spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
1,133 lines • 85.2 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.DrawablePoints = exports.DrawableLineStrip = exports.DrawableCylinder = exports.DrawableCapsule = exports.DrawableArrow = exports.DrawableBox = exports.DrawableSphere = exports.DrawableFrame = exports.DrawableProperties_Color = exports.DrawableProperties = exports.BoundingBoxProperties = exports.RayProperties = exports.AprilTagProperties = exports.DockProperties = exports.ImageProperties = exports.MutateWorldObjectResponse = exports.MutateWorldObjectRequest_Mutation = exports.MutateWorldObjectRequest = exports.ListWorldObjectResponse = exports.ListWorldObjectRequest = exports.WorldObject = exports.aprilTagProperties_AprilTagPoseStatusToJSON = exports.aprilTagProperties_AprilTagPoseStatusFromJSON = exports.AprilTagProperties_AprilTagPoseStatus = exports.mutateWorldObjectResponse_StatusToJSON = exports.mutateWorldObjectResponse_StatusFromJSON = exports.MutateWorldObjectResponse_Status = exports.mutateWorldObjectRequest_ActionToJSON = exports.mutateWorldObjectRequest_ActionFromJSON = exports.MutateWorldObjectRequest_Action = exports.worldObjectTypeToJSON = exports.worldObjectTypeFromJSON = exports.WorldObjectType = exports.protobufPackage = void 0;
/* eslint-disable */
const docking_1 = require("./docking/docking");
const timestamp_1 = require("../../google/protobuf/timestamp");
const geometry_1 = require("./geometry");
const any_1 = require("../../google/protobuf/any");
const header_1 = require("./header");
const sparse_features_1 = require("./sparse_features");
const image_1 = require("./image");
const minimal_1 = __importDefault(require("protobufjs/minimal"));
exports.protobufPackage = "bosdyn.api";
/**
* A type for the world object, which is associated with whatever properties the world object includes. This can
* be used to request specific kinds of objects; for example, a request for only fiducials.
*/
var WorldObjectType;
(function (WorldObjectType) {
WorldObjectType[WorldObjectType["WORLD_OBJECT_UNKNOWN"] = 0] = "WORLD_OBJECT_UNKNOWN";
WorldObjectType[WorldObjectType["WORLD_OBJECT_DRAWABLE"] = 1] = "WORLD_OBJECT_DRAWABLE";
WorldObjectType[WorldObjectType["WORLD_OBJECT_APRILTAG"] = 2] = "WORLD_OBJECT_APRILTAG";
WorldObjectType[WorldObjectType["WORLD_OBJECT_IMAGE_COORDINATES"] = 5] = "WORLD_OBJECT_IMAGE_COORDINATES";
WorldObjectType[WorldObjectType["WORLD_OBJECT_DOCK"] = 6] = "WORLD_OBJECT_DOCK";
WorldObjectType[WorldObjectType["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(WorldObjectType = exports.WorldObjectType || (exports.WorldObjectType = {}));
function worldObjectTypeFromJSON(object) {
switch (object) {
case 0:
case "WORLD_OBJECT_UNKNOWN":
return WorldObjectType.WORLD_OBJECT_UNKNOWN;
case 1:
case "WORLD_OBJECT_DRAWABLE":
return WorldObjectType.WORLD_OBJECT_DRAWABLE;
case 2:
case "WORLD_OBJECT_APRILTAG":
return WorldObjectType.WORLD_OBJECT_APRILTAG;
case 5:
case "WORLD_OBJECT_IMAGE_COORDINATES":
return WorldObjectType.WORLD_OBJECT_IMAGE_COORDINATES;
case 6:
case "WORLD_OBJECT_DOCK":
return WorldObjectType.WORLD_OBJECT_DOCK;
case -1:
case "UNRECOGNIZED":
default:
return WorldObjectType.UNRECOGNIZED;
}
}
exports.worldObjectTypeFromJSON = worldObjectTypeFromJSON;
function worldObjectTypeToJSON(object) {
switch (object) {
case WorldObjectType.WORLD_OBJECT_UNKNOWN:
return "WORLD_OBJECT_UNKNOWN";
case WorldObjectType.WORLD_OBJECT_DRAWABLE:
return "WORLD_OBJECT_DRAWABLE";
case WorldObjectType.WORLD_OBJECT_APRILTAG:
return "WORLD_OBJECT_APRILTAG";
case WorldObjectType.WORLD_OBJECT_IMAGE_COORDINATES:
return "WORLD_OBJECT_IMAGE_COORDINATES";
case WorldObjectType.WORLD_OBJECT_DOCK:
return "WORLD_OBJECT_DOCK";
case WorldObjectType.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.worldObjectTypeToJSON = worldObjectTypeToJSON;
var MutateWorldObjectRequest_Action;
(function (MutateWorldObjectRequest_Action) {
/** ACTION_UNKNOWN - Invalid action. */
MutateWorldObjectRequest_Action[MutateWorldObjectRequest_Action["ACTION_UNKNOWN"] = 0] = "ACTION_UNKNOWN";
/** ACTION_ADD - Add a new object. */
MutateWorldObjectRequest_Action[MutateWorldObjectRequest_Action["ACTION_ADD"] = 1] = "ACTION_ADD";
/**
* ACTION_CHANGE - Change an existing objected (ID'd by integer ID number). This is
* only allowed to change objects added by the API-user, and not
* objects detected by Spot's perception system.
*/
MutateWorldObjectRequest_Action[MutateWorldObjectRequest_Action["ACTION_CHANGE"] = 2] = "ACTION_CHANGE";
/**
* ACTION_DELETE - Delete the object, ID'd by integer ID number. This is
* only allowed to change objects added by the API-user, and not
* objects detected by Spot's perception system.
*/
MutateWorldObjectRequest_Action[MutateWorldObjectRequest_Action["ACTION_DELETE"] = 3] = "ACTION_DELETE";
MutateWorldObjectRequest_Action[MutateWorldObjectRequest_Action["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(MutateWorldObjectRequest_Action = exports.MutateWorldObjectRequest_Action || (exports.MutateWorldObjectRequest_Action = {}));
function mutateWorldObjectRequest_ActionFromJSON(object) {
switch (object) {
case 0:
case "ACTION_UNKNOWN":
return MutateWorldObjectRequest_Action.ACTION_UNKNOWN;
case 1:
case "ACTION_ADD":
return MutateWorldObjectRequest_Action.ACTION_ADD;
case 2:
case "ACTION_CHANGE":
return MutateWorldObjectRequest_Action.ACTION_CHANGE;
case 3:
case "ACTION_DELETE":
return MutateWorldObjectRequest_Action.ACTION_DELETE;
case -1:
case "UNRECOGNIZED":
default:
return MutateWorldObjectRequest_Action.UNRECOGNIZED;
}
}
exports.mutateWorldObjectRequest_ActionFromJSON = mutateWorldObjectRequest_ActionFromJSON;
function mutateWorldObjectRequest_ActionToJSON(object) {
switch (object) {
case MutateWorldObjectRequest_Action.ACTION_UNKNOWN:
return "ACTION_UNKNOWN";
case MutateWorldObjectRequest_Action.ACTION_ADD:
return "ACTION_ADD";
case MutateWorldObjectRequest_Action.ACTION_CHANGE:
return "ACTION_CHANGE";
case MutateWorldObjectRequest_Action.ACTION_DELETE:
return "ACTION_DELETE";
case MutateWorldObjectRequest_Action.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.mutateWorldObjectRequest_ActionToJSON = mutateWorldObjectRequest_ActionToJSON;
var MutateWorldObjectResponse_Status;
(function (MutateWorldObjectResponse_Status) {
/** STATUS_UNKNOWN - Status of request is unknown. Check the status code of the response header. */
MutateWorldObjectResponse_Status[MutateWorldObjectResponse_Status["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_OK - Request was accepted; GetObjectListResponse must still be checked to verify the changes. */
MutateWorldObjectResponse_Status[MutateWorldObjectResponse_Status["STATUS_OK"] = 1] = "STATUS_OK";
/**
* STATUS_INVALID_MUTATION_ID - The mutation object's ID is unknown such that the service could not recognize this object.
* This error applies to the CHANGE and DELETE actions, since it must identify the object by
* it's id number given by the service.
*/
MutateWorldObjectResponse_Status[MutateWorldObjectResponse_Status["STATUS_INVALID_MUTATION_ID"] = 2] = "STATUS_INVALID_MUTATION_ID";
/**
* STATUS_NO_PERMISSION - The mutation request is not allowed because it is attempting to change or delete an object
* detected by Spot's perception system.
*/
MutateWorldObjectResponse_Status[MutateWorldObjectResponse_Status["STATUS_NO_PERMISSION"] = 3] = "STATUS_NO_PERMISSION";
MutateWorldObjectResponse_Status[MutateWorldObjectResponse_Status["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(MutateWorldObjectResponse_Status = exports.MutateWorldObjectResponse_Status || (exports.MutateWorldObjectResponse_Status = {}));
function mutateWorldObjectResponse_StatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return MutateWorldObjectResponse_Status.STATUS_UNKNOWN;
case 1:
case "STATUS_OK":
return MutateWorldObjectResponse_Status.STATUS_OK;
case 2:
case "STATUS_INVALID_MUTATION_ID":
return MutateWorldObjectResponse_Status.STATUS_INVALID_MUTATION_ID;
case 3:
case "STATUS_NO_PERMISSION":
return MutateWorldObjectResponse_Status.STATUS_NO_PERMISSION;
case -1:
case "UNRECOGNIZED":
default:
return MutateWorldObjectResponse_Status.UNRECOGNIZED;
}
}
exports.mutateWorldObjectResponse_StatusFromJSON = mutateWorldObjectResponse_StatusFromJSON;
function mutateWorldObjectResponse_StatusToJSON(object) {
switch (object) {
case MutateWorldObjectResponse_Status.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case MutateWorldObjectResponse_Status.STATUS_OK:
return "STATUS_OK";
case MutateWorldObjectResponse_Status.STATUS_INVALID_MUTATION_ID:
return "STATUS_INVALID_MUTATION_ID";
case MutateWorldObjectResponse_Status.STATUS_NO_PERMISSION:
return "STATUS_NO_PERMISSION";
case MutateWorldObjectResponse_Status.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.mutateWorldObjectResponse_StatusToJSON = mutateWorldObjectResponse_StatusToJSON;
var AprilTagProperties_AprilTagPoseStatus;
(function (AprilTagProperties_AprilTagPoseStatus) {
AprilTagProperties_AprilTagPoseStatus[AprilTagProperties_AprilTagPoseStatus["STATUS_UNKNOWN"] = 0] = "STATUS_UNKNOWN";
/** STATUS_OK - No known issues with the pose estimate. */
AprilTagProperties_AprilTagPoseStatus[AprilTagProperties_AprilTagPoseStatus["STATUS_OK"] = 1] = "STATUS_OK";
/** STATUS_AMBIGUOUS - The orientation of the tag is ambiguous. */
AprilTagProperties_AprilTagPoseStatus[AprilTagProperties_AprilTagPoseStatus["STATUS_AMBIGUOUS"] = 2] = "STATUS_AMBIGUOUS";
/** STATUS_HIGH_ERROR - The pose may be unreliable due to high reprojection error. */
AprilTagProperties_AprilTagPoseStatus[AprilTagProperties_AprilTagPoseStatus["STATUS_HIGH_ERROR"] = 3] = "STATUS_HIGH_ERROR";
AprilTagProperties_AprilTagPoseStatus[AprilTagProperties_AprilTagPoseStatus["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
})(AprilTagProperties_AprilTagPoseStatus = exports.AprilTagProperties_AprilTagPoseStatus || (exports.AprilTagProperties_AprilTagPoseStatus = {}));
function aprilTagProperties_AprilTagPoseStatusFromJSON(object) {
switch (object) {
case 0:
case "STATUS_UNKNOWN":
return AprilTagProperties_AprilTagPoseStatus.STATUS_UNKNOWN;
case 1:
case "STATUS_OK":
return AprilTagProperties_AprilTagPoseStatus.STATUS_OK;
case 2:
case "STATUS_AMBIGUOUS":
return AprilTagProperties_AprilTagPoseStatus.STATUS_AMBIGUOUS;
case 3:
case "STATUS_HIGH_ERROR":
return AprilTagProperties_AprilTagPoseStatus.STATUS_HIGH_ERROR;
case -1:
case "UNRECOGNIZED":
default:
return AprilTagProperties_AprilTagPoseStatus.UNRECOGNIZED;
}
}
exports.aprilTagProperties_AprilTagPoseStatusFromJSON = aprilTagProperties_AprilTagPoseStatusFromJSON;
function aprilTagProperties_AprilTagPoseStatusToJSON(object) {
switch (object) {
case AprilTagProperties_AprilTagPoseStatus.STATUS_UNKNOWN:
return "STATUS_UNKNOWN";
case AprilTagProperties_AprilTagPoseStatus.STATUS_OK:
return "STATUS_OK";
case AprilTagProperties_AprilTagPoseStatus.STATUS_AMBIGUOUS:
return "STATUS_AMBIGUOUS";
case AprilTagProperties_AprilTagPoseStatus.STATUS_HIGH_ERROR:
return "STATUS_HIGH_ERROR";
case AprilTagProperties_AprilTagPoseStatus.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
exports.aprilTagProperties_AprilTagPoseStatusToJSON = aprilTagProperties_AprilTagPoseStatusToJSON;
function createBaseWorldObject() {
return {
id: 0,
name: "",
acquisitionTime: undefined,
transformsSnapshot: undefined,
drawableProperties: [],
apriltagProperties: undefined,
imageProperties: undefined,
dockProperties: undefined,
rayProperties: undefined,
boundingBoxProperties: undefined,
additionalProperties: undefined,
};
}
exports.WorldObject = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.id !== 0) {
writer.uint32(8).int32(message.id);
}
if (message.name !== "") {
writer.uint32(18).string(message.name);
}
if (message.acquisitionTime !== undefined) {
timestamp_1.Timestamp.encode(toTimestamp(message.acquisitionTime), writer.uint32(242).fork()).ldelim();
}
if (message.transformsSnapshot !== undefined) {
geometry_1.FrameTreeSnapshot.encode(message.transformsSnapshot, writer.uint32(250).fork()).ldelim();
}
for (const v of message.drawableProperties) {
exports.DrawableProperties.encode(v, writer.uint32(42).fork()).ldelim();
}
if (message.apriltagProperties !== undefined) {
exports.AprilTagProperties.encode(message.apriltagProperties, writer.uint32(50).fork()).ldelim();
}
if (message.imageProperties !== undefined) {
exports.ImageProperties.encode(message.imageProperties, writer.uint32(74).fork()).ldelim();
}
if (message.dockProperties !== undefined) {
exports.DockProperties.encode(message.dockProperties, writer.uint32(82).fork()).ldelim();
}
if (message.rayProperties !== undefined) {
exports.RayProperties.encode(message.rayProperties, writer.uint32(90).fork()).ldelim();
}
if (message.boundingBoxProperties !== undefined) {
exports.BoundingBoxProperties.encode(message.boundingBoxProperties, writer.uint32(98).fork()).ldelim();
}
if (message.additionalProperties !== undefined) {
any_1.Any.encode(message.additionalProperties, 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 = createBaseWorldObject();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.id = reader.int32();
break;
case 2:
message.name = reader.string();
break;
case 30:
message.acquisitionTime = fromTimestamp(timestamp_1.Timestamp.decode(reader, reader.uint32()));
break;
case 31:
message.transformsSnapshot = geometry_1.FrameTreeSnapshot.decode(reader, reader.uint32());
break;
case 5:
message.drawableProperties.push(exports.DrawableProperties.decode(reader, reader.uint32()));
break;
case 6:
message.apriltagProperties = exports.AprilTagProperties.decode(reader, reader.uint32());
break;
case 9:
message.imageProperties = exports.ImageProperties.decode(reader, reader.uint32());
break;
case 10:
message.dockProperties = exports.DockProperties.decode(reader, reader.uint32());
break;
case 11:
message.rayProperties = exports.RayProperties.decode(reader, reader.uint32());
break;
case 12:
message.boundingBoxProperties = exports.BoundingBoxProperties.decode(reader, reader.uint32());
break;
case 100:
message.additionalProperties = any_1.Any.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
id: isSet(object.id) ? Number(object.id) : 0,
name: isSet(object.name) ? String(object.name) : "",
acquisitionTime: isSet(object.acquisitionTime)
? fromJsonTimestamp(object.acquisitionTime)
: undefined,
transformsSnapshot: isSet(object.transformsSnapshot)
? geometry_1.FrameTreeSnapshot.fromJSON(object.transformsSnapshot)
: undefined,
drawableProperties: Array.isArray(object?.drawableProperties)
? object.drawableProperties.map((e) => exports.DrawableProperties.fromJSON(e))
: [],
apriltagProperties: isSet(object.apriltagProperties)
? exports.AprilTagProperties.fromJSON(object.apriltagProperties)
: undefined,
imageProperties: isSet(object.imageProperties)
? exports.ImageProperties.fromJSON(object.imageProperties)
: undefined,
dockProperties: isSet(object.dockProperties)
? exports.DockProperties.fromJSON(object.dockProperties)
: undefined,
rayProperties: isSet(object.rayProperties)
? exports.RayProperties.fromJSON(object.rayProperties)
: undefined,
boundingBoxProperties: isSet(object.boundingBoxProperties)
? exports.BoundingBoxProperties.fromJSON(object.boundingBoxProperties)
: undefined,
additionalProperties: isSet(object.additionalProperties)
? any_1.Any.fromJSON(object.additionalProperties)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.id !== undefined && (obj.id = Math.round(message.id));
message.name !== undefined && (obj.name = message.name);
message.acquisitionTime !== undefined &&
(obj.acquisitionTime = message.acquisitionTime.toISOString());
message.transformsSnapshot !== undefined &&
(obj.transformsSnapshot = message.transformsSnapshot
? geometry_1.FrameTreeSnapshot.toJSON(message.transformsSnapshot)
: undefined);
if (message.drawableProperties) {
obj.drawableProperties = message.drawableProperties.map((e) => e ? exports.DrawableProperties.toJSON(e) : undefined);
}
else {
obj.drawableProperties = [];
}
message.apriltagProperties !== undefined &&
(obj.apriltagProperties = message.apriltagProperties
? exports.AprilTagProperties.toJSON(message.apriltagProperties)
: undefined);
message.imageProperties !== undefined &&
(obj.imageProperties = message.imageProperties
? exports.ImageProperties.toJSON(message.imageProperties)
: undefined);
message.dockProperties !== undefined &&
(obj.dockProperties = message.dockProperties
? exports.DockProperties.toJSON(message.dockProperties)
: undefined);
message.rayProperties !== undefined &&
(obj.rayProperties = message.rayProperties
? exports.RayProperties.toJSON(message.rayProperties)
: undefined);
message.boundingBoxProperties !== undefined &&
(obj.boundingBoxProperties = message.boundingBoxProperties
? exports.BoundingBoxProperties.toJSON(message.boundingBoxProperties)
: undefined);
message.additionalProperties !== undefined &&
(obj.additionalProperties = message.additionalProperties
? any_1.Any.toJSON(message.additionalProperties)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseWorldObject();
message.id = object.id ?? 0;
message.name = object.name ?? "";
message.acquisitionTime = object.acquisitionTime ?? undefined;
message.transformsSnapshot =
object.transformsSnapshot !== undefined &&
object.transformsSnapshot !== null
? geometry_1.FrameTreeSnapshot.fromPartial(object.transformsSnapshot)
: undefined;
message.drawableProperties =
object.drawableProperties?.map((e) => exports.DrawableProperties.fromPartial(e)) || [];
message.apriltagProperties =
object.apriltagProperties !== undefined &&
object.apriltagProperties !== null
? exports.AprilTagProperties.fromPartial(object.apriltagProperties)
: undefined;
message.imageProperties =
object.imageProperties !== undefined && object.imageProperties !== null
? exports.ImageProperties.fromPartial(object.imageProperties)
: undefined;
message.dockProperties =
object.dockProperties !== undefined && object.dockProperties !== null
? exports.DockProperties.fromPartial(object.dockProperties)
: undefined;
message.rayProperties =
object.rayProperties !== undefined && object.rayProperties !== null
? exports.RayProperties.fromPartial(object.rayProperties)
: undefined;
message.boundingBoxProperties =
object.boundingBoxProperties !== undefined &&
object.boundingBoxProperties !== null
? exports.BoundingBoxProperties.fromPartial(object.boundingBoxProperties)
: undefined;
message.additionalProperties =
object.additionalProperties !== undefined &&
object.additionalProperties !== null
? any_1.Any.fromPartial(object.additionalProperties)
: undefined;
return message;
},
};
function createBaseListWorldObjectRequest() {
return { header: undefined, objectType: [], timestampFilter: undefined };
}
exports.ListWorldObjectRequest = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.header !== undefined) {
header_1.RequestHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
writer.uint32(18).fork();
for (const v of message.objectType) {
writer.int32(v);
}
writer.ldelim();
if (message.timestampFilter !== undefined) {
timestamp_1.Timestamp.encode(toTimestamp(message.timestampFilter), writer.uint32(26).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 = createBaseListWorldObjectRequest();
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:
if ((tag & 7) === 2) {
const end2 = reader.uint32() + reader.pos;
while (reader.pos < end2) {
message.objectType.push(reader.int32());
}
}
else {
message.objectType.push(reader.int32());
}
break;
case 3:
message.timestampFilter = fromTimestamp(timestamp_1.Timestamp.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,
objectType: Array.isArray(object?.objectType)
? object.objectType.map((e) => worldObjectTypeFromJSON(e))
: [],
timestampFilter: isSet(object.timestampFilter)
? fromJsonTimestamp(object.timestampFilter)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.RequestHeader.toJSON(message.header)
: undefined);
if (message.objectType) {
obj.objectType = message.objectType.map((e) => worldObjectTypeToJSON(e));
}
else {
obj.objectType = [];
}
message.timestampFilter !== undefined &&
(obj.timestampFilter = message.timestampFilter.toISOString());
return obj;
},
fromPartial(object) {
const message = createBaseListWorldObjectRequest();
message.header =
object.header !== undefined && object.header !== null
? header_1.RequestHeader.fromPartial(object.header)
: undefined;
message.objectType = object.objectType?.map((e) => e) || [];
message.timestampFilter = object.timestampFilter ?? undefined;
return message;
},
};
function createBaseListWorldObjectResponse() {
return { header: undefined, worldObjects: [] };
}
exports.ListWorldObjectResponse = {
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.worldObjects) {
exports.WorldObject.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 = createBaseListWorldObjectResponse();
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.worldObjects.push(exports.WorldObject.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,
worldObjects: Array.isArray(object?.worldObjects)
? object.worldObjects.map((e) => exports.WorldObject.fromJSON(e))
: [],
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.ResponseHeader.toJSON(message.header)
: undefined);
if (message.worldObjects) {
obj.worldObjects = message.worldObjects.map((e) => e ? exports.WorldObject.toJSON(e) : undefined);
}
else {
obj.worldObjects = [];
}
return obj;
},
fromPartial(object) {
const message = createBaseListWorldObjectResponse();
message.header =
object.header !== undefined && object.header !== null
? header_1.ResponseHeader.fromPartial(object.header)
: undefined;
message.worldObjects =
object.worldObjects?.map((e) => exports.WorldObject.fromPartial(e)) || [];
return message;
},
};
function createBaseMutateWorldObjectRequest() {
return { header: undefined, mutation: undefined };
}
exports.MutateWorldObjectRequest = {
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.mutation !== undefined) {
exports.MutateWorldObjectRequest_Mutation.encode(message.mutation, 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 = createBaseMutateWorldObjectRequest();
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.mutation = exports.MutateWorldObjectRequest_Mutation.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,
mutation: isSet(object.mutation)
? exports.MutateWorldObjectRequest_Mutation.fromJSON(object.mutation)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.RequestHeader.toJSON(message.header)
: undefined);
message.mutation !== undefined &&
(obj.mutation = message.mutation
? exports.MutateWorldObjectRequest_Mutation.toJSON(message.mutation)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseMutateWorldObjectRequest();
message.header =
object.header !== undefined && object.header !== null
? header_1.RequestHeader.fromPartial(object.header)
: undefined;
message.mutation =
object.mutation !== undefined && object.mutation !== null
? exports.MutateWorldObjectRequest_Mutation.fromPartial(object.mutation)
: undefined;
return message;
},
};
function createBaseMutateWorldObjectRequest_Mutation() {
return { action: 0, object: undefined };
}
exports.MutateWorldObjectRequest_Mutation = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.action !== 0) {
writer.uint32(8).int32(message.action);
}
if (message.object !== undefined) {
exports.WorldObject.encode(message.object, 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 = createBaseMutateWorldObjectRequest_Mutation();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.action = reader.int32();
break;
case 2:
message.object = exports.WorldObject.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
action: isSet(object.action)
? mutateWorldObjectRequest_ActionFromJSON(object.action)
: 0,
object: isSet(object.object)
? exports.WorldObject.fromJSON(object.object)
: undefined,
};
},
toJSON(message) {
const obj = {};
message.action !== undefined &&
(obj.action = mutateWorldObjectRequest_ActionToJSON(message.action));
message.object !== undefined &&
(obj.object = message.object
? exports.WorldObject.toJSON(message.object)
: undefined);
return obj;
},
fromPartial(object) {
const message = createBaseMutateWorldObjectRequest_Mutation();
message.action = object.action ?? 0;
message.object =
object.object !== undefined && object.object !== null
? exports.WorldObject.fromPartial(object.object)
: undefined;
return message;
},
};
function createBaseMutateWorldObjectResponse() {
return { header: undefined, status: 0, mutatedObjectId: 0 };
}
exports.MutateWorldObjectResponse = {
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.status !== 0) {
writer.uint32(16).int32(message.status);
}
if (message.mutatedObjectId !== 0) {
writer.uint32(32).int32(message.mutatedObjectId);
}
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 = createBaseMutateWorldObjectResponse();
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.status = reader.int32();
break;
case 4:
message.mutatedObjectId = 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,
status: isSet(object.status)
? mutateWorldObjectResponse_StatusFromJSON(object.status)
: 0,
mutatedObjectId: isSet(object.mutatedObjectId)
? Number(object.mutatedObjectId)
: 0,
};
},
toJSON(message) {
const obj = {};
message.header !== undefined &&
(obj.header = message.header
? header_1.ResponseHeader.toJSON(message.header)
: undefined);
message.status !== undefined &&
(obj.status = mutateWorldObjectResponse_StatusToJSON(message.status));
message.mutatedObjectId !== undefined &&
(obj.mutatedObjectId = Math.round(message.mutatedObjectId));
return obj;
},
fromPartial(object) {
const message = createBaseMutateWorldObjectResponse();
message.header =
object.header !== undefined && object.header !== null
? header_1.ResponseHeader.fromPartial(object.header)
: undefined;
message.status = object.status ?? 0;
message.mutatedObjectId = object.mutatedObjectId ?? 0;
return message;
},
};
function createBaseImageProperties() {
return {
cameraSource: "",
coordinates: undefined,
keypoints: undefined,
imageSource: undefined,
imageCapture: undefined,
frameNameImageCoordinates: "",
};
}
exports.ImageProperties = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.cameraSource !== "") {
writer.uint32(10).string(message.cameraSource);
}
if (message.coordinates !== undefined) {
geometry_1.Polygon.encode(message.coordinates, writer.uint32(18).fork()).ldelim();
}
if (message.keypoints !== undefined) {
sparse_features_1.KeypointSet.encode(message.keypoints, writer.uint32(34).fork()).ldelim();
}
if (message.imageSource !== undefined) {
image_1.ImageSource.encode(message.imageSource, writer.uint32(42).fork()).ldelim();
}
if (message.imageCapture !== undefined) {
image_1.ImageCapture.encode(message.imageCapture, writer.uint32(50).fork()).ldelim();
}
if (message.frameNameImageCoordinates !== "") {
writer.uint32(26).string(message.frameNameImageCoordinates);
}
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 = createBaseImageProperties();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.cameraSource = reader.string();
break;
case 2:
message.coordinates = geometry_1.Polygon.decode(reader, reader.uint32());
break;
case 4:
message.keypoints = sparse_features_1.KeypointSet.decode(reader, reader.uint32());
break;
case 5:
message.imageSource = image_1.ImageSource.decode(reader, reader.uint32());
break;
case 6:
message.imageCapture = image_1.ImageCapture.decode(reader, reader.uint32());
break;
case 3:
message.frameNameImageCoordinates = reader.string();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
cameraSource: isSet(object.cameraSource)
? String(object.cameraSource)
: "",
coordinates: isSet(object.coordinates)
? geometry_1.Polygon.fromJSON(object.coordinates)
: undefined,
keypoints: isSet(object.keypoints)
? sparse_features_1.KeypointSet.fromJSON(object.keypoints)
: undefined,
imageSource: isSet(object.imageSource)
? image_1.ImageSource.fromJSON(object.imageSource)
: undefined,
imageCapture: isSet(object.imageCapture)
? image_1.ImageCapture.fromJSON(object.imageCapture)
: undefined,
frameNameImageCoordinates: isSet(object.frameNameImageCoordinates)
? String(object.frameNameImageCoordinates)
: "",
};
},
toJSON(message) {
const obj = {};
message.cameraSource !== undefined &&
(obj.cameraSource = message.cameraSource);
message.coordinates !== undefined &&
(obj.coordinates = message.coordinates
? geometry_1.Polygon.toJSON(message.coordinates)
: undefined);
message.keypoints !== undefined &&
(obj.keypoints = message.keypoints
? sparse_features_1.KeypointSet.toJSON(message.keypoints)
: undefined);
message.imageSource !== undefined &&
(obj.imageSource = message.imageSource
? image_1.ImageSource.toJSON(message.imageSource)
: undefined);
message.imageCapture !== undefined &&
(obj.imageCapture = message.imageCapture
? image_1.ImageCapture.toJSON(message.imageCapture)
: undefined);
message.frameNameImageCoordinates !== undefined &&
(obj.frameNameImageCoordinates = message.frameNameImageCoordinates);
return obj;
},
fromPartial(object) {
const message = createBaseImageProperties();
message.cameraSource = object.cameraSource ?? "";
message.coordinates =
object.coordinates !== undefined && object.coordinates !== null
? geometry_1.Polygon.fromPartial(object.coordinates)
: undefined;
message.keypoints =
object.keypoints !== undefined && object.keypoints !== null
? sparse_features_1.KeypointSet.fromPartial(object.keypoints)
: undefined;
message.imageSource =
object.imageSource !== undefined && object.imageSource !== null
? image_1.ImageSource.fromPartial(object.imageSource)
: undefined;
message.imageCapture =
object.imageCapture !== undefined && object.imageCapture !== null
? image_1.ImageCapture.fromPartial(object.imageCapture)
: undefined;
message.frameNameImageCoordinates = object.frameNameImageCoordinates ?? "";
return message;
},
};
function createBaseDockProperties() {
return {
dockId: 0,
type: 0,
frameNameDock: "",
unavailable: false,
fromPrior: false,
};
}
exports.DockProperties = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.dockId !== 0) {
writer.uint32(8).uint32(message.dockId);
}
if (message.type !== 0) {
writer.uint32(16).int32(message.type);
}
if (message.frameNameDock !== "") {
writer.uint32(26).string(message.frameNameDock);
}
if (message.unavailable === true) {
writer.uint32(32).bool(message.unavailable);
}
if (message.fromPrior === true) {
writer.uint32(40).bool(message.fromPrior);
}
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 = createBaseDockProperties();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.dockId = reader.uint32();
break;
case 2:
message.type = reader.int32();
break;
case 3:
message.frameNameDock = reader.string();
break;
case 4:
message.unavailable = reader.bool();
break;
case 5:
message.fromPrior = reader.bool();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
dockId: isSet(object.dockId) ? Number(object.dockId) : 0,
type: isSet(object.type) ? (0, docking_1.dockTypeFromJSON)(object.type) : 0,
frameNameDock: isSet(object.frameNameDock)
? String(object.frameNameDock)
: "",
unavailable: isSet(object.unavailable)
? Boolean(object.unavailable)
: false,
fromPrior: isSet(object.fromPrior) ? Boolean(object.fromPrior) : false,
};
},
toJSON(message) {
const obj = {};
message.dockId !== undefined && (obj.dockId = Math.round(message.dockId));
message.type !== undefined && (obj.type = (0, docking_1.dockTypeToJSON)(message.type));
message.frameNameDock !== undefined &&
(obj.frameNameDock = message.frameNameDock);
message.unavailable !== undefined &&
(obj.unavailable = message.unavailable);
message.fromPrior !== undefined && (obj.fromPrior = message.fromPrior);
return obj;
},
fromPartial(object) {
const message = createBaseDockProperties();
message.dockId = object.dockId ?? 0;
message.type = object.type ?? 0;
message.frameNameDock = object.frameNameDock ?? "";
message.unavailable = object.unavailable ?? false;
message.fromPrior = object.fromPrior ?? false;
return message;
},
};
function createBaseAprilTagProperties() {
return {
tagId: 0,
dimensions: undefined,
frameNameFiducial: "",
fiducialPoseStatus: 0,
frameNameFiducialFiltered: "",
fiducialFilteredPoseStatus: 0,
frameNameCamera: "",
detectionCovariance: undefined,
detectionCovarianceReferenceFrame: "",
};
}
exports.AprilTagProperties = {
encode(message, writer = minimal_1.default.Writer.create()) {
if (message.tagId !== 0) {
writer.uint32(8).int32(message.tagId);
}
if (message.dimensions !== undefined) {
geometry_1.Vec2.encode(message.dimensions, writer.uint32(18).fork()).ldelim();
}
if (message.frameNameFiducial !== "") {
writer.uint32(26).string(message.frameNameFiducial);
}
if (message.fiducialPoseStatus !== 0) {
writer.uint32(64).int32(message.fiducialPoseStatus);
}
if (message.frameNameFiducialFiltered !== "") {
writer.uint32(34).string(message.frameNameFiducialFiltered);
}
if (message.fiducialFilteredPoseStatus !== 0) {
writer.uint32(72).int32(message.fiducialFilteredPoseStatus);
}
if (message.frameNameCamera !== "") {
writer.uint32(58).string(message.frameNameCamera);
}
if (message.detectionCovariance !== undefined) {
geometry_1.SE3Covariance.encode(message.detectionCovariance, writer.uint32(42).fork()).ldelim();
}
if (message.detectionCovarianceReferenceFrame !== "") {
writer.uint32(50).string(message.detectionCovarianceReferenceFrame);
}
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 = createBaseAprilTagProperties();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.tagId = reader.int32();
break;
case 2:
message.dimensions = geometry_1.Vec2.decode(reader, reader.uint32());
break;
case 3:
message.frameNameFiducial = reader.string();
break;
case 8:
message.fiducialPoseStatus = reader.int32();
break;
case 4:
message.frameNameFiducialFiltered = reader.string();
break;
case 9:
message.fiducialFilteredPoseStatus = reader.int32();
break;
case 7:
message.frameNameCamera = reader.string();
break;
case 5:
message.detectionCovariance = geometry_1.SE3Covariance.decode(reader, reader.uint32());
break;
case 6:
message.detectionCovarianceReferenceFrame = reader.string();
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object) {
return {
tagId: isSet(object.tagId) ? Number(object.tagId) : 0,
dimensions: isSet(object.dimensions)
? geometry_1.Vec2.fromJSON(object.dimensions)
: undefined,
frameNameFiducial: isSet(object.frameNameFiducial)
? String(object.frameNameFiducial)
: "",
fiducialPoseStatus: isSet(object.fiducialPoseStatus)
? aprilTagProperties_AprilTagPoseStatusFromJSON(object.fiducialPoseStatus)
: 0,
frameNameFiduc