerOffRequest = message.safePowerOffRequest
? basic_command_1.SafePowerOffCommand_Request.toJSON(message.safePowerOffRequest)
: undefined);
message.batteryChangePoseRequest !== undefined &&
(obj.batteryChangePoseRequest = message.batteryChangePoseRequest
? basic_command_1.BatteryChangePoseCommand_Request.toJSON(message.batteryChangePoseRequest)
: undefined);
message.payloadEstimationRequest !== undefined &&
(obj.payloadEstimationRequest = message.payloadEstimationRequest
? payload_estimation_1.PayloadEstimationCommand_Request.toJSON(message.payloadEstimationRequest)
: undefined);
message.constrainedManipulationRequest !== undefined &&
(obj.constrainedManipulationRequest =
message.constrainedManipulationRequest
? basic_command_1.ConstrainedManipulationCommand_Request.toJSON(message.constrainedManipulationRequest)
: undefined);
message.params !== undefined &&
(obj.params = message.params ? any_1.Any.toJSON(message.params) : undefined);
return obj;
},
fromPartial(object) {
const message = createBaseFullBodyCommand_Request();
message.stopRequest =
object.stopRequest !== undefined && object.stopRequest !== null
? basic_command_1.StopCommand_Request.fromPartial(object.stopRequest)
: undefined;
message.freezeRequest =
object.freezeRequest !== undefined && object.freezeRequest !== null
? basic_command_1.FreezeCommand_Request.fromPartial(object.freezeRequest)
: undefined;
message.selfrightRequest =
object.selfrightRequest !== undefined && object.selfrightRequest !== null
? basic_command_1.SelfRightCommand_Request.fromPartial(object.selfrightRequest)
: undefined;
message.safePowerOffRequest =
object.safePowerOffRequest !== undefined &&
object.safePowerOffRequest !== null
? basic_command_1.SafePowerOffCommand_Request.fromPartial(object.safePowerOffRequest)
: undefined;
message.batteryChangePoseRequest =
object.batteryChangePoseRequest !== undefined &&
object.batteryChangePoseRequest !== null
? basic_command_1.BatteryChangePoseCommand_Request.fromPartial(object.batteryChangePoseRequest)
: undefined;
message.payloadEstimationRequest =
object.payloadEstimationRequest !== undefined &&
object.payloadEstimationRequest !== null
? payload_estimation_1.PayloadEstimationCommand_Request.fromPartial(object.payloadEstimationRequest)
: undefined;
message.constrainedManipulationRequest =
object.constrainedManipulationRequest !== undefined &&
object.constrainedManipulationRequest !== null
? basic_command_1.ConstrainedManipulationCommand_Request.fromPartial(object.constrainedManipulationRequest)
: undefined;
message.params =
object.params !== undefined && object.params !== null
? any_1.Any.fromPartial(object.params)
: undefined;
return message;
},
};
function createBaseFullBodyCommand_Feedback() {
return {
stopFeedback: undefined,
freezeFeedback: undefined,
selfrightFeedback: undefined,
safePowerOffFeedback: undefined,
batteryChangePoseFeedback: undefined,
payloadEstimationFeedback: undefined,
constrainedManipulationFeedback: undefined,
status: 0,
};
}
exports.FullBodyCommand_Feedback = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.stopFeedback !== undefined) {
basic_command_1.StopCommand_Feedback.encode(message.stopFeedback, writer.uint32(10).fork()).ldelim();
}
if (message.freezeFeedback !== undefined) {
basic_command_1.FreezeCommand_Feedback.encode(message.freezeFeedback, writer.uint32(18).fork()).ldelim();
}
if (message.selfrightFeedback !== undefined) {
basic_command_1.SelfRightCommand_Feedback.encode(message.selfrightFeedback, writer.uint32(26).fork()).ldelim();
}
if (message.safePowerOffFeedback !== undefined) {
basic_command_1.SafePowerOffCommand_Feedback.encode(message.safePowerOffFeedback, writer.uint32(34).fork()).ldelim();
}
if (message.batteryChangePoseFeedback !== undefined) {
basic_command_1.BatteryChangePoseCommand_Feedback.encode(message.batteryChangePoseFeedback, writer.uint32(42).fork()).ldelim();
}
if (message.payloadEstimationFeedback !== undefined) {
payload_estimation_1.PayloadEstimationCommand_Feedback.encode(message.payloadEstimationFeedback, writer.uint32(50).fork()).ldelim();
}
if (message.constrainedManipulationFeedback !== undefined) {
basic_command_1.ConstrainedManipulationCommand_Feedback.encode(message.constrainedManipulationFeedback, writer.uint32(58).fork()).ldelim();
}
if (message.status !== 0) {
writer.uint32(800).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 = createBaseFullBodyCommand_Feedback();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.stopFeedback = basic_command_1.StopCommand_Feedback.decode(reader, reader.uint32());
break;
case 2:
message.freezeFeedback = basic_command_1.FreezeCommand_Feedback.decode(reader, reader.uint32());
break;
case 3:
message.selfrightFeedback = basic_command_1.SelfRightCommand_Feedback.decode(reader, reader.uint32());
break;
case 4:
message.safePowerOffFeedback = basic_command_1.SafePowerOffCommand_Feedback.decode(reader, reader.uint32());
break;
case 5:
message.batteryChangePoseFeedback =
basic_command_1.BatteryChangePoseCommand_Feedback.decode(reader, reader.uint32());
break;
case 6:
message.payloadEstimationFeedback =
payload_estimation_1.PayloadEstimationCommand_Feedback.decode(reader, reader.uint32());
break;
case 7:
message.constrainedManipulationFeedback =
basic_command_1.ConstrainedManipulationCommand_Feedback.decode(reader, reader.uint32());
break;
case 100:
message.status = reader.int32();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
stopFeedback: isSet(object.stopFeedback)
? basic_command_1.StopCommand_Feedback.fromJSON(object.stopFeedback)
: undefined,
freezeFeedback: isSet(object.freezeFeedback)
? basic_command_1.FreezeCommand_Feedback.fromJSON(object.freezeFeedback)
: undefined,
selfrightFeedback: isSet(object.selfrightFeedback)
? basic_command_1.SelfRightCommand_Feedback.fromJSON(object.selfrightFeedback)
: undefined,
safePowerOffFeedback: isSet(object.safePowerOffFeedback)
? basic_command_1.SafePowerOffCommand_Feedback.fromJSON(object.safePowerOffFeedback)
: undefined,
batteryChangePoseFeedback: isSet(object.batteryChangePoseFeedback)
? basic_command_1.BatteryChangePoseCommand_Feedback.fromJSON(object.batteryChangePoseFeedback)
: undefined,
payloadEstimationFeedback: isSet(object.payloadEstimationFeedback)
? payload_estimation_1.PayloadEstimationCommand_Feedback.fromJSON(object.payloadEstimationFeedback)
: undefined,
constrainedManipulationFeedback: isSet(object.constrainedManipulationFeedback)
? basic_command_1.ConstrainedManipulationCommand_Feedback.fromJSON(object.constrainedManipulationFeedback)
: undefined,
status: isSet(object.status)
? (0, basic_command_1.robotCommandFeedbackStatus_StatusFromJSON)(object.status)
: 0,
};
},
toJSON(message) {
const obj = {};
message.stopFeedback !== undefined &&
(obj.stopFeedback = message.stopFeedback
? basic_command_1.StopCommand_Feedback.toJSON(message.stopFeedback)
: undefined);
message.freezeFeedback !== undefined &&
(obj.freezeFeedback = message.freezeFeedback
? basic_command_1.FreezeCommand_Feedback.toJSON(message.freezeFeedback)
: undefined);
message.selfrightFeedback !== undefined &&
(obj.selfrightFeedback = message.selfrightFeedback
? basic_command_1.SelfRightCommand_Feedback.toJSON(message.selfrightFeedback)
: undefined);
message.safePowerOffFeedback !== undefined &&
(obj.safePowerOffFeedback = message.safePowerOffFeedback
? basic_command_1.SafePowerOffCommand_Feedback.toJSON(message.safePowerOffFeedback)
: undefined);
message.batteryChangePoseFeedback !== undefined &&
(obj.batteryChangePoseFeedback = message.batteryChangePoseFeedback
? basic_command_1.BatteryChangePoseCommand_Feedback.toJSON(message.batteryChangePoseFeedback)
: undefined);
message.payloadEstimationFeedback !== undefined &&
(obj.payloadEstimationFeedback = message.payloadEstimationFeedback
? payload_estimation_1.PayloadEstimationCommand_Feedback.toJSON(message.payloadEstimationFeedback)
: undefined);
message.constrainedManipulationFeedback !== undefined &&
(obj.constrainedManipulationFeedback =
message.constrainedManipulationFeedback
? basic_command_1.ConstrainedManipulationCommand_Feedback.toJSON(message.constrainedManipulationFeedback)
: undefined);
message.status !== undefined &&
(obj.status = (0, basic_command_1.robotCommandFeedbackStatus_StatusToJSON)(message.status));
return obj;
},
fromPartial(object) {
const message = createBaseFullBodyCommand_Feedback();
message.stopFeedback =
object.stopFeedback !== undefined && object.stopFeedback !== null
? basic_command_1.StopCommand_Feedback.fromPartial(object.stopFeedback)
: undefined;
message.freezeFeedback =
object.freezeFeedback !== undefined && object.freezeFeedback !== null
? basic_command_1.FreezeCommand_Feedback.fromPartial(object.freezeFeedback)
: undefined;
message.selfrightFeedback =
object.selfrightFeedback !== undefined &&
object.selfrightFeedback !== null
? basic_command_1.SelfRightCommand_Feedback.fromPartial(object.selfrightFeedback)
: undefined;
message.safePowerOffFeedback =
object.safePowerOffFeedback !== undefined &&
object.safePowerOffFeedback !== null
? basic_command_1.SafePowerOffCommand_Feedback.fromPartial(object.safePowerOffFeedback)
: undefined;
message.batteryChangePoseFeedback =
object.batteryChangePoseFeedback !== undefined &&
object.batteryChangePoseFeedback !== null
? basic_command_1.BatteryChangePoseCommand_Feedback.fromPartial(object.batteryChangePoseFeedback)
: undefined;
message.payloadEstimationFeedback =
object.payloadEstimationFeedback !== undefined &&
object.payloadEstimationFeedback !== null
? payload_estimation_1.PayloadEstimationCommand_Feedback.fromPartial(object.payloadEstimationFeedback)
: undefined;
message.constrainedManipulationFeedback =
object.constrainedManipulationFeedback !== undefined &&
object.constrainedManipulationFeedback !== null
? basic_command_1.ConstrainedManipulationCommand_Feedback.fromPartial(object.constrainedManipulationFeedback)
: undefined;
message.status = object.status ?? 0;
return message;
},
};
function isSet(value) {
return value !== null && value !== undefined;
}
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