spot-sdk-ts/dist/bosdyn/api/mobility_command.js

TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics

"use strict";
var __importDefault = (this && this.__importDefault) || function (mod) {
    return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
exports.MobilityCommand_Feedback = exports.MobilityCommand_Request = exports.MobilityCommand = exports.protobufPackage = void 0;
/* eslint-disable */
const basic_command_1 = require("./basic_command");
const any_1 = require("../../google/protobuf/any");
const minimal_1 = __importDefault(require("protobufjs/minimal"));
exports.protobufPackage = "bosdyn.api";
function createBaseMobilityCommand() {
    return {};
}
exports.MobilityCommand = {
    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 = createBaseMobilityCommand();
        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 = createBaseMobilityCommand();
        return message;
    },
};
function createBaseMobilityCommand_Request() {
    return {
        se2TrajectoryRequest: undefined,
        se2VelocityRequest: undefined,
        sitRequest: undefined,
        standRequest: undefined,
        stanceRequest: undefined,
        stopRequest: undefined,
        followArmRequest: undefined,
        params: undefined,
    };
}
exports.MobilityCommand_Request = {
    encode(message, writer = minimal_1.default.Writer.create()) {
        if (message.se2TrajectoryRequest !== undefined) {
            basic_command_1.SE2TrajectoryCommand_Request.encode(message.se2TrajectoryRequest, writer.uint32(10).fork()).ldelim();
        }
        if (message.se2VelocityRequest !== undefined) {
            basic_command_1.SE2VelocityCommand_Request.encode(message.se2VelocityRequest, writer.uint32(18).fork()).ldelim();
        }
        if (message.sitRequest !== undefined) {
            basic_command_1.SitCommand_Request.encode(message.sitRequest, writer.uint32(26).fork()).ldelim();
        }
        if (message.standRequest !== undefined) {
            basic_command_1.StandCommand_Request.encode(message.standRequest, writer.uint32(34).fork()).ldelim();
        }
        if (message.stanceRequest !== undefined) {
            basic_command_1.StanceCommand_Request.encode(message.stanceRequest, writer.uint32(42).fork()).ldelim();
        }
        if (message.stopRequest !== undefined) {
            basic_command_1.StopCommand_Request.encode(message.stopRequest, writer.uint32(50).fork()).ldelim();
        }
        if (message.followArmRequest !== undefined) {
            basic_command_1.FollowArmCommand_Request.encode(message.followArmRequest, 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 = createBaseMobilityCommand_Request();
        while (reader.pos < end) {
            const tag = reader.uint32();
            switch (tag >>> 3) {
                case 1:
                    message.se2TrajectoryRequest = basic_command_1.SE2TrajectoryCommand_Request.decode(reader, reader.uint32());
                    break;
                case 2:
                    message.se2VelocityRequest = basic_command_1.SE2VelocityCommand_Request.decode(reader, reader.uint32());
                    break;
                case 3:
                    message.sitRequest = basic_command_1.SitCommand_Request.decode(reader, reader.uint32());
                    break;
                case 4:
                    message.standRequest = basic_command_1.StandCommand_Request.decode(reader, reader.uint32());
                    break;
                case 5:
                    message.stanceRequest = basic_command_1.StanceCommand_Request.decode(reader, reader.uint32());
                    break;
                case 6:
                    message.stopRequest = basic_command_1.StopCommand_Request.decode(reader, reader.uint32());
                    break;
                case 7:
                    message.followArmRequest = basic_command_1.FollowArmCommand_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 {
            se2TrajectoryRequest: isSet(object.se2TrajectoryRequest)
                ? basic_command_1.SE2TrajectoryCommand_Request.fromJSON(object.se2TrajectoryRequest)
                : undefined,
            se2VelocityRequest: isSet(object.se2VelocityRequest)
                ? basic_command_1.SE2VelocityCommand_Request.fromJSON(object.se2VelocityRequest)
                : undefined,
            sitRequest: isSet(object.sitRequest)
                ? basic_command_1.SitCommand_Request.fromJSON(object.sitRequest)
                : undefined,
            standRequest: isSet(object.standRequest)
                ? basic_command_1.StandCommand_Request.fromJSON(object.standRequest)
                : undefined,
            stanceRequest: isSet(object.stanceRequest)
                ? basic_command_1.StanceCommand_Request.fromJSON(object.stanceRequest)
                : undefined,
            stopRequest: isSet(object.stopRequest)
                ? basic_command_1.StopCommand_Request.fromJSON(object.stopRequest)
                : undefined,
            followArmRequest: isSet(object.followArmRequest)
                ? basic_command_1.FollowArmCommand_Request.fromJSON(object.followArmRequest)
                : undefined,
            params: isSet(object.params) ? any_1.Any.fromJSON(object.params) : undefined,
        };
    },
    toJSON(message) {
        const obj = {};
        message.se2TrajectoryRequest !== undefined &&
            (obj.se2TrajectoryRequest = message.se2TrajectoryRequest
                ? basic_command_1.SE2TrajectoryCommand_Request.toJSON(message.se2TrajectoryRequest)
                : undefined);
        message.se2VelocityRequest !== undefined &&
            (obj.se2VelocityRequest = message.se2VelocityRequest
                ? basic_command_1.SE2VelocityCommand_Request.toJSON(message.se2VelocityRequest)
                : undefined);
        message.sitRequest !== undefined &&
            (obj.sitRequest = message.sitRequest
                ? basic_command_1.SitCommand_Request.toJSON(message.sitRequest)
                : undefined);
        message.standRequest !== undefined &&
            (obj.standRequest = message.standRequest
                ? basic_command_1.StandCommand_Request.toJSON(message.standRequest)
                : undefined);
        message.stanceRequest !== undefined &&
            (obj.stanceRequest = message.stanceRequest
                ? basic_command_1.StanceCommand_Request.toJSON(message.stanceRequest)
                : undefined);
        message.stopRequest !== undefined &&
            (obj.stopRequest = message.stopRequest
                ? basic_command_1.StopCommand_Request.toJSON(message.stopRequest)
                : undefined);
        message.followArmRequest !== undefined &&
            (obj.followArmRequest = message.followArmRequest
                ? basic_command_1.FollowArmCommand_Request.toJSON(message.followArmRequest)
                : undefined);
        message.params !== undefined &&
            (obj.params = message.params ? any_1.Any.toJSON(message.params) : undefined);
        return obj;
    },
    fromPartial(object) {
        const message = createBaseMobilityCommand_Request();
        message.se2TrajectoryRequest =
            object.se2TrajectoryRequest !== undefined &&
                object.se2TrajectoryRequest !== null
                ? basic_command_1.SE2TrajectoryCommand_Request.fromPartial(object.se2TrajectoryRequest)
                : undefined;
        message.se2VelocityRequest =
            object.se2VelocityRequest !== undefined &&
                object.se2VelocityRequest !== null
                ? basic_command_1.SE2VelocityCommand_Request.fromPartial(object.se2VelocityRequest)
                : undefined;
        message.sitRequest =
            object.sitRequest !== undefined && object.sitRequest !== null
                ? basic_command_1.SitCommand_Request.fromPartial(object.sitRequest)
                : undefined;
        message.standRequest =
            object.standRequest !== undefined && object.standRequest !== null
                ? basic_command_1.StandCommand_Request.fromPartial(object.standRequest)
                : undefined;
        message.stanceRequest =
            object.stanceRequest !== undefined && object.stanceRequest !== null
                ? basic_command_1.StanceCommand_Request.fromPartial(object.stanceRequest)
                : undefined;
        message.stopRequest =
            object.stopRequest !== undefined && object.stopRequest !== null
                ? basic_command_1.StopCommand_Request.fromPartial(object.stopRequest)
                : undefined;
        message.followArmRequest =
            object.followArmRequest !== undefined && object.followArmRequest !== null
                ? basic_command_1.FollowArmCommand_Request.fromPartial(object.followArmRequest)
                : undefined;
        message.params =
            object.params !== undefined && object.params !== null
                ? any_1.Any.fromPartial(object.params)
                : undefined;
        return message;
    },
};
function createBaseMobilityCommand_Feedback() {
    return {
        se2TrajectoryFeedback: undefined,
        se2VelocityFeedback: undefined,
        sitFeedback: undefined,
        standFeedback: undefined,
        stanceFeedback: undefined,
        stopFeedback: undefined,
        followArmFeedback: undefined,
        status: 0,
    };
}
exports.MobilityCommand_Feedback = {
    encode(message, writer = minimal_1.default.Writer.create()) {
        if (message.se2TrajectoryFeedback !== undefined) {
            basic_command_1.SE2TrajectoryCommand_Feedback.encode(message.se2TrajectoryFeedback, writer.uint32(10).fork()).ldelim();
        }
        if (message.se2VelocityFeedback !== undefined) {
            basic_command_1.SE2VelocityCommand_Feedback.encode(message.se2VelocityFeedback, writer.uint32(18).fork()).ldelim();
        }
        if (message.sitFeedback !== undefined) {
            basic_command_1.SitCommand_Feedback.encode(message.sitFeedback, writer.uint32(26).fork()).ldelim();
        }
        if (message.standFeedback !== undefined) {
            basic_command_1.StandCommand_Feedback.encode(message.standFeedback, writer.uint32(34).fork()).ldelim();
        }
        if (message.stanceFeedback !== undefined) {
            basic_command_1.StanceCommand_Feedback.encode(message.stanceFeedback, writer.uint32(42).fork()).ldelim();
        }
        if (message.stopFeedback !== undefined) {
            basic_command_1.StopCommand_Feedback.encode(message.stopFeedback, writer.uint32(50).fork()).ldelim();
        }
        if (message.followArmFeedback !== undefined) {
            basic_command_1.FollowArmCommand_Feedback.encode(message.followArmFeedback, 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 = createBaseMobilityCommand_Feedback();
        while (reader.pos < end) {
            const tag = reader.uint32();
            switch (tag >>> 3) {
                case 1:
                    message.se2TrajectoryFeedback = basic_command_1.SE2TrajectoryCommand_Feedback.decode(reader, reader.uint32());
                    break;
                case 2:
                    message.se2VelocityFeedback = basic_command_1.SE2VelocityCommand_Feedback.decode(reader, reader.uint32());
                    break;
                case 3:
                    message.sitFeedback = basic_command_1.SitCommand_Feedback.decode(reader, reader.uint32());
                    break;
                case 4:
                    message.standFeedback = basic_command_1.StandCommand_Feedback.decode(reader, reader.uint32());
                    break;
                case 5:
                    message.stanceFeedback = basic_command_1.StanceCommand_Feedback.decode(reader, reader.uint32());
                    break;
                case 6:
                    message.stopFeedback = basic_command_1.StopCommand_Feedback.decode(reader, reader.uint32());
                    break;
                case 7:
                    message.followArmFeedback = basic_command_1.FollowArmCommand_Feedback.decode(reader, reader.uint32());
                    break;
                case 100:
                    message.status = reader.int32();
                    break;
                default:
                    reader.skipType(tag & 7);
                    break;
            }
        }
        return message;
    },
    fromJSON(object) {
        return {
            se2TrajectoryFeedback: isSet(object.se2TrajectoryFeedback)
                ? basic_command_1.SE2TrajectoryCommand_Feedback.fromJSON(object.se2TrajectoryFeedback)
                : undefined,
            se2VelocityFeedback: isSet(object.se2VelocityFeedback)
                ? basic_command_1.SE2VelocityCommand_Feedback.fromJSON(object.se2VelocityFeedback)
                : undefined,
            sitFeedback: isSet(object.sitFeedback)
                ? basic_command_1.SitCommand_Feedback.fromJSON(object.sitFeedback)
                : undefined,
            standFeedback: isSet(object.standFeedback)
                ? basic_command_1.StandCommand_Feedback.fromJSON(object.standFeedback)
                : undefined,
            stanceFeedback: isSet(object.stanceFeedback)
                ? basic_command_1.StanceCommand_Feedback.fromJSON(object.stanceFeedback)
                : undefined,
            stopFeedback: isSet(object.stopFeedback)
                ? basic_command_1.StopCommand_Feedback.fromJSON(object.stopFeedback)
                : undefined,
            followArmFeedback: isSet(object.followArmFeedback)
                ? basic_command_1.FollowArmCommand_Feedback.fromJSON(object.followArmFeedback)
                : undefined,
            status: isSet(object.status)
                ? (0, basic_command_1.robotCommandFeedbackStatus_StatusFromJSON)(object.status)
                : 0,
        };
    },
    toJSON(message) {
        const obj = {};
        message.se2TrajectoryFeedback !== undefined &&
            (obj.se2TrajectoryFeedback = message.se2TrajectoryFeedback
                ? basic_command_1.SE2TrajectoryCommand_Feedback.toJSON(message.se2TrajectoryFeedback)
                : undefined);
        message.se2VelocityFeedback !== undefined &&
            (obj.se2VelocityFeedback = message.se2VelocityFeedback
                ? basic_command_1.SE2VelocityCommand_Feedback.toJSON(message.se2VelocityFeedback)
                : undefined);
        message.sitFeedback !== undefined &&
            (obj.sitFeedback = message.sitFeedback
                ? basic_command_1.SitCommand_Feedback.toJSON(message.sitFeedback)
                : undefined);
        message.standFeedback !== undefined &&
            (obj.standFeedback = message.standFeedback
                ? basic_command_1.StandCommand_Feedback.toJSON(message.standFeedback)
                : undefined);
        message.stanceFeedback !== undefined &&
            (obj.stanceFeedback = message.stanceFeedback
                ? basic_command_1.StanceCommand_Feedback.toJSON(message.stanceFeedback)
                : undefined);
        message.stopFeedback !== undefined &&
            (obj.stopFeedback = message.stopFeedback
                ? basic_command_1.StopCommand_Feedback.toJSON(message.stopFeedback)
                : undefined);
        message.followArmFeedback !== undefined &&
            (obj.followArmFeedback = message.followArmFeedback
                ? basic_command_1.FollowArmCommand_Feedback.toJSON(message.followArmFeedback)
                : undefined);
        message.status !== undefined &&
            (obj.status = (0, basic_command_1.robotCommandFeedbackStatus_StatusToJSON)(message.status));
        return obj;
    },
    fromPartial(object) {
        const message = createBaseMobilityCommand_Feedback();
        message.se2TrajectoryFeedback =
            object.se2TrajectoryFeedback !== undefined &&
                object.se2TrajectoryFeedback !== null
                ? basic_command_1.SE2TrajectoryCommand_Feedback.fromPartial(object.se2TrajectoryFeedback)
                : undefined;
        message.se2VelocityFeedback =
            object.se2VelocityFeedback !== undefined &&
                object.se2VelocityFeedback !== null
                ? basic_command_1.SE2VelocityCommand_Feedback.fromPartial(object.se2VelocityFeedback)
                : undefined;
        message.sitFeedback =
            object.sitFeedback !== undefined && object.sitFeedback !== null
                ? basic_command_1.SitCommand_Feedback.fromPartial(object.sitFeedback)
                : undefined;
        message.standFeedback =
            object.standFeedback !== undefined && object.standFeedback !== null
                ? basic_command_1.StandCommand_Feedback.fromPartial(object.standFeedback)
                : undefined;
        message.stanceFeedback =
            object.stanceFeedback !== undefined && object.stanceFeedback !== null
                ? basic_command_1.StanceCommand_Feedback.fromPartial(object.stanceFeedback)
                : undefined;
        message.stopFeedback =
            object.stopFeedback !== undefined && object.stopFeedback !== null
                ? basic_command_1.StopCommand_Feedback.fromPartial(object.stopFeedback)
                : undefined;
        message.followArmFeedback =
            object.followArmFeedback !== undefined &&
                object.followArmFeedback !== null
                ? basic_command_1.FollowArmCommand_Feedback.fromPartial(object.followArmFeedback)
                : undefined;
        message.status = object.status ?? 0;
        return message;
    },
};
function isSet(value) {
    return value !== null && value !== undefined;
}
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