Update ProtocolDefinitions

BluEye-Robotics · May 28, 2024 · 7db8aa9 · 7db8aa9
1 parent adeb3ec
commit 7db8aa9
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Showing 6 changed files with 422 additions and 111 deletions.
diff --git a/ProtocolDefinitions b/ProtocolDefinitions
diff --git a/blueye/protocol/protos.py b/blueye/protocol/protos.py
@@ -32,6 +32,7 @@
 from .types.aquatroll import SetAquaTrollParameterUnit
 from .types.aquatroll import Type
 from .types.control import ActivateGuestPortsCtrl
+from .types.control import ActivateMultibeamCtrl
 from .types.control import AutoAltitudeCtrl
 from .types.control import AutoDepthCtrl
 from .types.control import AutoHeadingCtrl
@@ -41,6 +42,7 @@
 from .types.control import CancelCalibrationCtrl
 from .types.control import ClearMissionCtrl
 from .types.control import DeactivateGuestPortsCtrl
+from .types.control import DeactivateMultibeamCtrl
 from .types.control import FinishCalibrationCtrl
 from .types.control import GenericServoCtrl
 from .types.control import GripperCtrl
@@ -59,6 +61,7 @@
 from .types.control import RunMissionCtrl
 from .types.control import SetAquaTrollConnectionStatusCtrl
 from .types.control import SetAquaTrollParameterUnitCtrl
+from .types.control import SetMultibeamConfigCtrl
 from .types.control import StartCalibrationCtrl
 from .types.control import StationKeepingCtrl
 from .types.control import SystemTimeCtrl
@@ -122,6 +125,10 @@
 from .types.message_formats import MedusaSpectrometerData
 from .types.message_formats import Model
 from .types.message_formats import MotionInput
+from .types.message_formats import MultibeamConfig
+from .types.message_formats import MultibeamDiscovery
+from .types.message_formats import MultibeamFrequencyMode
+from .types.message_formats import MultibeamPing
 from .types.message_formats import MultibeamServo
 from .types.message_formats import NStreamers
 from .types.message_formats import NavigationSensorID
@@ -242,6 +249,9 @@
 from .types.telemetry import LightsTel
 from .types.telemetry import MedusaSpectrometerDataTel
 from .types.telemetry import MissionStatusTel
+from .types.telemetry import MultibeamConfigTel
+from .types.telemetry import MultibeamDiscoveryTel
+from .types.telemetry import MultibeamPingTel
 from .types.telemetry import MultibeamServoTel
 from .types.telemetry import NStreamersTel
 from .types.telemetry import NotificationTel
@@ -260,6 +270,7 @@
 
 __all__ = (
     'ActivateGuestPortsCtrl',
+    'ActivateMultibeamCtrl',
     'Altitude',
     'AltitudeTel',
     'AquaTrollDevice',
@@ -331,6 +342,7 @@
     'CpProbeTel',
     'DataStorageSpaceTel',
     'DeactivateGuestPortsCtrl',
+    'DeactivateMultibeamCtrl',
     'Depth',
     'DepthSetPoint',
     'DepthSetPointCommand',
@@ -408,6 +420,13 @@
     'Model',
     'MotionInput',
     'MotionInputCtrl',
+    'MultibeamConfig',
+    'MultibeamConfigTel',
+    'MultibeamDiscovery',
+    'MultibeamDiscoveryTel',
+    'MultibeamFrequencyMode',
+    'MultibeamPing',
+    'MultibeamPingTel',
     'MultibeamServo',
     'MultibeamServoCtrl',
     'MultibeamServoTel',
@@ -456,6 +475,7 @@
     'SetInstructionUpdateReq',
     'SetMissionRep',
     'SetMissionReq',
+    'SetMultibeamConfigCtrl',
     'SetOverlayParametersRep',
     'SetOverlayParametersReq',
     'SetPubFrequencyRep',

diff --git a/blueye/protocol/types/__init__.py b/blueye/protocol/types/__init__.py
@@ -81,6 +81,9 @@
     Vector3,
     Imu,
     MedusaSpectrometerData,
+    MultibeamPing,
+    MultibeamConfig,
+    MultibeamDiscovery,
     IntervalType,
     HeadingSource,
     ResetCoordinateSource,
@@ -101,6 +104,67 @@
     NavigationSensorID,
     GuestPortDetachStatus,
     GuestPortError,
+    MultibeamFrequencyMode,
+)
+from .aquatroll import (
+    AquaTrollParameterBlock,
+    AquaTrollSensorMetadata,
+    AquaTrollSensorMetadataArray,
+    AquaTrollProbeMetadata,
+    AquaTrollSensorParameters,
+    AquaTrollSensorParametersArray,
+    SetAquaTrollParameterUnit,
+    SetAquaTrollConnectionStatus,
+    Type,
+    AquaTrollDevice,
+    AquaTrollQuality,
+    AquaTrollParameter,
+    AquaTrollUnit,
+    AquaTrollSensor,
+    AquaTrollSensorStatus,
+    AquaTrollDeviceStatus,
+)
+from .control import (
+    MotionInputCtrl,
+    TiltVelocityCtrl,
+    LightsCtrl,
+    GuestportLightsCtrl,
+    LaserCtrl,
+    PilotGPSPositionCtrl,
+    WatchdogCtrl,
+    RecordCtrl,
+    TakePictureCtrl,
+    StartCalibrationCtrl,
+    CancelCalibrationCtrl,
+    FinishCalibrationCtrl,
+    AutoHeadingCtrl,
+    AutoDepthCtrl,
+    AutoAltitudeCtrl,
+    StationKeepingCtrl,
+    WeatherVaningCtrl,
+    AutoPilotSurgeYawCtrl,
+    AutoPilotHeaveCtrl,
+    RunMissionCtrl,
+    PauseMissionCtrl,
+    ClearMissionCtrl,
+    ResetPositionCtrl,
+    ResetOdometerCtrl,
+    CalibrateDvlGyroCtrl,
+    TiltStabilizationCtrl,
+    WaterDensityCtrl,
+    PingerConfigurationCtrl,
+    SystemTimeCtrl,
+    GripperCtrl,
+    GenericServoCtrl,
+    MultibeamServoCtrl,
+    DeactivateGuestPortsCtrl,
+    ActivateGuestPortsCtrl,
+    RestartGuestPortsCtrl,
+    SetAquaTrollParameterUnitCtrl,
+    SetAquaTrollConnectionStatusCtrl,
+    SetMultibeamConfigCtrl,
+    ActivateMultibeamCtrl,
+    DeactivateMultibeamCtrl,
 )
 from .mission_planning import (
     Mission,
@@ -127,24 +191,6 @@
     InstructionType,
     MissionState,
 )
-from .aquatroll import (
-    AquaTrollParameterBlock,
-    AquaTrollSensorMetadata,
-    AquaTrollSensorMetadataArray,
-    AquaTrollProbeMetadata,
-    AquaTrollSensorParameters,
-    AquaTrollSensorParametersArray,
-    SetAquaTrollParameterUnit,
-    SetAquaTrollConnectionStatus,
-    Type,
-    AquaTrollDevice,
-    AquaTrollQuality,
-    AquaTrollParameter,
-    AquaTrollUnit,
-    AquaTrollSensor,
-    AquaTrollSensorStatus,
-    AquaTrollDeviceStatus,
-)
 from .telemetry import (
     AttitudeTel,
     AltitudeTel,
@@ -196,45 +242,9 @@
     Imu1Tel,
     Imu2Tel,
     MedusaSpectrometerDataTel,
-)
-from .control import (
-    MotionInputCtrl,
-    TiltVelocityCtrl,
-    LightsCtrl,
-    GuestportLightsCtrl,
-    LaserCtrl,
-    PilotGPSPositionCtrl,
-    WatchdogCtrl,
-    RecordCtrl,
-    TakePictureCtrl,
-    StartCalibrationCtrl,
-    CancelCalibrationCtrl,
-    FinishCalibrationCtrl,
-    AutoHeadingCtrl,
-    AutoDepthCtrl,
-    AutoAltitudeCtrl,
-    StationKeepingCtrl,
-    WeatherVaningCtrl,
-    AutoPilotSurgeYawCtrl,
-    AutoPilotHeaveCtrl,
-    RunMissionCtrl,
-    PauseMissionCtrl,
-    ClearMissionCtrl,
-    ResetPositionCtrl,
-    ResetOdometerCtrl,
-    CalibrateDvlGyroCtrl,
-    TiltStabilizationCtrl,
-    WaterDensityCtrl,
-    PingerConfigurationCtrl,
-    SystemTimeCtrl,
-    GripperCtrl,
-    GenericServoCtrl,
-    MultibeamServoCtrl,
-    DeactivateGuestPortsCtrl,
-    ActivateGuestPortsCtrl,
-    RestartGuestPortsCtrl,
-    SetAquaTrollParameterUnitCtrl,
-    SetAquaTrollConnectionStatusCtrl,
+    MultibeamPingTel,
+    MultibeamConfigTel,
+    MultibeamDiscoveryTel,
 )
 from .req_rep import (
     SetOverlayParametersReq,
@@ -335,6 +345,9 @@
     'Vector3',
     'Imu',
     'MedusaSpectrometerData',
+    'MultibeamPing',
+    'MultibeamConfig',
+    'MultibeamDiscovery',
     'IntervalType',
     'HeadingSource',
     'ResetCoordinateSource',
@@ -355,6 +368,63 @@
     'NavigationSensorID',
     'GuestPortDetachStatus',
     'GuestPortError',
+    'MultibeamFrequencyMode',
+    'AquaTrollParameterBlock',
+    'AquaTrollSensorMetadata',
+    'AquaTrollSensorMetadataArray',
+    'AquaTrollProbeMetadata',
+    'AquaTrollSensorParameters',
+    'AquaTrollSensorParametersArray',
+    'SetAquaTrollParameterUnit',
+    'SetAquaTrollConnectionStatus',
+    'Type',
+    'AquaTrollDevice',
+    'AquaTrollQuality',
+    'AquaTrollParameter',
+    'AquaTrollUnit',
+    'AquaTrollSensor',
+    'AquaTrollSensorStatus',
+    'AquaTrollDeviceStatus',
+    'MotionInputCtrl',
+    'TiltVelocityCtrl',
+    'LightsCtrl',
+    'GuestportLightsCtrl',
+    'LaserCtrl',
+    'PilotGPSPositionCtrl',
+    'WatchdogCtrl',
+    'RecordCtrl',
+    'TakePictureCtrl',
+    'StartCalibrationCtrl',
+    'CancelCalibrationCtrl',
+    'FinishCalibrationCtrl',
+    'AutoHeadingCtrl',
+    'AutoDepthCtrl',
+    'AutoAltitudeCtrl',
+    'StationKeepingCtrl',
+    'WeatherVaningCtrl',
+    'AutoPilotSurgeYawCtrl',
+    'AutoPilotHeaveCtrl',
+    'RunMissionCtrl',
+    'PauseMissionCtrl',
+    'ClearMissionCtrl',
+    'ResetPositionCtrl',
+    'ResetOdometerCtrl',
+    'CalibrateDvlGyroCtrl',
+    'TiltStabilizationCtrl',
+    'WaterDensityCtrl',
+    'PingerConfigurationCtrl',
+    'SystemTimeCtrl',
+    'GripperCtrl',
+    'GenericServoCtrl',
+    'MultibeamServoCtrl',
+    'DeactivateGuestPortsCtrl',
+    'ActivateGuestPortsCtrl',
+    'RestartGuestPortsCtrl',
+    'SetAquaTrollParameterUnitCtrl',
+    'SetAquaTrollConnectionStatusCtrl',
+    'SetMultibeamConfigCtrl',
+    'ActivateMultibeamCtrl',
+    'DeactivateMultibeamCtrl',
     'Mission',
     'Instruction',
     'DepthSetPoint',
@@ -378,22 +448,6 @@
     'CameraAction',
     'InstructionType',
     'MissionState',
-    'AquaTrollParameterBlock',
-    'AquaTrollSensorMetadata',
-    'AquaTrollSensorMetadataArray',
-    'AquaTrollProbeMetadata',
-    'AquaTrollSensorParameters',
-    'AquaTrollSensorParametersArray',
-    'SetAquaTrollParameterUnit',
-    'SetAquaTrollConnectionStatus',
-    'Type',
-    'AquaTrollDevice',
-    'AquaTrollQuality',
-    'AquaTrollParameter',
-    'AquaTrollUnit',
-    'AquaTrollSensor',
-    'AquaTrollSensorStatus',
-    'AquaTrollDeviceStatus',
     'AttitudeTel',
     'AltitudeTel',
     'ForwardDistanceTel',
@@ -444,43 +498,9 @@
     'Imu1Tel',
     'Imu2Tel',
     'MedusaSpectrometerDataTel',
-    'MotionInputCtrl',
-    'TiltVelocityCtrl',
-    'LightsCtrl',
-    'GuestportLightsCtrl',
-    'LaserCtrl',
-    'PilotGPSPositionCtrl',
-    'WatchdogCtrl',
-    'RecordCtrl',
-    'TakePictureCtrl',
-    'StartCalibrationCtrl',
-    'CancelCalibrationCtrl',
-    'FinishCalibrationCtrl',
-    'AutoHeadingCtrl',
-    'AutoDepthCtrl',
-    'AutoAltitudeCtrl',
-    'StationKeepingCtrl',
-    'WeatherVaningCtrl',
-    'AutoPilotSurgeYawCtrl',
-    'AutoPilotHeaveCtrl',
-    'RunMissionCtrl',
-    'PauseMissionCtrl',
-    'ClearMissionCtrl',
-    'ResetPositionCtrl',
-    'ResetOdometerCtrl',
-    'CalibrateDvlGyroCtrl',
-    'TiltStabilizationCtrl',
-    'WaterDensityCtrl',
-    'PingerConfigurationCtrl',
-    'SystemTimeCtrl',
-    'GripperCtrl',
-    'GenericServoCtrl',
-    'MultibeamServoCtrl',
-    'DeactivateGuestPortsCtrl',
-    'ActivateGuestPortsCtrl',
-    'RestartGuestPortsCtrl',
-    'SetAquaTrollParameterUnitCtrl',
-    'SetAquaTrollConnectionStatusCtrl',
+    'MultibeamPingTel',
+    'MultibeamConfigTel',
+    'MultibeamDiscoveryTel',
     'SetOverlayParametersReq',
     'SetOverlayParametersRep',
     'GetOverlayParametersReq',