Merge branch 'master' into hs/adis

Author: haavardsyslak

.github/workflows/ci-typescript.yaml

@@ -13,87 +13,46 @@ jobs:
       - name: Checkout source
         uses: actions/checkout@v4
 
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
+          run_install: false
+
       - name: Setup Node.js
         uses: actions/setup-node@v4
         with:
           node-version: "latest"
+          cache: "pnpm"
           registry-url: "https://registry.npmjs.org/"
           scope: "@blueyerobotics"
 
-      - name: Create tsconfig
-        run: |
-          cd protobuf_definitions
-          echo '{
-            "compilerOptions": {
-              "target": "ES2020",
-              "module": "CommonJS",
-              "declaration": true,
-              "outDir": "dist",
-              "strict": true,
-              "esModuleInterop": true
-            },
-            "include": ["./**/*.ts"]
-          }' > tsconfig.json
-
-      - name: Create package
-        run: |
-          cd protobuf_definitions
-          SHORT_SHA=${GITHUB_SHA::8}
-          echo '{
-            "name": "@blueyerobotics/protocol-definitions",
-            "version": "3.2.0-'${SHORT_SHA}'",
-            "license": "LGPL-3.0-only",
-            "description": "TypeScript definitions for Blueye Robotics protocols",
-            "repository": {
-              "type": "git",
-              "url": "https://github.com/BluEye-Robotics/ProtocolDefinitions.git"
-            },
-            "main": "dist/index.js",
-            "types": "dist/index.d.ts",
-            "files": ["dist"],
-            "scripts": {
-              "build": "tsc"
-            },
-            "dependencies": {
-              "@bufbuild/protobuf": "^2.5.2"
-            },
-            "devDependencies": {
-              "ts-proto": "^2.7.5",
-              "typescript": "^5.8.3"
-            }
-          }' > package.json
-
       - name: Install dependencies
         run: |
           sudo apt-get update
           sudo apt-get install -y protobuf-compiler
-          cd protobuf_definitions
-          npm install
+          pnpm install
 
       - name: Generate
         run: |
-          cd protobuf_definitions
           mkdir -p ./out/ &&
-          protoc *.proto --plugin=./node_modules/.bin/protoc-gen-ts_proto --ts_proto_out=./out \
+          protoc protobuf_definitions/*.proto \
+            --plugin=./node_modules/.bin/protoc-gen-ts_proto \
+            --proto_path=protobuf_definitions \
+            --ts_proto_out=./out \
             --ts_proto_opt=outputIndex=true \
             --ts_proto_opt=globalThisPolyfill=true \
             --ts_proto_opt=useExactTypes=false
 
       - name: Compile
-        run: |
-          cd protobuf_definitions
-          npm run build
+        run: pnpm run build
 
       - name: Publish to npm
         run: |
-          cp README.npm.md protobuf_definitions/README.md
-          cd protobuf_definitions
-          npm publish --access public --tag latest
+          cp README.npm.md README.md
+          VERSION=$(pnpm pkg get version | tr -d '"')
+          SHORT_SHA=${GITHUB_SHA::8}
+          pnpm version --no-git-tag-version "${VERSION}-${SHORT_SHA}"
+          pnpm publish --no-git-checks --access public --tag latest
         env:
           NODE_AUTH_TOKEN: ${{ secrets.NPM_TOKEN }}
-
-      - name: Check npm pack contents
-        run: |
-          cd protobuf_definitions
-          npm pack
-          tar -tzf *.tgz

.gitignore

@@ -31,6 +31,7 @@ out
 build
 build_imx
 build_*
+node_modules
 
 # Rider directories
-.idea
+.idea

Blueye.Protocol.Protobuf.csproj

@@ -13,8 +13,8 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="Google.Protobuf" Version="3.32.0" />
-    <PackageReference Include="Google.Protobuf.Tools" Version="3.32.0">
+    <PackageReference Include="Google.Protobuf" Version="3.32.1" />
+    <PackageReference Include="Google.Protobuf.Tools" Version="3.32.1">
       <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
       <PrivateAssets>all</PrivateAssets>
     </PackageReference>

package.json

@@ -0,0 +1,25 @@
+{
+  "name": "@blueyerobotics/protocol-definitions",
+  "version": "3.2.0",
+  "license": "LGPL-3.0-only",
+  "description": "TypeScript definitions for Blueye Robotics protocols",
+  "repository": {
+    "type": "git",
+    "url": "https://github.com/BluEye-Robotics/ProtocolDefinitions.git"
+  },
+  "main": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "files": [
+    "dist"
+  ],
+  "scripts": {
+    "build": "tsc"
+  },
+  "dependencies": {
+    "@bufbuild/protobuf": "^2.5.2"
+  },
+  "devDependencies": {
+    "ts-proto": "^2.7.5",
+    "typescript": "^5.8.3"
+  }
+}

pnpm-lock.yaml

@@ -47,13 +47,15 @@ message WatchdogCtrl {
   uint32 client_id = 2; // The ID of the client, received in the ConnectClientRep response.
 }
 
-// Issue a command to start video recording.
+// Issue a command to start video or multibeam recording.
 message RecordCtrl {
   RecordOn record_on = 1; // Message specifying which cameras to record.
+  StorageLocation storage_location = 2; // Storage location to use for the recordings.
 }
 
 // Issue a command to take a picture.
 message TakePictureCtrl {
+  StorageLocation storage_location = 1; // Storage location to use for the picture.
 }
 
 // Issue a command to start compass calibration.

protobuf_definitions/control.proto

@@ -43,6 +43,33 @@ message LogEntry {
   string message = 7; // Log message.
 }
 
+message KernelLogEntry {
+  // Kernel log level.
+  enum KernelLogLevel {
+    KERNEL_LOG_LEVEL_UNSPECIFIED = 0; // Unspecified log level.
+    KERNEL_LOG_LEVEL_EMERG = 1; // Emergency log level.
+    KERNEL_LOG_LEVEL_ALERT = 2; // Alert log level.
+    KERNEL_LOG_LEVEL_CRIT = 3; // Critical log level.
+    KERNEL_LOG_LEVEL_ERR = 4; // Error log level.
+    KERNEL_LOG_LEVEL_WARNING = 5; // Warning log level.
+    KERNEL_LOG_LEVEL_NOTICE = 6; // Notice log level.
+    KERNEL_LOG_LEVEL_INFO = 7; // Informational log level.
+    KERNEL_LOG_LEVEL_DEBUG = 8; // Debug log level.
+  }
+
+  // Key-value pair used for structured logging.
+  message KeyValuePair {
+    string key = 1; // Key of the key-value pair.
+    string value = 2; // Value of the key-value pair.
+  }
+
+  KernelLogLevel level = 1; // Log level, info, warning, error, etc.
+  uint32 seqnum = 2; // Sequence number of the log entry.
+  google.protobuf.Timestamp timestamp = 3; // Timestamp of the log entry.
+  repeated string messages = 4; // Log messages.
+  repeated KeyValuePair fields = 5; // List of key-value pairs.
+}
+
 // Motion input from client.
 //
 // Used to indicate the desired motion in each direction.
@@ -184,6 +211,7 @@ message RecordState {
   bool multibeam_is_recording = 5; // If the multibeam is recording.
   int32 multibeam_seconds = 6; // Multibeam record time (s).
   float multibeam_fps = 9; // Multibeam record fps.
+  StorageLocation storage_location = 10; // Storage location used for recording.
 }
 
 // Interval type for time-lapse photos.
@@ -592,13 +620,22 @@ message DiveTime {
   int32 value = 1; // Number of seconds the drone has been submerged.
 }
 
-// Which cameras are supposed to be recording.
+// Which cameras or multibeam are supposed to be recording.
 message RecordOn {
   bool main = 1; // Record the main camera.
   bool guestport = 2; // Record external camera.
   bool multibeam = 3; // Record multibeam.
 }
 
+// Storage location.
+//
+// Used to specify which storage location to use for recording photos and videos.
+enum StorageLocation {
+  STORAGE_LOCATION_UNSPECIFIED = 0; // Unspecified.
+  STORAGE_LOCATION_INTERNAL = 1; // Internal storage of the drone.
+  STORAGE_LOCATION_REMOVABLE = 2; // Removable storage device.
+}
+
 // Storage space.
 message StorageSpace {
   int64 total_space = 1; // Total bytes of storage space (B).
@@ -787,16 +824,17 @@ message ErrorFlags {
 // Available camera resolutions.
 enum Resolution {
   RESOLUTION_UNSPECIFIED = 0; // Resolution not specified.
-  RESOLUTION_FULLHD_1080P = 1; // 1080p Full HD resolution.
-  RESOLUTION_HD_720P = 2; // 720p HD resolution.
-  RESOLUTION_UHD_4K = 3; // 4K Ultra HD resolution.
+  RESOLUTION_VGA_480P = 4; // VGA (640x480).
+  RESOLUTION_HD_720P = 2; // 720p HD (1280x720).
+  RESOLUTION_FULLHD_1080P = 1; // 1080p Full HD (1920x1080).
+  RESOLUTION_UHD_4K = 3; // 4K Ultra HD (3840x2160, Only supported on X3 Ultra).
 }
 
 // Available camera frame rates.
 enum Framerate {
   FRAMERATE_UNSPECIFIED = 0; // Framerate not specified.
   FRAMERATE_FPS_30 = 1; // 30 frames per second.
-  FRAMERATE_FPS_25 = 2; // 25 frames per second.
+  FRAMERATE_FPS_25 = 2; // 25 frames per second. (Only supported on Pioneer/Pro/X1/X3)
 }
 
 // Which camera to control.
@@ -806,20 +844,39 @@ enum Camera {
   CAMERA_GUESTPORT = 2; // Guest port camera.
 }
 
+enum StreamingProtocol {
+  STREAMING_PROTOCOL_UNSPECIFIED = 0; // Streaming protocol not specified.
+  STREAMING_PROTOCOL_RTSP_H264 = 1; // RTSP streaming protocol using H264 codec.
+  STREAMING_PROTOCOL_RTSP_MJPEG = 2; // RTSP streaming protocol using MJPEG codec. No recording when activated.
+}
+
 // Camera parameters.
 message CameraParameters {
+  reserved 19;
   int32 h264_bitrate = 1; // Bitrate of the h264 stream (bit/sec).
   int32 mjpg_bitrate = 2; // Bitrate of the MJPG stream used for still pictures (bit/sec).
 
   int32 exposure = 3; // Shutter speed  (1/10000 * s), -1 for automatic exposure.
-  int32 white_balance = 4; // White balance temperature (2800..9300), -1 for automatic white balance.
-  int32 hue = 5; // Hue (-40..40), 0 as default.
-
-  float gain = 9; // Iso gain (0..1).
+  int32 white_balance = 4; // White balance temp (Pioneer/Pro/X1/X3: 2800..9300, Ultra: 2300..15000), -1 for auto.
+  int32 hue = 5; // Hue (-40..40), 0 as default. Only available on Pioneer/Pro/X1/X3.
+  float gain = 9; // Iso gain (0..1). Only available on Pioneer/Pro/X1/X3.
+
+  int32 brightness = 12; // Brightness (-10..10), 0 as default. Only available on Ultra
+  int32 contrast = 13; // Contrast (-50..50), 0 as default. Only available on Ultra.
+  int32 saturation = 14; // Saturation (0..50), 8 as default. Only available on Ultra.
+  int32 gamma = 15; // Gamma (4..79), 22 as default. Only available on Ultra.
+  int32 sharpness = 16; // Sharpness (-20..20), -20 as default. Only available on Ultra.
+  int32 backlight_compensation = 17; // Backlight compensation (-150..150), 10 as default. Only available on Ultra.
+  int32 denoise = 18; // Noise reduction (-20..20), -20 as default. Only available on Ultra.
+  bool ehdr_enabled = 21; // Enable eHDR mode. Default true. Only available on Ultra.
+  int32 ehdr_exposure_min_number = 22; // Minimum number of eHDR frames. (1..4), default 1. Only available on Ultra.
+  // Maximum number of eHDR frames. (1..4), default 2. Only on Ultra. Setting larger than 2 can reduce the framerate.
+  int32 ehdr_exposure_max_number = 23;
 
   Resolution resolution = 6; // Stream, recording and image resolution (deprecated).
   Resolution stream_resolution = 10; // Stream resolution.
   Resolution recording_resolution = 11; // Recording and image resolution.
+  StreamingProtocol streaming_protocol = 20; // Streaming protocol.
   Framerate framerate = 7; // Stream and recording framerate.
   Camera camera = 8; // Which camera the parameters belong to.
 }
@@ -1236,7 +1293,7 @@ message SurfaceUnitBatteryInfo {
     CHARGE_STATUS_CHARGE_ERROR = 3;
   }
   ChargeStatus status = 1; // Battery charge status.
-  float level = 2; // Battery level (0..1). 
+  float level = 2; // Battery level (0..1).
 }
 
 // Surface Unit version information.