spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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text/typescript
/* eslint-disable */
import { RequestHeader, ResponseHeader } from "./header";
import { Vec2 } from "./geometry";
import _m0 from "protobufjs/minimal";
import { FloatValue, BoolValue } from "../../google/protobuf/wrappers";
export const protobufPackage = "bosdyn.api";
/**
* High dynamic range (HDR) modes available. HDR sets the camera to take multiple frames to
* get exposure in a large range. HDR will reduce framerate in high-framerate modes.
*/
export enum HdrParameters {
/** HDR_UNKNOWN - (or not set): will not change HDR settings. */
HDR_UNKNOWN = 0,
/** HDR_OFF - HDR disabled */
HDR_OFF = 1,
/** HDR_AUTO - Camera's on-board processor determines how much HDR is needed */
HDR_AUTO = 2,
/** HDR_MANUAL_1 - Manual HDR enabled (minimum) */
HDR_MANUAL_1 = 3,
/** HDR_MANUAL_2 - */
HDR_MANUAL_2 = 4,
/** HDR_MANUAL_3 - */
HDR_MANUAL_3 = 5,
/** HDR_MANUAL_4 - Manual HDR enabled (maximum) */
HDR_MANUAL_4 = 6,
UNRECOGNIZED = -1,
}
export function hdrParametersFromJSON(object: any): HdrParameters {
switch (object) {
case 0:
case "HDR_UNKNOWN":
return HdrParameters.HDR_UNKNOWN;
case 1:
case "HDR_OFF":
return HdrParameters.HDR_OFF;
case 2:
case "HDR_AUTO":
return HdrParameters.HDR_AUTO;
case 3:
case "HDR_MANUAL_1":
return HdrParameters.HDR_MANUAL_1;
case 4:
case "HDR_MANUAL_2":
return HdrParameters.HDR_MANUAL_2;
case 5:
case "HDR_MANUAL_3":
return HdrParameters.HDR_MANUAL_3;
case 6:
case "HDR_MANUAL_4":
return HdrParameters.HDR_MANUAL_4;
case -1:
case "UNRECOGNIZED":
default:
return HdrParameters.UNRECOGNIZED;
}
}
export function hdrParametersToJSON(object: HdrParameters): string {
switch (object) {
case HdrParameters.HDR_UNKNOWN:
return "HDR_UNKNOWN";
case HdrParameters.HDR_OFF:
return "HDR_OFF";
case HdrParameters.HDR_AUTO:
return "HDR_AUTO";
case HdrParameters.HDR_MANUAL_1:
return "HDR_MANUAL_1";
case HdrParameters.HDR_MANUAL_2:
return "HDR_MANUAL_2";
case HdrParameters.HDR_MANUAL_3:
return "HDR_MANUAL_3";
case HdrParameters.HDR_MANUAL_4:
return "HDR_MANUAL_4";
case HdrParameters.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
/** The GripperCameraParam request message sets new gripper sensor parameters. Gripper sensor parameters do not persist across reboots. */
export interface GripperCameraParamRequest {
/** Common request header. */
header: RequestHeader | undefined;
params: GripperCameraParams | undefined;
}
export interface GripperCameraParamResponse {
/** Common response header. */
header: ResponseHeader | undefined;
}
/** The GripperCameraGetParam request message queries the robot for the current gripper sensor parameters. */
export interface GripperCameraGetParamRequest {
/** Common request header. */
header: RequestHeader | undefined;
}
/** The GripperCameraGetParam response message contains the current gripper sensor parameters. Gripper sensor parameters do not persist across reboots. */
export interface GripperCameraGetParamResponse {
/** Common request header. */
header: ResponseHeader | undefined;
params: GripperCameraParams | undefined;
}
export interface GripperCameraParams {
/** CameraMode sets the resolution, frame rate and image format. */
cameraMode: GripperCameraParams_CameraMode;
/**
* Set the image brightness level.
* Min 0, max 1
*/
brightness: number | undefined;
/**
* Set the image contrast level.
* Min 0, max 1
*/
contrast: number | undefined;
/**
* Set the image saturation level.
* Min 0, max 1
*/
saturation: number | undefined;
/**
* Set the image gain level.
* Min 0, max 1
*/
gain: number | undefined;
/**
* Whether the camera should use auto exposure.
* Defaults to true.
*/
exposureAuto: boolean | undefined;
/**
* Manually set the image exposure level. This value is only used if exposure_auto is false.
* Min 0, max 1
*/
exposureAbsolute: number | undefined;
/**
* Region of interest for exposure. Specify a spot exposure on a
* certain part of the image. Only used in auto-exposure mode.
*/
exposureRoi: RoiParameters | undefined;
/**
* Whether the camera should automatically focus the image.
* Default true
*/
focusAuto: boolean | undefined;
/**
* Manually set the image focus. This value is only used if focus_auto is false.
* Min 0, max 1
* 0 corresponds to focus at infinity, 1 corresponds to a focal point close to the camera.
*/
focusAbsolute: number | undefined;
/** Region of interest for focus. Only used when in auto-focus mode. */
focusRoi: RoiParameters | undefined;
/**
* Set to true to draw a rectangle in the image where the focus ROI is.
* Default: false
*/
drawFocusRoiRectangle: boolean | undefined;
/**
* High dynamic range (HDR) mode sets the camera to take multiple frames to get exposure
* in a large range. HDR will reduce framerate in high-framerate modes.
*/
hdr: HdrParameters;
/** Set the LED mode. */
ledMode: GripperCameraParams_LedMode;
/**
* Brightness of the LED in torch mode. Min = 0, max = 1.
* Note: A brightness value of 0 is *not* off, but is the minimum brightness.
* To turn off the LED, set the led_mode to LED_MODE_OFF
*/
ledTorchBrightness: number | undefined;
}
export enum GripperCameraParams_CameraMode {
/** MODE_UNKNOWN - MODE_UNKNOWN should not be used. */
MODE_UNKNOWN = 0,
/** MODE_1280_720_60FPS_UYVY - 1280x720 pixels at 60 frames per second in UYVY format */
MODE_1280_720_60FPS_UYVY = 1,
/**
* MODE_640_480_120FPS_UYVY - 640x480 pixels at 120 frames per second in UYVY format
* Warning: this frame rate may not be achievable with long exposure times.
*/
MODE_640_480_120FPS_UYVY = 11,
/** MODE_1920_1080_60FPS_MJPG - 1920x1080 pixels at 60 frames per second in Motion JPG format */
MODE_1920_1080_60FPS_MJPG = 14,
/** MODE_3840_2160_30FPS_MJPG - 3840x2160 pixels at 30 frames per second in Motion JPG format */
MODE_3840_2160_30FPS_MJPG = 15,
/** MODE_4208_3120_20FPS_MJPG - 4208x3120 pixels at 20 frames per second in Motion JPG format */
MODE_4208_3120_20FPS_MJPG = 16,
/** MODE_4096_2160_30FPS_MJPG - 4096x2160 pixels at 30 frames per second in Motion JPG format */
MODE_4096_2160_30FPS_MJPG = 17,
UNRECOGNIZED = -1,
}
export function gripperCameraParams_CameraModeFromJSON(
object: any
): GripperCameraParams_CameraMode {
switch (object) {
case 0:
case "MODE_UNKNOWN":
return GripperCameraParams_CameraMode.MODE_UNKNOWN;
case 1:
case "MODE_1280_720_60FPS_UYVY":
return GripperCameraParams_CameraMode.MODE_1280_720_60FPS_UYVY;
case 11:
case "MODE_640_480_120FPS_UYVY":
return GripperCameraParams_CameraMode.MODE_640_480_120FPS_UYVY;
case 14:
case "MODE_1920_1080_60FPS_MJPG":
return GripperCameraParams_CameraMode.MODE_1920_1080_60FPS_MJPG;
case 15:
case "MODE_3840_2160_30FPS_MJPG":
return GripperCameraParams_CameraMode.MODE_3840_2160_30FPS_MJPG;
case 16:
case "MODE_4208_3120_20FPS_MJPG":
return GripperCameraParams_CameraMode.MODE_4208_3120_20FPS_MJPG;
case 17:
case "MODE_4096_2160_30FPS_MJPG":
return GripperCameraParams_CameraMode.MODE_4096_2160_30FPS_MJPG;
case -1:
case "UNRECOGNIZED":
default:
return GripperCameraParams_CameraMode.UNRECOGNIZED;
}
}
export function gripperCameraParams_CameraModeToJSON(
object: GripperCameraParams_CameraMode
): string {
switch (object) {
case GripperCameraParams_CameraMode.MODE_UNKNOWN:
return "MODE_UNKNOWN";
case GripperCameraParams_CameraMode.MODE_1280_720_60FPS_UYVY:
return "MODE_1280_720_60FPS_UYVY";
case GripperCameraParams_CameraMode.MODE_640_480_120FPS_UYVY:
return "MODE_640_480_120FPS_UYVY";
case GripperCameraParams_CameraMode.MODE_1920_1080_60FPS_MJPG:
return "MODE_1920_1080_60FPS_MJPG";
case GripperCameraParams_CameraMode.MODE_3840_2160_30FPS_MJPG:
return "MODE_3840_2160_30FPS_MJPG";
case GripperCameraParams_CameraMode.MODE_4208_3120_20FPS_MJPG:
return "MODE_4208_3120_20FPS_MJPG";
case GripperCameraParams_CameraMode.MODE_4096_2160_30FPS_MJPG:
return "MODE_4096_2160_30FPS_MJPG";
case GripperCameraParams_CameraMode.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
export enum GripperCameraParams_LedMode {
/** LED_MODE_UNKNOWN - LED_MODE_UNKNOWN should not be used. */
LED_MODE_UNKNOWN = 0,
/** LED_MODE_OFF - Off */
LED_MODE_OFF = 1,
/** LED_MODE_TORCH - Constantly on. Brightness level can be set in the led_torch_brightness field. */
LED_MODE_TORCH = 2,
UNRECOGNIZED = -1,
}
export function gripperCameraParams_LedModeFromJSON(
object: any
): GripperCameraParams_LedMode {
switch (object) {
case 0:
case "LED_MODE_UNKNOWN":
return GripperCameraParams_LedMode.LED_MODE_UNKNOWN;
case 1:
case "LED_MODE_OFF":
return GripperCameraParams_LedMode.LED_MODE_OFF;
case 2:
case "LED_MODE_TORCH":
return GripperCameraParams_LedMode.LED_MODE_TORCH;
case -1:
case "UNRECOGNIZED":
default:
return GripperCameraParams_LedMode.UNRECOGNIZED;
}
}
export function gripperCameraParams_LedModeToJSON(
object: GripperCameraParams_LedMode
): string {
switch (object) {
case GripperCameraParams_LedMode.LED_MODE_UNKNOWN:
return "LED_MODE_UNKNOWN";
case GripperCameraParams_LedMode.LED_MODE_OFF:
return "LED_MODE_OFF";
case GripperCameraParams_LedMode.LED_MODE_TORCH:
return "LED_MODE_TORCH";
case GripperCameraParams_LedMode.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
/**
* Region of interest (ROI) indicates the region within the image that should be used for
* determination of automatic focus or exposure.
*/
export interface RoiParameters {
/**
* Center point of the ROI in the image. The upper lefthand corner of the image is (0, 0) and
* the lower righthand corner is (1, 1). The middle of the image is (0.5, 0.5).
*/
roiPercentageInImage: Vec2 | undefined;
/** Size of the region of interest. */
windowSize: RoiParameters_RoiWindowSize;
}
export enum RoiParameters_RoiWindowSize {
/** ROI_WINDOW_SIZE_UNKNOWN - ROI window size, 1 is the smallest, 8 is the largest. */
ROI_WINDOW_SIZE_UNKNOWN = 0,
ROI_WINDOW_SIZE_1 = 1,
ROI_WINDOW_SIZE_2 = 2,
ROI_WINDOW_SIZE_3 = 3,
ROI_WINDOW_SIZE_4 = 4,
ROI_WINDOW_SIZE_5 = 5,
ROI_WINDOW_SIZE_6 = 6,
ROI_WINDOW_SIZE_7 = 7,
ROI_WINDOW_SIZE_8 = 8,
UNRECOGNIZED = -1,
}
export function roiParameters_RoiWindowSizeFromJSON(
object: any
): RoiParameters_RoiWindowSize {
switch (object) {
case 0:
case "ROI_WINDOW_SIZE_UNKNOWN":
return RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_UNKNOWN;
case 1:
case "ROI_WINDOW_SIZE_1":
return RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_1;
case 2:
case "ROI_WINDOW_SIZE_2":
return RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_2;
case 3:
case "ROI_WINDOW_SIZE_3":
return RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_3;
case 4:
case "ROI_WINDOW_SIZE_4":
return RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_4;
case 5:
case "ROI_WINDOW_SIZE_5":
return RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_5;
case 6:
case "ROI_WINDOW_SIZE_6":
return RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_6;
case 7:
case "ROI_WINDOW_SIZE_7":
return RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_7;
case 8:
case "ROI_WINDOW_SIZE_8":
return RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_8;
case -1:
case "UNRECOGNIZED":
default:
return RoiParameters_RoiWindowSize.UNRECOGNIZED;
}
}
export function roiParameters_RoiWindowSizeToJSON(
object: RoiParameters_RoiWindowSize
): string {
switch (object) {
case RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_UNKNOWN:
return "ROI_WINDOW_SIZE_UNKNOWN";
case RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_1:
return "ROI_WINDOW_SIZE_1";
case RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_2:
return "ROI_WINDOW_SIZE_2";
case RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_3:
return "ROI_WINDOW_SIZE_3";
case RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_4:
return "ROI_WINDOW_SIZE_4";
case RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_5:
return "ROI_WINDOW_SIZE_5";
case RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_6:
return "ROI_WINDOW_SIZE_6";
case RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_7:
return "ROI_WINDOW_SIZE_7";
case RoiParameters_RoiWindowSize.ROI_WINDOW_SIZE_8:
return "ROI_WINDOW_SIZE_8";
case RoiParameters_RoiWindowSize.UNRECOGNIZED:
default:
return "UNRECOGNIZED";
}
}
function createBaseGripperCameraParamRequest(): GripperCameraParamRequest {
return { header: undefined, params: undefined };
}
export const GripperCameraParamRequest = {
encode(
message: GripperCameraParamRequest,
writer: _m0.Writer = _m0.Writer.create()
): _m0.Writer {
if (message.header !== undefined) {
RequestHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
if (message.params !== undefined) {
GripperCameraParams.encode(
message.params,
writer.uint32(18).fork()
).ldelim();
}
return writer;
},
decode(
input: _m0.Reader | Uint8Array,
length?: number
): GripperCameraParamRequest {
const reader = input instanceof _m0.Reader ? input : new _m0.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGripperCameraParamRequest();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = RequestHeader.decode(reader, reader.uint32());
break;
case 2:
message.params = GripperCameraParams.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object: any): GripperCameraParamRequest {
return {
header: isSet(object.header)
? RequestHeader.fromJSON(object.header)
: undefined,
params: isSet(object.params)
? GripperCameraParams.fromJSON(object.params)
: undefined,
};
},
toJSON(message: GripperCameraParamRequest): unknown {
const obj: any = {};
message.header !== undefined &&
(obj.header = message.header
? RequestHeader.toJSON(message.header)
: undefined);
message.params !== undefined &&
(obj.params = message.params
? GripperCameraParams.toJSON(message.params)
: undefined);
return obj;
},
fromPartial<I extends Exact<DeepPartial<GripperCameraParamRequest>, I>>(
object: I
): GripperCameraParamRequest {
const message = createBaseGripperCameraParamRequest();
message.header =
object.header !== undefined && object.header !== null
? RequestHeader.fromPartial(object.header)
: undefined;
message.params =
object.params !== undefined && object.params !== null
? GripperCameraParams.fromPartial(object.params)
: undefined;
return message;
},
};
function createBaseGripperCameraParamResponse(): GripperCameraParamResponse {
return { header: undefined };
}
export const GripperCameraParamResponse = {
encode(
message: GripperCameraParamResponse,
writer: _m0.Writer = _m0.Writer.create()
): _m0.Writer {
if (message.header !== undefined) {
ResponseHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
return writer;
},
decode(
input: _m0.Reader | Uint8Array,
length?: number
): GripperCameraParamResponse {
const reader = input instanceof _m0.Reader ? input : new _m0.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGripperCameraParamResponse();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = ResponseHeader.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object: any): GripperCameraParamResponse {
return {
header: isSet(object.header)
? ResponseHeader.fromJSON(object.header)
: undefined,
};
},
toJSON(message: GripperCameraParamResponse): unknown {
const obj: any = {};
message.header !== undefined &&
(obj.header = message.header
? ResponseHeader.toJSON(message.header)
: undefined);
return obj;
},
fromPartial<I extends Exact<DeepPartial<GripperCameraParamResponse>, I>>(
object: I
): GripperCameraParamResponse {
const message = createBaseGripperCameraParamResponse();
message.header =
object.header !== undefined && object.header !== null
? ResponseHeader.fromPartial(object.header)
: undefined;
return message;
},
};
function createBaseGripperCameraGetParamRequest(): GripperCameraGetParamRequest {
return { header: undefined };
}
export const GripperCameraGetParamRequest = {
encode(
message: GripperCameraGetParamRequest,
writer: _m0.Writer = _m0.Writer.create()
): _m0.Writer {
if (message.header !== undefined) {
RequestHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
return writer;
},
decode(
input: _m0.Reader | Uint8Array,
length?: number
): GripperCameraGetParamRequest {
const reader = input instanceof _m0.Reader ? input : new _m0.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGripperCameraGetParamRequest();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = RequestHeader.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object: any): GripperCameraGetParamRequest {
return {
header: isSet(object.header)
? RequestHeader.fromJSON(object.header)
: undefined,
};
},
toJSON(message: GripperCameraGetParamRequest): unknown {
const obj: any = {};
message.header !== undefined &&
(obj.header = message.header
? RequestHeader.toJSON(message.header)
: undefined);
return obj;
},
fromPartial<I extends Exact<DeepPartial<GripperCameraGetParamRequest>, I>>(
object: I
): GripperCameraGetParamRequest {
const message = createBaseGripperCameraGetParamRequest();
message.header =
object.header !== undefined && object.header !== null
? RequestHeader.fromPartial(object.header)
: undefined;
return message;
},
};
function createBaseGripperCameraGetParamResponse(): GripperCameraGetParamResponse {
return { header: undefined, params: undefined };
}
export const GripperCameraGetParamResponse = {
encode(
message: GripperCameraGetParamResponse,
writer: _m0.Writer = _m0.Writer.create()
): _m0.Writer {
if (message.header !== undefined) {
ResponseHeader.encode(message.header, writer.uint32(10).fork()).ldelim();
}
if (message.params !== undefined) {
GripperCameraParams.encode(
message.params,
writer.uint32(18).fork()
).ldelim();
}
return writer;
},
decode(
input: _m0.Reader | Uint8Array,
length?: number
): GripperCameraGetParamResponse {
const reader = input instanceof _m0.Reader ? input : new _m0.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGripperCameraGetParamResponse();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.header = ResponseHeader.decode(reader, reader.uint32());
break;
case 2:
message.params = GripperCameraParams.decode(reader, reader.uint32());
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object: any): GripperCameraGetParamResponse {
return {
header: isSet(object.header)
? ResponseHeader.fromJSON(object.header)
: undefined,
params: isSet(object.params)
? GripperCameraParams.fromJSON(object.params)
: undefined,
};
},
toJSON(message: GripperCameraGetParamResponse): unknown {
const obj: any = {};
message.header !== undefined &&
(obj.header = message.header
? ResponseHeader.toJSON(message.header)
: undefined);
message.params !== undefined &&
(obj.params = message.params
? GripperCameraParams.toJSON(message.params)
: undefined);
return obj;
},
fromPartial<I extends Exact<DeepPartial<GripperCameraGetParamResponse>, I>>(
object: I
): GripperCameraGetParamResponse {
const message = createBaseGripperCameraGetParamResponse();
message.header =
object.header !== undefined && object.header !== null
? ResponseHeader.fromPartial(object.header)
: undefined;
message.params =
object.params !== undefined && object.params !== null
? GripperCameraParams.fromPartial(object.params)
: undefined;
return message;
},
};
function createBaseGripperCameraParams(): GripperCameraParams {
return {
cameraMode: 0,
brightness: undefined,
contrast: undefined,
saturation: undefined,
gain: undefined,
exposureAuto: undefined,
exposureAbsolute: undefined,
exposureRoi: undefined,
focusAuto: undefined,
focusAbsolute: undefined,
focusRoi: undefined,
drawFocusRoiRectangle: undefined,
hdr: 0,
ledMode: 0,
ledTorchBrightness: undefined,
};
}
export const GripperCameraParams = {
encode(
message: GripperCameraParams,
writer: _m0.Writer = _m0.Writer.create()
): _m0.Writer {
if (message.cameraMode !== 0) {
writer.uint32(8).int32(message.cameraMode);
}
if (message.brightness !== undefined) {
FloatValue.encode(
{ value: message.brightness! },
writer.uint32(18).fork()
).ldelim();
}
if (message.contrast !== undefined) {
FloatValue.encode(
{ value: message.contrast! },
writer.uint32(26).fork()
).ldelim();
}
if (message.saturation !== undefined) {
FloatValue.encode(
{ value: message.saturation! },
writer.uint32(34).fork()
).ldelim();
}
if (message.gain !== undefined) {
FloatValue.encode(
{ value: message.gain! },
writer.uint32(58).fork()
).ldelim();
}
if (message.exposureAuto !== undefined) {
BoolValue.encode(
{ value: message.exposureAuto! },
writer.uint32(82).fork()
).ldelim();
}
if (message.exposureAbsolute !== undefined) {
FloatValue.encode(
{ value: message.exposureAbsolute! },
writer.uint32(90).fork()
).ldelim();
}
if (message.exposureRoi !== undefined) {
RoiParameters.encode(
message.exposureRoi,
writer.uint32(130).fork()
).ldelim();
}
if (message.focusAuto !== undefined) {
BoolValue.encode(
{ value: message.focusAuto! },
writer.uint32(106).fork()
).ldelim();
}
if (message.focusAbsolute !== undefined) {
FloatValue.encode(
{ value: message.focusAbsolute! },
writer.uint32(98).fork()
).ldelim();
}
if (message.focusRoi !== undefined) {
RoiParameters.encode(
message.focusRoi,
writer.uint32(114).fork()
).ldelim();
}
if (message.drawFocusRoiRectangle !== undefined) {
BoolValue.encode(
{ value: message.drawFocusRoiRectangle! },
writer.uint32(146).fork()
).ldelim();
}
if (message.hdr !== 0) {
writer.uint32(136).int32(message.hdr);
}
if (message.ledMode !== 0) {
writer.uint32(152).int32(message.ledMode);
}
if (message.ledTorchBrightness !== undefined) {
FloatValue.encode(
{ value: message.ledTorchBrightness! },
writer.uint32(162).fork()
).ldelim();
}
return writer;
},
decode(input: _m0.Reader | Uint8Array, length?: number): GripperCameraParams {
const reader = input instanceof _m0.Reader ? input : new _m0.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseGripperCameraParams();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.cameraMode = reader.int32() as any;
break;
case 2:
message.brightness = FloatValue.decode(reader, reader.uint32()).value;
break;
case 3:
message.contrast = FloatValue.decode(reader, reader.uint32()).value;
break;
case 4:
message.saturation = FloatValue.decode(reader, reader.uint32()).value;
break;
case 7:
message.gain = FloatValue.decode(reader, reader.uint32()).value;
break;
case 10:
message.exposureAuto = BoolValue.decode(
reader,
reader.uint32()
).value;
break;
case 11:
message.exposureAbsolute = FloatValue.decode(
reader,
reader.uint32()
).value;
break;
case 16:
message.exposureRoi = RoiParameters.decode(reader, reader.uint32());
break;
case 13:
message.focusAuto = BoolValue.decode(reader, reader.uint32()).value;
break;
case 12:
message.focusAbsolute = FloatValue.decode(
reader,
reader.uint32()
).value;
break;
case 14:
message.focusRoi = RoiParameters.decode(reader, reader.uint32());
break;
case 18:
message.drawFocusRoiRectangle = BoolValue.decode(
reader,
reader.uint32()
).value;
break;
case 17:
message.hdr = reader.int32() as any;
break;
case 19:
message.ledMode = reader.int32() as any;
break;
case 20:
message.ledTorchBrightness = FloatValue.decode(
reader,
reader.uint32()
).value;
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object: any): GripperCameraParams {
return {
cameraMode: isSet(object.cameraMode)
? gripperCameraParams_CameraModeFromJSON(object.cameraMode)
: 0,
brightness: isSet(object.brightness)
? Number(object.brightness)
: undefined,
contrast: isSet(object.contrast) ? Number(object.contrast) : undefined,
saturation: isSet(object.saturation)
? Number(object.saturation)
: undefined,
gain: isSet(object.gain) ? Number(object.gain) : undefined,
exposureAuto: isSet(object.exposureAuto)
? Boolean(object.exposureAuto)
: undefined,
exposureAbsolute: isSet(object.exposureAbsolute)
? Number(object.exposureAbsolute)
: undefined,
exposureRoi: isSet(object.exposureRoi)
? RoiParameters.fromJSON(object.exposureRoi)
: undefined,
focusAuto: isSet(object.focusAuto)
? Boolean(object.focusAuto)
: undefined,
focusAbsolute: isSet(object.focusAbsolute)
? Number(object.focusAbsolute)
: undefined,
focusRoi: isSet(object.focusRoi)
? RoiParameters.fromJSON(object.focusRoi)
: undefined,
drawFocusRoiRectangle: isSet(object.drawFocusRoiRectangle)
? Boolean(object.drawFocusRoiRectangle)
: undefined,
hdr: isSet(object.hdr) ? hdrParametersFromJSON(object.hdr) : 0,
ledMode: isSet(object.ledMode)
? gripperCameraParams_LedModeFromJSON(object.ledMode)
: 0,
ledTorchBrightness: isSet(object.ledTorchBrightness)
? Number(object.ledTorchBrightness)
: undefined,
};
},
toJSON(message: GripperCameraParams): unknown {
const obj: any = {};
message.cameraMode !== undefined &&
(obj.cameraMode = gripperCameraParams_CameraModeToJSON(
message.cameraMode
));
message.brightness !== undefined && (obj.brightness = message.brightness);
message.contrast !== undefined && (obj.contrast = message.contrast);
message.saturation !== undefined && (obj.saturation = message.saturation);
message.gain !== undefined && (obj.gain = message.gain);
message.exposureAuto !== undefined &&
(obj.exposureAuto = message.exposureAuto);
message.exposureAbsolute !== undefined &&
(obj.exposureAbsolute = message.exposureAbsolute);
message.exposureRoi !== undefined &&
(obj.exposureRoi = message.exposureRoi
? RoiParameters.toJSON(message.exposureRoi)
: undefined);
message.focusAuto !== undefined && (obj.focusAuto = message.focusAuto);
message.focusAbsolute !== undefined &&
(obj.focusAbsolute = message.focusAbsolute);
message.focusRoi !== undefined &&
(obj.focusRoi = message.focusRoi
? RoiParameters.toJSON(message.focusRoi)
: undefined);
message.drawFocusRoiRectangle !== undefined &&
(obj.drawFocusRoiRectangle = message.drawFocusRoiRectangle);
message.hdr !== undefined && (obj.hdr = hdrParametersToJSON(message.hdr));
message.ledMode !== undefined &&
(obj.ledMode = gripperCameraParams_LedModeToJSON(message.ledMode));
message.ledTorchBrightness !== undefined &&
(obj.ledTorchBrightness = message.ledTorchBrightness);
return obj;
},
fromPartial<I extends Exact<DeepPartial<GripperCameraParams>, I>>(
object: I
): GripperCameraParams {
const message = createBaseGripperCameraParams();
message.cameraMode = object.cameraMode ?? 0;
message.brightness = object.brightness ?? undefined;
message.contrast = object.contrast ?? undefined;
message.saturation = object.saturation ?? undefined;
message.gain = object.gain ?? undefined;
message.exposureAuto = object.exposureAuto ?? undefined;
message.exposureAbsolute = object.exposureAbsolute ?? undefined;
message.exposureRoi =
object.exposureRoi !== undefined && object.exposureRoi !== null
? RoiParameters.fromPartial(object.exposureRoi)
: undefined;
message.focusAuto = object.focusAuto ?? undefined;
message.focusAbsolute = object.focusAbsolute ?? undefined;
message.focusRoi =
object.focusRoi !== undefined && object.focusRoi !== null
? RoiParameters.fromPartial(object.focusRoi)
: undefined;
message.drawFocusRoiRectangle = object.drawFocusRoiRectangle ?? undefined;
message.hdr = object.hdr ?? 0;
message.ledMode = object.ledMode ?? 0;
message.ledTorchBrightness = object.ledTorchBrightness ?? undefined;
return message;
},
};
function createBaseRoiParameters(): RoiParameters {
return { roiPercentageInImage: undefined, windowSize: 0 };
}
export const RoiParameters = {
encode(
message: RoiParameters,
writer: _m0.Writer = _m0.Writer.create()
): _m0.Writer {
if (message.roiPercentageInImage !== undefined) {
Vec2.encode(
message.roiPercentageInImage,
writer.uint32(10).fork()
).ldelim();
}
if (message.windowSize !== 0) {
writer.uint32(16).int32(message.windowSize);
}
return writer;
},
decode(input: _m0.Reader | Uint8Array, length?: number): RoiParameters {
const reader = input instanceof _m0.Reader ? input : new _m0.Reader(input);
let end = length === undefined ? reader.len : reader.pos + length;
const message = createBaseRoiParameters();
while (reader.pos < end) {
const tag = reader.uint32();
switch (tag >>> 3) {
case 1:
message.roiPercentageInImage = Vec2.decode(reader, reader.uint32());
break;
case 2:
message.windowSize = reader.int32() as any;
break;
default:
reader.skipType(tag & 7);
break;
}
}
return message;
},
fromJSON(object: any): RoiParameters {
return {
roiPercentageInImage: isSet(object.roiPercentageInImage)
? Vec2.fromJSON(object.roiPercentageInImage)
: undefined,
windowSize: isSet(object.windowSize)
? roiParameters_RoiWindowSizeFromJSON(object.windowSize)
: 0,
};
},
toJSON(message: RoiParameters): unknown {
const obj: any = {};
message.roiPercentageInImage !== undefined &&
(obj.roiPercentageInImage = message.roiPercentageInImage
? Vec2.toJSON(message.roiPercentageInImage)
: undefined);
message.windowSize !== undefined &&
(obj.windowSize = roiParameters_RoiWindowSizeToJSON(message.windowSize));
return obj;
},
fromPartial<I extends Exact<DeepPartial<RoiParameters>, I>>(
object: I
): RoiParameters {
const message = createBaseRoiParameters();
message.roiPercentageInImage =
object.roiPercentageInImage !== undefined &&
object.roiPercentageInImage !== null
? Vec2.fromPartial(object.roiPercentageInImage)
: undefined;
message.windowSize = object.windowSize ?? 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;
}