Update ProtocolDefinitions

BluEye-Robotics · Oct 18, 2024 · c8bfa1a · c8bfa1a
1 parent 216cfae
commit c8bfa1a
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Showing 3 changed files with 130 additions and 118 deletions.
diff --git a/ProtocolDefinitions b/ProtocolDefinitions
diff --git a/blueye/protocol/types/__init__.py b/blueye/protocol/types/__init__.py
@@ -109,31 +109,6 @@
     GuestPortError,
     MultibeamFrequencyMode,
 )
-from .mission_planning import (
-    Mission,
-    Instruction,
-    DepthSetPoint,
-    Waypoint,
-    ControlModeCommand,
-    WaypointCommand,
-    DepthSetPointCommand,
-    TiltMainCameraCommand,
-    TiltMultibeamCommand,
-    WaitForCommand,
-    CameraCommand,
-    GoToSurfaceCommand,
-    GoToSeabedCommand,
-    GoToHomeCommand,
-    PathSegment,
-    ReferenceAutoPilot,
-    MissionStatus,
-    DepthZeroReference,
-    ControlModeVertical,
-    ControlModeHorizontal,
-    CameraAction,
-    InstructionType,
-    MissionState,
-)
 from .aquatroll import (
     AquaTrollParameterBlock,
     AquaTrollSensorMetadata,
@@ -196,41 +171,30 @@
     StartDiveCtrl,
     EndDiveCtrl,
 )
-from .req_rep import (
-    SetOverlayParametersReq,
-    SetOverlayParametersRep,
-    GetOverlayParametersReq,
-    GetOverlayParametersRep,
-    SetCameraParametersReq,
-    SetCameraParametersRep,
-    GetCameraParametersReq,
-    GetCameraParametersRep,
-    SyncTimeReq,
-    SyncTimeRep,
-    PingReq,
-    PingRep,
-    SetThicknessGaugeParametersReq,
-    SetThicknessGaugeParametersRep,
-    ConnectClientReq,
-    ConnectClientRep,
-    DisconnectClientReq,
-    DisconnectClientRep,
-    GetBatteryReq,
-    GetBatteryRep,
-    SetMissionReq,
-    SetMissionRep,
-    GetMissionReq,
-    GetMissionRep,
-    SetInstructionUpdateReq,
-    SetInstructionUpdateRep,
-    SetPubFrequencyReq,
-    SetPubFrequencyRep,
-    GetTelemetryReq,
-    GetTelemetryRep,
-    SetPersistentStorageSettingsReq,
-    SetPersistentStorageSettingsRep,
-    GetPersistentStorageSettingsReq,
-    GetPersistentStorageSettingsRep,
+from .mission_planning import (
+    Mission,
+    Instruction,
+    DepthSetPoint,
+    Waypoint,
+    ControlModeCommand,
+    WaypointCommand,
+    DepthSetPointCommand,
+    TiltMainCameraCommand,
+    TiltMultibeamCommand,
+    WaitForCommand,
+    CameraCommand,
+    GoToSurfaceCommand,
+    GoToSeabedCommand,
+    GoToHomeCommand,
+    PathSegment,
+    ReferenceAutoPilot,
+    MissionStatus,
+    DepthZeroReference,
+    ControlModeVertical,
+    ControlModeHorizontal,
+    CameraAction,
+    InstructionType,
+    MissionState,
 )
 from .telemetry import (
     AttitudeTel,
@@ -287,6 +251,42 @@
     MultibeamConfigTel,
     MultibeamDiscoveryTel,
 )
+from .req_rep import (
+    SetOverlayParametersReq,
+    SetOverlayParametersRep,
+    GetOverlayParametersReq,
+    GetOverlayParametersRep,
+    SetCameraParametersReq,
+    SetCameraParametersRep,
+    GetCameraParametersReq,
+    GetCameraParametersRep,
+    SyncTimeReq,
+    SyncTimeRep,
+    PingReq,
+    PingRep,
+    SetThicknessGaugeParametersReq,
+    SetThicknessGaugeParametersRep,
+    ConnectClientReq,
+    ConnectClientRep,
+    DisconnectClientReq,
+    DisconnectClientRep,
+    GetBatteryReq,
+    GetBatteryRep,
+    SetMissionReq,
+    SetMissionRep,
+    GetMissionReq,
+    GetMissionRep,
+    SetInstructionUpdateReq,
+    SetInstructionUpdateRep,
+    SetPubFrequencyReq,
+    SetPubFrequencyRep,
+    GetTelemetryReq,
+    GetTelemetryRep,
+    SetPersistentStorageSettingsReq,
+    SetPersistentStorageSettingsRep,
+    GetPersistentStorageSettingsReq,
+    GetPersistentStorageSettingsRep,
+)
 
 __all__ = (
     'BinlogRecord',
@@ -381,29 +381,6 @@
     'GuestPortDetachStatus',
     'GuestPortError',
     'MultibeamFrequencyMode',
-    'Mission',
-    'Instruction',
-    'DepthSetPoint',
-    'Waypoint',
-    'ControlModeCommand',
-    'WaypointCommand',
-    'DepthSetPointCommand',
-    'TiltMainCameraCommand',
-    'TiltMultibeamCommand',
-    'WaitForCommand',
-    'CameraCommand',
-    'GoToSurfaceCommand',
-    'GoToSeabedCommand',
-    'GoToHomeCommand',
-    'PathSegment',
-    'ReferenceAutoPilot',
-    'MissionStatus',
-    'DepthZeroReference',
-    'ControlModeVertical',
-    'ControlModeHorizontal',
-    'CameraAction',
-    'InstructionType',
-    'MissionState',
     'AquaTrollParameterBlock',
     'AquaTrollSensorMetadata',
     'AquaTrollSensorMetadataArray',
@@ -462,40 +439,29 @@
     'DeactivateMultibeamCtrl',
     'StartDiveCtrl',
     'EndDiveCtrl',
-    'SetOverlayParametersReq',
-    'SetOverlayParametersRep',
-    'GetOverlayParametersReq',
-    'GetOverlayParametersRep',
-    'SetCameraParametersReq',
-    'SetCameraParametersRep',
-    'GetCameraParametersReq',
-    'GetCameraParametersRep',
-    'SyncTimeReq',
-    'SyncTimeRep',
-    'PingReq',
-    'PingRep',
-    'SetThicknessGaugeParametersReq',
-    'SetThicknessGaugeParametersRep',
-    'ConnectClientReq',
-    'ConnectClientRep',
-    'DisconnectClientReq',
-    'DisconnectClientRep',
-    'GetBatteryReq',
-    'GetBatteryRep',
-    'SetMissionReq',
-    'SetMissionRep',
-    'GetMissionReq',
-    'GetMissionRep',
-    'SetInstructionUpdateReq',
-    'SetInstructionUpdateRep',
-    'SetPubFrequencyReq',
-    'SetPubFrequencyRep',
-    'GetTelemetryReq',
-    'GetTelemetryRep',
-    'SetPersistentStorageSettingsReq',
-    'SetPersistentStorageSettingsRep',
-    'GetPersistentStorageSettingsReq',
-    'GetPersistentStorageSettingsRep',
+    'Mission',
+    'Instruction',
+    'DepthSetPoint',
+    'Waypoint',
+    'ControlModeCommand',
+    'WaypointCommand',
+    'DepthSetPointCommand',
+    'TiltMainCameraCommand',
+    'TiltMultibeamCommand',
+    'WaitForCommand',
+    'CameraCommand',
+    'GoToSurfaceCommand',
+    'GoToSeabedCommand',
+    'GoToHomeCommand',
+    'PathSegment',
+    'ReferenceAutoPilot',
+    'MissionStatus',
+    'DepthZeroReference',
+    'ControlModeVertical',
+    'ControlModeHorizontal',
+    'CameraAction',
+    'InstructionType',
+    'MissionState',
     'AttitudeTel',
     'AltitudeTel',
     'ForwardDistanceTel',
@@ -549,4 +515,38 @@
     'MultibeamPingTel',
     'MultibeamConfigTel',
     'MultibeamDiscoveryTel',
+    'SetOverlayParametersReq',
+    'SetOverlayParametersRep',
+    'GetOverlayParametersReq',
+    'GetOverlayParametersRep',
+    'SetCameraParametersReq',
+    'SetCameraParametersRep',
+    'GetCameraParametersReq',
+    'GetCameraParametersRep',
+    'SyncTimeReq',
+    'SyncTimeRep',
+    'PingReq',
+    'PingRep',
+    'SetThicknessGaugeParametersReq',
+    'SetThicknessGaugeParametersRep',
+    'ConnectClientReq',
+    'ConnectClientRep',
+    'DisconnectClientReq',
+    'DisconnectClientRep',
+    'GetBatteryReq',
+    'GetBatteryRep',
+    'SetMissionReq',
+    'SetMissionRep',
+    'GetMissionReq',
+    'GetMissionRep',
+    'SetInstructionUpdateReq',
+    'SetInstructionUpdateRep',
+    'SetPubFrequencyReq',
+    'SetPubFrequencyRep',
+    'GetTelemetryReq',
+    'GetTelemetryRep',
+    'SetPersistentStorageSettingsReq',
+    'SetPersistentStorageSettingsRep',
+    'GetPersistentStorageSettingsReq',
+    'GetPersistentStorageSettingsRep',
 )
diff --git a/blueye/protocol/types/message_formats.py b/blueye/protocol/types/message_formats.py
@@ -711,28 +711,40 @@ class RecordState(proto.Message):
             If the main camera is recording
         main_seconds (int):
             Main record time (s)
+        main_fps (float):
+            Main record fps
         guestport_is_recording (bool):
             If the guestport camera is recording
         guestport_seconds (int):
             Guestport record time (s)
+        guestport_fps (float):
+            Guestport record fps
         multibeam_is_recording (bool):
             If the multibeam is recording
         multibeam_seconds (int):
             Multibeam record time (s)
+        multibeam_fps (float):
+            Multibeam record fps
     """
 
     main_is_recording = proto.Field(proto.BOOL, number=1)
 
     main_seconds = proto.Field(proto.INT32, number=2)
 
+    main_fps = proto.Field(proto.FLOAT, number=7)
+
     guestport_is_recording = proto.Field(proto.BOOL, number=3)
 
     guestport_seconds = proto.Field(proto.INT32, number=4)
 
+    guestport_fps = proto.Field(proto.FLOAT, number=8)
+
     multibeam_is_recording = proto.Field(proto.BOOL, number=5)
 
     multibeam_seconds = proto.Field(proto.INT32, number=6)
 
+    multibeam_fps = proto.Field(proto.FLOAT, number=9)
+
 
 class TimeLapseState(proto.Message):
     r"""Time-lapse state published if time-lapse mission is running.