spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
659 lines (632 loc) • 22.7 kB
text/typescript
/* eslint-disable */
import {
RobotCommandFeedbackStatus_Status,
StopCommand_Request,
FreezeCommand_Request,
SelfRightCommand_Request,
SafePowerOffCommand_Request,
BatteryChangePoseCommand_Request,
ConstrainedManipulationCommand_Request,
StopCommand_Feedback,
FreezeCommand_Feedback,
SelfRightCommand_Feedback,
SafePowerOffCommand_Feedback,
BatteryChangePoseCommand_Feedback,
ConstrainedManipulationCommand_Feedback,
robotCommandFeedbackStatus_StatusFromJSON,
robotCommandFeedbackStatus_StatusToJSON,
} from "./basic_command";
import {
PayloadEstimationCommand_Request,
PayloadEstimationCommand_Feedback,
} from "./payload_estimation";
import { Any } from "../../google/protobuf/any";
import _m0 from "protobufjs/minimal";
export const protobufPackage = "bosdyn.api";
/**
* The robot command message to specify a basic command that requires full control of the entire
* robot to be completed.
*/
export interface FullBodyCommand {}
/** The full body request must be one of the basic command primitives. */
export interface FullBodyCommand_Request {
/** Command to stop the robot. */
stopRequest: StopCommand_Request | undefined;
/** Command to freeze all joints of the robot. */
freezeRequest: FreezeCommand_Request | undefined;
/** Command to self-right the robot to a ready position. */
selfrightRequest: SelfRightCommand_Request | undefined;
/** Command to safely power off the robot. */
safePowerOffRequest: SafePowerOffCommand_Request | undefined;
/** Command to put the robot in a position to easily change the battery. */
batteryChangePoseRequest: BatteryChangePoseCommand_Request | undefined;
/** Command to perform payload mass property estimation */
payloadEstimationRequest: PayloadEstimationCommand_Request | undefined;
/** Command to perform full body constrained manipulation moves */
constrainedManipulationRequest:
| ConstrainedManipulationCommand_Request
| undefined;
/** Robot specific command parameters. */
params: Any | undefined;
}
/**
* The feedback for the fully body command that will provide information on the progress
* of the robot command.
*/
export interface FullBodyCommand_Feedback {
/** Feedback for the stop command request. */
stopFeedback: StopCommand_Feedback | undefined;
/** Feedback for the freeze command request. */
freezeFeedback: FreezeCommand_Feedback | undefined;
/** Feedback for the self-right command request. */
selfrightFeedback: SelfRightCommand_Feedback | undefined;
/** Feedback for the safe power off command request. */
safePowerOffFeedback: SafePowerOffCommand_Feedback | undefined;
/** Feedback for the battery change pose command request. */
batteryChangePoseFeedback: BatteryChangePoseCommand_Feedback | undefined;
/** Feedback for the payload estimation command request. */
payloadEstimationFeedback: PayloadEstimationCommand_Feedback | undefined;
/** Feedback for the constrained manipulation command request */
constrainedManipulationFeedback:
| ConstrainedManipulationCommand_Feedback
| undefined;
status: RobotCommandFeedbackStatus_Status;
}
function createBaseFullBodyCommand(): FullBodyCommand {
return {};
}
export const FullBodyCommand = {
encode(
_: FullBodyCommand,
writer: _m0.Writer = _m0.Writer.create()
): _m0.Writer {
return writer;
},
decode(input: _m0.Reader | Uint8Array, length?: number): FullBodyCommand {
const reader = input instanceof _m0.Reader ? input : new _m0.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(_: any): FullBodyCommand {
return {};
},
toJSON(_: FullBodyCommand): unknown {
const obj: any = {};
return obj;
},
fromPartial<I extends Exact<DeepPartial<FullBodyCommand>, I>>(
_: I
): FullBodyCommand {
const message = createBaseFullBodyCommand();
return message;
},
};
function createBaseFullBodyCommand_Request(): FullBodyCommand_Request {
return {
stopRequest: undefined,
freezeRequest: undefined,
selfrightRequest: undefined,
safePowerOffRequest: undefined,
batteryChangePoseRequest: undefined,
payloadEstimationRequest: undefined,
constrainedManipulationRequest: undefined,
params: undefined,
};
}
export const FullBodyCommand_Request = {
encode(
message: FullBodyCommand_Request,
writer: _m0.Writer = _m0.Writer.create()
): _m0.Writer {
if (message.stopRequest !== undefined) {
StopCommand_Request.encode(
message.stopRequest,
writer.uint32(10).fork()
).ldelim();
}
if (message.freezeRequest !== undefined) {
FreezeCommand_Request.encode(
message.freezeRequest,
writer.uint32(18).fork()
).ldelim();
}
if (message.selfrightRequest !== undefined) {
SelfRightCommand_Request.encode(
message.selfrightRequest,
writer.uint32(26).fork()
).ldelim();
}
if (message.safePowerOffRequest !== undefined) {
SafePowerOffCommand_Request.encode(
message.safePowerOffRequest,
writer.uint32(34).fork()
).ldelim();
}
if (message.batteryChangePoseRequest !== undefined) {
BatteryChangePoseCommand_Request.encode(
message.batteryChangePoseRequest,
writer.uint32(42).fork()
).ldelim();
}
if (message.payloadEstimationRequest !== undefined) {
PayloadEstimationCommand_Request.encode(
message.payloadEstimationRequest,
writer.uint32(50).fork()
).ldelim();
}
if (message.constrainedManipulationRequest !== undefined) {
ConstrainedManipulationCommand_Request.encode(
message.constrainedManipulationRequest,
writer.uint32(58).fork()
).ldelim();
}
if (message.params !== undefined) {
Any.encode(message.params, writer.uint32(802).fork()).ldelim();
}
return writer;
},
decode(
input: _m0.Reader | Uint8Array,
length?: number
): FullBodyCommand_Request {
const reader = input instanceof _m0.Reader ? input : new _m0.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 = StopCommand_Request.decode(
reader,
reader.uint32()
);
break;
case 2:
message.freezeRequest = FreezeCommand_Request.decode(
reader,
reader.uint32()
);
break;
case 3:
message.selfrightRequest = SelfRightCommand_Request.decode(
reader,
reader.uint32()
);
break;
case 4:
message.safePowerOffRequest = SafePowerOffCommand_Request.decode(
reader,
reader.uint32()
);
break;
case 5:
message.batteryChangePoseRequest =
BatteryChangePoseCommand_Request.decode(reader, reader.uint32());
break;
case 6:
message.payloadEstimationRequest =
PayloadEstimationCommand_Request.decode(reader, reader.uint32());
break;
case 7:
message.constrainedManipulationRequest =
ConstrainedManipulationCommand_Request.decode(
reader,
reader.uint32()
);
break;
case 100:
message.params = Any.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object: any): FullBodyCommand_Request {
return {
stopRequest: isSet(object.stopRequest)
? StopCommand_Request.fromJSON(object.stopRequest)
: undefined,
freezeRequest: isSet(object.freezeRequest)
? FreezeCommand_Request.fromJSON(object.freezeRequest)
: undefined,
selfrightRequest: isSet(object.selfrightRequest)
? SelfRightCommand_Request.fromJSON(object.selfrightRequest)
: undefined,
safePowerOffRequest: isSet(object.safePowerOffRequest)
? SafePowerOffCommand_Request.fromJSON(object.safePowerOffRequest)
: undefined,
batteryChangePoseRequest: isSet(object.batteryChangePoseRequest)
? BatteryChangePoseCommand_Request.fromJSON(
object.batteryChangePoseRequest
)
: undefined,
payloadEstimationRequest: isSet(object.payloadEstimationRequest)
? PayloadEstimationCommand_Request.fromJSON(
object.payloadEstimationRequest
)
: undefined,
constrainedManipulationRequest: isSet(
object.constrainedManipulationRequest
)
? ConstrainedManipulationCommand_Request.fromJSON(
object.constrainedManipulationRequest
)
: undefined,
params: isSet(object.params) ? Any.fromJSON(object.params) : undefined,
};
},
toJSON(message: FullBodyCommand_Request): unknown {
const obj: any = {};
message.stopRequest !== undefined &&
(obj.stopRequest = message.stopRequest
? StopCommand_Request.toJSON(message.stopRequest)
: undefined);
message.freezeRequest !== undefined &&
(obj.freezeRequest = message.freezeRequest
? FreezeCommand_Request.toJSON(message.freezeRequest)
: undefined);
message.selfrightRequest !== undefined &&
(obj.selfrightRequest = message.selfrightRequest
? SelfRightCommand_Request.toJSON(message.selfrightRequest)
: undefined);
message.safePowerOffRequest !== undefined &&
(obj.safePowerOffRequest = message.safePowerOffRequest
? SafePowerOffCommand_Request.toJSON(message.safePowerOffRequest)
: undefined);
message.batteryChangePoseRequest !== undefined &&
(obj.batteryChangePoseRequest = message.batteryChangePoseRequest
? BatteryChangePoseCommand_Request.toJSON(
message.batteryChangePoseRequest
)
: undefined);
message.payloadEstimationRequest !== undefined &&
(obj.payloadEstimationRequest = message.payloadEstimationRequest
? PayloadEstimationCommand_Request.toJSON(
message.payloadEstimationRequest
)
: undefined);
message.constrainedManipulationRequest !== undefined &&
(obj.constrainedManipulationRequest =
message.constrainedManipulationRequest
? ConstrainedManipulationCommand_Request.toJSON(
message.constrainedManipulationRequest
)
: undefined);
message.params !== undefined &&
(obj.params = message.params ? Any.toJSON(message.params) : undefined);
return obj;
},
fromPartial<I extends Exact<DeepPartial<FullBodyCommand_Request>, I>>(
object: I
): FullBodyCommand_Request {
const message = createBaseFullBodyCommand_Request();
message.stopRequest =
object.stopRequest !== undefined && object.stopRequest !== null
? StopCommand_Request.fromPartial(object.stopRequest)
: undefined;
message.freezeRequest =
object.freezeRequest !== undefined && object.freezeRequest !== null
? FreezeCommand_Request.fromPartial(object.freezeRequest)
: undefined;
message.selfrightRequest =
object.selfrightRequest !== undefined && object.selfrightRequest !== null
? SelfRightCommand_Request.fromPartial(object.selfrightRequest)
: undefined;
message.safePowerOffRequest =
object.safePowerOffRequest !== undefined &&
object.safePowerOffRequest !== null
? SafePowerOffCommand_Request.fromPartial(object.safePowerOffRequest)
: undefined;
message.batteryChangePoseRequest =
object.batteryChangePoseRequest !== undefined &&
object.batteryChangePoseRequest !== null
? BatteryChangePoseCommand_Request.fromPartial(
object.batteryChangePoseRequest
)
: undefined;
message.payloadEstimationRequest =
object.payloadEstimationRequest !== undefined &&
object.payloadEstimationRequest !== null
? PayloadEstimationCommand_Request.fromPartial(
object.payloadEstimationRequest
)
: undefined;
message.constrainedManipulationRequest =
object.constrainedManipulationRequest !== undefined &&
object.constrainedManipulationRequest !== null
? ConstrainedManipulationCommand_Request.fromPartial(
object.constrainedManipulationRequest
)
: undefined;
message.params =
object.params !== undefined && object.params !== null
? Any.fromPartial(object.params)
: undefined;
return message;
},
};
function createBaseFullBodyCommand_Feedback(): FullBodyCommand_Feedback {
return {
stopFeedback: undefined,
freezeFeedback: undefined,
selfrightFeedback: undefined,
safePowerOffFeedback: undefined,
batteryChangePoseFeedback: undefined,
payloadEstimationFeedback: undefined,
constrainedManipulationFeedback: undefined,
status: 0,
};
}
export const FullBodyCommand_Feedback = {
encode(
message: FullBodyCommand_Feedback,
writer: _m0.Writer = _m0.Writer.create()
): _m0.Writer {
if (message.stopFeedback !== undefined) {
StopCommand_Feedback.encode(
message.stopFeedback,
writer.uint32(10).fork()
).ldelim();
}
if (message.freezeFeedback !== undefined) {
FreezeCommand_Feedback.encode(
message.freezeFeedback,
writer.uint32(18).fork()
).ldelim();
}
if (message.selfrightFeedback !== undefined) {
SelfRightCommand_Feedback.encode(
message.selfrightFeedback,
writer.uint32(26).fork()
).ldelim();
}
if (message.safePowerOffFeedback !== undefined) {
SafePowerOffCommand_Feedback.encode(
message.safePowerOffFeedback,
writer.uint32(34).fork()
).ldelim();
}
if (message.batteryChangePoseFeedback !== undefined) {
BatteryChangePoseCommand_Feedback.encode(
message.batteryChangePoseFeedback,
writer.uint32(42).fork()
).ldelim();
}
if (message.payloadEstimationFeedback !== undefined) {
PayloadEstimationCommand_Feedback.encode(
message.payloadEstimationFeedback,
writer.uint32(50).fork()
).ldelim();
}
if (message.constrainedManipulationFeedback !== undefined) {
ConstrainedManipulationCommand_Feedback.encode(
message.constrainedManipulationFeedback,
writer.uint32(58).fork()
).ldelim();
}
if (message.status !== 0) {
writer.uint32(800).int32(message.status);
}
return writer;
},
decode(
input: _m0.Reader | Uint8Array,
length?: number
): FullBodyCommand_Feedback {
const reader = input instanceof _m0.Reader ? input : new _m0.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 = StopCommand_Feedback.decode(
reader,
reader.uint32()
);
break;
case 2:
message.freezeFeedback = FreezeCommand_Feedback.decode(
reader,
reader.uint32()
);
break;
case 3:
message.selfrightFeedback = SelfRightCommand_Feedback.decode(
reader,
reader.uint32()
);
break;
case 4:
message.safePowerOffFeedback = SafePowerOffCommand_Feedback.decode(
reader,
reader.uint32()
);
break;
case 5:
message.batteryChangePoseFeedback =
BatteryChangePoseCommand_Feedback.decode(reader, reader.uint32());
break;
case 6:
message.payloadEstimationFeedback =
PayloadEstimationCommand_Feedback.decode(reader, reader.uint32());
break;
case 7:
message.constrainedManipulationFeedback =
ConstrainedManipulationCommand_Feedback.decode(
reader,
reader.uint32()
);
break;
case 100:
message.status = reader.int32() as any;
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object: any): FullBodyCommand_Feedback {
return {
stopFeedback: isSet(object.stopFeedback)
? StopCommand_Feedback.fromJSON(object.stopFeedback)
: undefined,
freezeFeedback: isSet(object.freezeFeedback)
? FreezeCommand_Feedback.fromJSON(object.freezeFeedback)
: undefined,
selfrightFeedback: isSet(object.selfrightFeedback)
? SelfRightCommand_Feedback.fromJSON(object.selfrightFeedback)
: undefined,
safePowerOffFeedback: isSet(object.safePowerOffFeedback)
? SafePowerOffCommand_Feedback.fromJSON(object.safePowerOffFeedback)
: undefined,
batteryChangePoseFeedback: isSet(object.batteryChangePoseFeedback)
? BatteryChangePoseCommand_Feedback.fromJSON(
object.batteryChangePoseFeedback
)
: undefined,
payloadEstimationFeedback: isSet(object.payloadEstimationFeedback)
? PayloadEstimationCommand_Feedback.fromJSON(
object.payloadEstimationFeedback
)
: undefined,
constrainedManipulationFeedback: isSet(
object.constrainedManipulationFeedback
)
? ConstrainedManipulationCommand_Feedback.fromJSON(
object.constrainedManipulationFeedback
)
: undefined,
status: isSet(object.status)
? robotCommandFeedbackStatus_StatusFromJSON(object.status)
: 0,
};
},
toJSON(message: FullBodyCommand_Feedback): unknown {
const obj: any = {};
message.stopFeedback !== undefined &&
(obj.stopFeedback = message.stopFeedback
? StopCommand_Feedback.toJSON(message.stopFeedback)
: undefined);
message.freezeFeedback !== undefined &&
(obj.freezeFeedback = message.freezeFeedback
? FreezeCommand_Feedback.toJSON(message.freezeFeedback)
: undefined);
message.selfrightFeedback !== undefined &&
(obj.selfrightFeedback = message.selfrightFeedback
? SelfRightCommand_Feedback.toJSON(message.selfrightFeedback)
: undefined);
message.safePowerOffFeedback !== undefined &&
(obj.safePowerOffFeedback = message.safePowerOffFeedback
? SafePowerOffCommand_Feedback.toJSON(message.safePowerOffFeedback)
: undefined);
message.batteryChangePoseFeedback !== undefined &&
(obj.batteryChangePoseFeedback = message.batteryChangePoseFeedback
? BatteryChangePoseCommand_Feedback.toJSON(
message.batteryChangePoseFeedback
)
: undefined);
message.payloadEstimationFeedback !== undefined &&
(obj.payloadEstimationFeedback = message.payloadEstimationFeedback
? PayloadEstimationCommand_Feedback.toJSON(
message.payloadEstimationFeedback
)
: undefined);
message.constrainedManipulationFeedback !== undefined &&
(obj.constrainedManipulationFeedback =
message.constrainedManipulationFeedback
? ConstrainedManipulationCommand_Feedback.toJSON(
message.constrainedManipulationFeedback
)
: undefined);
message.status !== undefined &&
(obj.status = robotCommandFeedbackStatus_StatusToJSON(message.status));
return obj;
},
fromPartial<I extends Exact<DeepPartial<FullBodyCommand_Feedback>, I>>(
object: I
): FullBodyCommand_Feedback {
const message = createBaseFullBodyCommand_Feedback();
message.stopFeedback =
object.stopFeedback !== undefined && object.stopFeedback !== null
? StopCommand_Feedback.fromPartial(object.stopFeedback)
: undefined;
message.freezeFeedback =
object.freezeFeedback !== undefined && object.freezeFeedback !== null
? FreezeCommand_Feedback.fromPartial(object.freezeFeedback)
: undefined;
message.selfrightFeedback =
object.selfrightFeedback !== undefined &&
object.selfrightFeedback !== null
? SelfRightCommand_Feedback.fromPartial(object.selfrightFeedback)
: undefined;
message.safePowerOffFeedback =
object.safePowerOffFeedback !== undefined &&
object.safePowerOffFeedback !== null
? SafePowerOffCommand_Feedback.fromPartial(object.safePowerOffFeedback)
: undefined;
message.batteryChangePoseFeedback =
object.batteryChangePoseFeedback !== undefined &&
object.batteryChangePoseFeedback !== null
? BatteryChangePoseCommand_Feedback.fromPartial(
object.batteryChangePoseFeedback
)
: undefined;
message.payloadEstimationFeedback =
object.payloadEstimationFeedback !== undefined &&
object.payloadEstimationFeedback !== null
? PayloadEstimationCommand_Feedback.fromPartial(
object.payloadEstimationFeedback
)
: undefined;
message.constrainedManipulationFeedback =
object.constrainedManipulationFeedback !== undefined &&
object.constrainedManipulationFeedback !== null
? ConstrainedManipulationCommand_Feedback.fromPartial(
object.constrainedManipulationFeedback
)
: undefined;
message.status = object.status ?? 0;
return message;
},
};
type Builtin =
| Date
| Function
| Uint8Array
| string
| number
| boolean
| undefined;
export type DeepPartial<T> = T extends Builtin
? T
: T extends Array<infer U>
? Array<DeepPartial<U>>
: T extends ReadonlyArray<infer U>
? ReadonlyArray<DeepPartial<U>>
: T extends {}
? { [K in keyof T]?: DeepPartial<T[K]> }
: Partial<T>;
type KeysOfUnion<T> = T extends T ? keyof T : never;
export type Exact<P, I extends P> = P extends Builtin
? P
: P & { [K in keyof P]: Exact<P[K], I[K]> } & {
[K in Exclude<keyof I, KeysOfUnion<P>>]: never;
};
function isSet(value: any): boolean {
return value !== null && value !== undefined;
}